Laser welding device and laser welding method

Abstract

The invention relates to a laser welding device and a laser welding method. The laser welding device comprises a clamp trolley used for placing a to-be-welded workpiece and capable of moving in a first direction; a bracket; the galvanometer is arranged on the support and can move on the support in the second direction and the third direction, and every two of the first direction, the second direction and the third direction are perpendicular to each other; the zero point matching element is arranged on the clamp trolley; the zero point sensor is arranged on a movement path of the zero point matching element along with the movement of the clamp trolley; and the displacement sensor is used for sensing the displacement of the clamp trolley relative to the bracket, and the displacement sensor is configured to be reset when the position of the zero point matching element corresponds to the position of the zero point sensor. According to the laser welding device, positioning of the to-be-welded workpiece and position adjustment setting and debugging of the galvanometer are easy and convenient, and the repeated detection precision is high.

Description

Technical Field

[0001] The present application relates to the field of laser welding technology, and in particular to a laser welding device and a laser welding method. Background Art

[0002] Laser welding equipment used to weld automobile side panels typically uses a galvanometer to control the laser's emission angle. This galvanometer is driven to adjust to different welding positions and paths. To improve welding accuracy, the workpiece must be positioned to adjust the galvanometer's position according to the workpiece and welding position. However, conventional laser welding equipment has complex mechanisms for controlling galvanometer movement and positioning the workpiece, resulting in high setup costs. Summary of the Invention

[0003] Based on this, it is necessary to provide a laser welding device and a laser welding method to address the problems of complex structure and high setting cost for controlling the movement of the galvanometer and positioning the workpiece to be welded.

[0004] A laser welding device, comprising:

[0005] A fixture trolley, used for placing a workpiece to be welded and capable of moving along a first direction;

[0006] Bracket;

[0007] a galvanometer, disposed on the bracket and capable of moving on the bracket along a second direction and a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other;

[0008] A zero-point matching component is provided on the fixture trolley;

[0009] A zero-point sensor is provided on a motion path of the zero-point matching element as the fixture trolley moves;

[0010] A displacement sensor is used to sense the displacement of the fixture trolley relative to the bracket, and the displacement sensor is configured to be reset when the zero point matching element corresponds to the position of the zero point sensor.

[0011] In the laser welding device described above, when the fixture trolley drives the workpiece to be welded to move, the displacement sensor can sense the displacement of the fixture trolley relative to the bracket in the first direction, thereby obtaining the position of the workpiece to be welded relative to the bracket in the first direction, which is conducive to adjusting the position of the galvanometer relative to the bracket in the second and third directions according to the position of the workpiece to be welded in the first direction, as well as the welding position and welding path, so as to facilitate welding the workpiece to be welded through the galvanometer. At the same time, when the zero-point matching element moves with the fixture trolley to a position corresponding to the zero-point sensor, the displacement sensor is reset, which can improve the detection accuracy of the displacement sensor and is suitable for repeated detection, which is conducive to the mass production of the workpiece to be welded. Therefore, the positioning of the workpiece to be welded and the position adjustment setting and debugging of the galvanometer in the laser welding device described above are simple and convenient, and the repeated detection accuracy is high.

[0012] In one embodiment, the bracket includes a first frame, a second frame and a third frame, the second frame and the third frame are arranged at intervals in the second direction and are both arranged along the third direction, and the first frame is arranged along the third direction and connected to the second frame and the third frame.

[0013] In one embodiment, the bracket also includes a fourth frame arranged along the third direction, the fourth frame is arranged on the first frame, and can move in the second direction along the first frame, and the galvanometer is arranged on the fourth frame and can move in the third direction along the fourth frame.

[0014] In one embodiment, the laser welding device further includes a Y-axis driving component and a Z-axis driving component. The first frame is provided with a Y-axis guide rail along the second direction. The Y-axis driving component is provided on the first frame and is used to drive the fourth frame to move along the Y-axis guide rail relative to the first frame. The fourth frame is provided with a Z-axis guide rail along the third direction. The Z-axis driving component is provided on the fourth frame and is used to drive the galvanometer to move along the Z-axis guide rail relative to the fourth frame.

[0015] In one embodiment, the fixture trolley is arranged between the second frame and the third frame, and the laser welding device also includes an X-axis driving component and an X-axis guide rail provided on at least one of the second frame and the third frame, the X-axis guide rail is arranged along the first direction, and the X-axis driving component is used to drive the fixture trolley to move along the X-axis guide rail relative to the second frame and the third frame.

[0016] In one embodiment, the X-axis guide rail is arranged on the second frame, the clamp trolley is spaced apart from the third frame, and the bracket also includes a first mounting frame and a second mounting frame arranged on the third frame and facing the clamp trolley. The displacement sensor is arranged on the first mounting frame and is opposite to the side of the clamp trolley facing the third frame. The zero point sensor is arranged on the second mounting frame and is located on the side of the clamp trolley in the third direction.

[0017] In one embodiment, the displacement sensor includes an encoder, and a code disk of the displacement sensor contacts a side surface of the clamping trolley and is capable of moving with the movement of the clamping trolley.

[0018] In one embodiment, the zero-point sensor includes a sensor body and a photosensitive component. The sensor body is provided with a slot located on the movement path of the zero-point matching element as the fixture trolley moves. The photosensitive component is used to provide light passing through the slot. At least a portion of the zero-point matching element is made of light-blocking material. The zero-point matching element is configured to block the light provided by the photosensitive component when passing through the slot.

[0019] In one embodiment, the zero-point matching element is provided on one edge of the clamping trolley in the second direction and is spaced apart from two edges of the clamping trolley in the first direction.

[0020] A laser welding method, comprising:

[0021] Driving the fixture trolley to move in a first direction until the zero-point matching element on the fixture trolley corresponds to the position of the zero-point sensor, and driving the displacement sensor to reset to zero;

[0022] Driving the clamp trolley to continue moving along the first direction, and obtaining the displacement of the clamp trolley through a displacement sensor;

[0023] The galvanometer is driven to move along the second direction and the third direction on the bracket according to the displacement of the fixture trolley and the welding position, wherein the first direction, the second direction and the third direction are perpendicular to each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the structure of the laser welding device in some embodiments.

[0025] Figure 2 Schematic diagram of the structure in which the clamp trolley moves along a first direction toward the displacement sensor in some embodiments.

[0026] Figure 3 Schematic diagram of the process of laser welding method in some embodiments.

[0027] Reference numerals:

[0028] 10. Laser welding device; 11. Galvanometer; 12. Fixture trolley; 13. Bracket; 131. First frame; 132. Second frame; 133. Third frame; 134. Fourth frame; 135. First mounting frame; 136. Second mounting frame; 14. Zero-point matching element; 15. Zero-point sensor; 151. Sensor body; 1511. Slot; 16. Displacement sensor; 17. First direction; 18. Second direction; 19. Third direction. DETAILED DESCRIPTION

[0029] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0030] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0031] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0032] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0033] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0034] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0035] Traditional laser welding equipment typically uses robotic control to control the movement of a galvanometer mirror relative to the workpiece being welded. This mechanical control mechanism is complex, costly to set up, and challenging to debug. Using machine vision to locate the workpiece to be welded is difficult to identify and has low position detection efficiency. Furthermore, the welded workpiece has high requirements, often requiring identification marks on the workpiece for machine vision to detect its position. This high setup cost makes it difficult to adapt to mass production of welded workpieces.

[0036] To solve the above problems, the present application provides a laser welding device and a laser welding method.

[0037] See Figure 1 , Figure 1The figure is a schematic diagram of the structure of a laser welding device 10 in some embodiments. The laser welding device 10 provided herein includes, but is not limited to, use in scenarios such as welding a workpiece to be welded, such as a side panel of an automobile. For example, in the process of joining two or more metal parts together through heat and pressure to form a side panel of an automobile, laser welding can increase the heat required for welding. The laser welding device 10 may include a laser (not shown), a galvanometer 11, and a fixture trolley 12. When the laser welding device 10 is used to weld a workpiece to be welded, the workpiece to be welded can be placed on the fixture trolley 12, for example, secured to the fixture trolley 12 by a suitable fixture. The laser is used to emit a laser beam toward the galvanometer 11. The galvanometer 11 can deflect the laser beam emitted by the laser through reflection or other means, adjusting the laser beam's emission angle so that the laser beam can reach a corresponding position on the workpiece to be welded, thereby welding the workpiece to be welded. During the welding process, the galvanometer 11 can move relative to the fixture trolley 12 to adapt to different welding positions or welding paths of the workpiece to be welded, meeting different welding requirements. The type of laser and the emitted laser band involved in this application are not limited and can be set specifically according to the welding requirements of the workpiece to be welded.

[0038] Furthermore, in some embodiments, the laser welding device 10 further includes a bracket 13, a zero-point matching element 14, a zero-point sensor 15, and a displacement sensor 16. The fixture trolley 12 is used to place the workpiece to be welded and is capable of driving the workpiece to be welded in a first direction 17. The galvanometer 11 is disposed on the bracket 13 and is capable of moving on the bracket 13 in a second direction 18 and a third direction 19, with the first direction 17, the second direction 18, and the third direction 19 being perpendicular to each other. The zero-point matching element 14 is disposed on the fixture trolley 12 and is capable of moving with the fixture trolley 12 in the first direction 17. The zero-point sensor 15 is disposed on the bracket 13 and is located along the motion path of the zero-point matching element 14 along with the fixture trolley 12. The displacement sensor 16 is used to sense the displacement of the fixture trolley 12 relative to the bracket 13, and the displacement sensor 16 is configured to reset to zero when the position of the zero-point matching element 14 corresponds to that of the zero-point sensor 15.

[0039] It is understandable that, in the process of the fixture trolley 12 driving the workpiece to be welded to move, the displacement sensor 16 can sense the position of the fixture trolley 12 relative to the bracket 13 in the first direction 17, thereby obtaining the position of the workpiece to be welded relative to the bracket 13 in the first direction 17, which is conducive to adjusting the position of the galvanometer 11 relative to the bracket 13 in the second direction 18 and the third direction 19 according to the position of the workpiece to be welded in the first direction 17 and the welding position and welding path, so that the relative position of the galvanometer 11 and the workpiece to be welded can be adapted to the position to be welded on the workpiece to be welded, meeting the welding requirements of different positions on the workpiece to be welded. At the same time, during the welding process, the fixture trolley 12 can also drive the workpiece to be welded to move in the first direction 17, and cooperate with the movement of the galvanometer 11 relative to the bracket 13 in the second direction 18 and the third direction 19 to realize the three-dimensional movement of the welding position, which is conducive to adapting to the welding requirements of different welding positions and welding paths. It should be noted that during the relative movement of the workpiece to be welded and the galvanometer 11, the laser can continuously emit laser light to form a continuous welding path, or it can intermittently emit laser light according to different welding requirements to adapt to the welding requirements of welding positions with different spacings.

[0040] At the same time, when the zero-point matching element 14 moves with the clamp trolley 12 to a position corresponding to the zero-point sensor 15, the displacement sensor 16 is reset, that is, when the positions of the zero-point matching element 14 and the zero-point sensor 15 correspond, the position of the clamp trolley 12 is the open position. Thus, the displacement of the clamp trolley 12 can be recalculated, which is beneficial for improving the detection accuracy of the position of the workpiece to be welded in the first direction 17 with the zero-point position as a reference, and can also be suitable for repeated detection, which is beneficial for mass production of the workpiece to be welded.

[0041] Therefore, the above-mentioned laser welding device 10 can realize three-dimensional welding processing of the workpiece to be welded by detecting the position of the workpiece to be welded in the first direction 17 through the displacement sensor 16, and cooperate with the movement of the galvanometer 11 relative to the bracket 13 in the second direction 18 and the third direction 19. In combination with the preset welding position or welding path, the three-dimensional precise positioning of the welding position can be achieved. The above-mentioned laser welding device 10 is simple and convenient to set up and debug for positioning the workpiece to be welded and adjusting the position of the galvanometer 11, and has high repeated detection accuracy. For example, the above-mentioned laser welding pad device can meet the accuracy requirement of ±0.1mm for positioning the workpiece to be welded, and the repeated positioning error is less than 0.2mm.

[0042] Furthermore, in some embodiments, the laser welding device 10 also includes a control element (not shown). When welding a workpiece, the control element may be pre-programmed with the welding position or welding path of the workpiece to be welded. This allows the control element to control the movement of the galvanometer 11 relative to the bracket 13 based on the position of the workpiece to be welded as obtained by the displacement sensor 16, so that the position or movement trajectory of the galvanometer 11 is consistent with the welding position or welding path. The control element can also be used to control the continuous or intermittent emission of the laser based on the welding position or welding path, as well as the position or movement trajectory of the control element. The control element may be a programmable logic controller (PLC) for controlling the movement of the galvanometer 11 relative to the bracket 13. The PLC in the control element may also be used to simultaneously control the emission of the laser. In still other embodiments, the control element may also be equipped with another central processing unit or control chip for controlling the emission of the laser.

[0043] The structure of the bracket 13 is not limited, as long as the galvanometer 11 can move relative to the bracket 13 in the second direction 18 and the third direction 19. In some embodiments, the bracket 13 is a gantry, and the bracket 13 includes a first frame 131, a second frame 132, and a third frame 133. The second frame 132 and the third frame 133 are spaced apart in the second direction 18 and are both arranged along the third direction 19. The first frame 131 is arranged along the third direction 19, and its ends are connected to the second frame 132 and the third frame 133 in a one-to-one correspondence.

[0044] In some embodiments, the bracket 13 further includes a fourth frame 134 arranged along the third direction 19. The fourth frame 134 is arranged on the first frame 131 and can move along the first frame 131 in the second direction 18. The galvanometer 11 is arranged on the fourth frame 134 and can move along the fourth frame 134 in the third direction 19. The movement of the fourth frame 134 along the first frame 131 enables the galvanometer 11 to move relative to the bracket 13 in the second direction 18 and the third direction 19. In this embodiment, each frame can be a long strip structure extending along the corresponding direction. Setting a gantry as the motion carrier of the galvanometer 11 has a simple and reliable structure, low installation cost, small space occupation, and is conducive to improving the movement accuracy of the galvanometer 11 and improving the welding quality.

[0045] In some embodiments, the laser welding device 10 further includes a Y-axis drive (not shown) and a Z-axis drive (not shown). The first frame 131 is provided with a Y-axis guide rail along the second direction 18. The Y-axis drive is disposed on the first frame 131 and is used to drive the fourth frame 134 to move relative to the first frame 131 along the Y-axis guide rail. The Y-axis drive includes, but is not limited to, a linear motor. The fourth frame 134 may be provided with a slider that slides on the Y-axis guide rail to facilitate movement of the fourth frame 134 along the Y-axis guide rail under the drive of the Y-axis drive. The fourth frame 134 is provided with a Z-axis guide rail along the third direction 19. The Z-axis drive is disposed on the fourth frame 134 and is used to drive the galvanometer mirror 11 to move relative to the fourth frame 134 along the Z-axis guide rail. The Z-axis drive may also be a linear motor. The galvanometer mirror 11 may be provided with a slider that slides on the Z-axis guide rail to facilitate movement of the galvanometer mirror 11 along the Z-axis guide rail under the drive of the Z-axis drive. Of course, the implementation method of the movement of the galvanometer 11 relative to the fourth frame 134 and the fourth frame 134 relative to the first frame 131 is not limited to this. It can be implemented by using any other applicable type of driving parts, and a linear motor is used in conjunction with a guide rail to achieve the corresponding movement. The driving structure is simple to set up, the setting cost is low, and the driving accuracy is high.

[0046] In some embodiments, the fixture trolley 12 is disposed between the second frame 132 and the third frame 133. The laser welding apparatus 10 further includes an X-axis drive (not shown) and an X-axis guide rail disposed on at least one of the second frame 132 and the third frame 133. The X-axis guide rail is disposed along a first direction 17, and the X-axis drive is configured to drive the fixture trolley 12 to move relative to the second frame 132 and the third frame 133 along the X-axis guide rail. The X-axis drive can also be any suitable type of drive element, such as a linear motor, as long as it can drive the fixture trolley 12 to move relative to the second frame 132 and the third frame 133 in the first direction 17. Placing the fixture trolley 12 between the second frame 132 and the third frame 133 helps reduce the overall space occupied by the laser welding apparatus 10 and better accommodates the placement of the galvanometer 11 on the first frame 131. Furthermore, the bracket 13 can provide protection for the fixture trolley 12 from its exterior.

[0047] It is understandable that when both the second frame 132 and the third frame 133 are provided with X-axis guide rails, the fixture trolley 12 is slidably arranged on the X-axis guide rails on opposite sides, which is conducive to improving the reliability of the fixture trolley 12 moving relative to the bracket 13. Figure 1As shown, in some embodiments of the present application, the X-axis guide rail is provided on the second frame 132, the fixture trolley 12 is spaced apart from the third frame 133, and the bracket 13 further includes a first mounting bracket 135 and a second mounting bracket 136 provided on the third frame 133 and facing the fixture trolley 12. The displacement sensor 16 is provided on the first mounting bracket 135 and is opposite to the side of the fixture trolley 12 facing the third frame 133, so as to sense the displacement of the fixture trolley 12 relative to the bracket 13 in the first direction 17. The zero point sensor 15 is provided on the second mounting bracket 136 and is located on a side of the fixture trolley 12 in the third direction 19. At least a portion of the zero point matching element 14 may protrude from the side of the fixture trolley 12 in the third direction 19 facing the zero point sensor 15, so that the displacement sensor 16 is reset to zero when the fixture trolley 12 moves to a position corresponding to the zero point sensor 15. By arranging a first mounting frame 135 and a second mounting frame 136 on the side of the third frame 133 facing the clamp trolley 12 to install the displacement sensor 16 and the zero point sensor 15, the displacement sensor 16, the zero point sensor 15 and the clamp trolley 12 are all located between the second frame 132 and the third frame 133, which is beneficial to improving the structural compactness of the laser welding device 10 and making the layout of each component well adapted to achieve the corresponding function. At the same time, the bracket 13 can also provide effective protection for each component.

[0048] The specific type of the displacement sensor 16 is not limited, as long as it can sense the displacement of the clamp trolley 12 in the first direction 17, so as to detect the position of the workpiece to be welded in the first direction 17. In some embodiments, the displacement sensor 16 is an encoder, including but not limited to a rotary encoder or a linear encoder, and the displacement sensor 16 has a code disk, and the code disk may have equally spaced light-transmitting areas and opaque areas. The code disk contacts the side of the clamp trolley 12 and can move with the movement of the clamp trolley 12. When the clamp trolley 12 moves, it can drive the code disk to move. As the code disk moves, light passes through the light-transmitting area of the code disk and is received by the photoelectric sensor element in the displacement sensor 16, generating an electrical signal change, thereby forming a pulse signal. A pulse is generated every time the light passes through an alternation of a light-transmitting and a light-opaque area. The number of pulses generated by the displacement sensor 16 is proportional to the displacement of the clamp trolley 12 in the first direction 17. By counting the pulses through the control element, the displacement of the clamp trolley 12 can be obtained, thereby detecting the displacement of the workpiece to be welded relative to the bracket 13 in the first direction 17, and then detecting the position of the workpiece to be welded in the first direction 17.

[0049] The specific configuration of the zero-point sensor 15 and the zero-point matching element 14 is also not limited, as long as the zero-point matching element 14 can move with the fixture trolley 12 to a position corresponding to the zero-point sensor 15, and when the zero-point matching element 14 corresponds to the position of the zero-point sensor 15, the zero-point sensor 15 can sense the zero-point matching element 14, thereby clearing the displacement sensor 16. In some embodiments, the zero-point sensor 15 includes a sensor body 151 and a photosensitive component (not shown). The sensor body 151 is provided with a groove 1511 located on the motion path of the zero-point matching element 14 as it moves with the fixture trolley 12. The photosensitive component is used to provide light passing through the groove 1511. At least a portion of the zero-point matching element 14 is made of a light-blocking material. The zero-point matching element 14 is configured to block the light provided by the photosensitive component when passing through the groove 1511. The photosensitive component may include a light-emitting element and a photoelectric sensor element. The light-emitting element includes, but is not limited to, a laser light source. The light-emitting element and the photoelectric sensor element are respectively arranged on both sides of the sensor body 151 located in the groove body 1511. The light emitted by the light-emitting element passes through the groove body 1511 and is projected onto the photoelectric sensor element. It is understandable that when the zero-point matching element 14 moves into the groove body 1511 of the sensor body 151 along with the fixture trolley 12, it is considered that the position of the zero-point matching element 14 corresponds to that of the zero-point sensor 15. At this time, the zero-point matching element 14 blocks the light emitted by the light-emitting element. When the photoelectric sensor element cannot sense the light emitted by the light-emitting element, it senses that the position of the zero-point matching element 14 corresponds to that of the zero-point sensor 15, causing the displacement sensor 16 to be reset.

[0050] Combine Figure 1 and Figure 2 As shown, in some embodiments, the zero-point matching element 14 is disposed on one edge of the fixture trolley 12 in the second direction 18 and is spaced apart from two edges of the fixture trolley 12 in the first direction 17. Figure 2As shown, it can be understood that because the zero-point matching element 14 is spaced apart from the two edges of the clamping trolley 12 in the first direction 17, when the clamping trolley 12 moves from outside the displacement sensor 16 along the first direction 17 toward the displacement sensor 16, the clamping trolley 12 will first contact the displacement sensor 16, and the displacement sensor 16 will begin to sense the displacement of the clamping trolley 12 in the first direction 17. After the clamping trolley 12 contacts the displacement sensor 16, the clamping trolley 12 continues to move in the first direction 17 until the position of the zero-point matching element 14 corresponds to the position of the zero-point sensor 15. Since the only data collected by the displacement sensor 16 is easily unstable when the displacement sensor 16 and the clamping trolley 12 first contact, the data feedback from the displacement sensor 16 stabilizes after the displacement sensor 16 and the clamping trolley 12 have been in contact for a period of time. Through the above-mentioned setting, the displacement sensor 16 can be triggered to reset after being in contact with the clamp trolley 12 for a period of time, rather than being reset when just in contact with the clamp trolley 12. This is beneficial to improving the stability of the feedback data of the displacement sensor 16 after reset, thereby improving the accuracy of detecting the displacement of the clamp trolley 12 and improving the accuracy of the welding position of the workpiece to be welded. In some embodiments, when the clamp trolley 12 is outside the displacement sensor 16, the distance between the zero-point matching element 14 and the edge of the clamp trolley 12 close to the displacement sensor 16 in the first direction 17 is greater than or equal to 10mm. Therefore, after the clamp trolley 12 contacts the displacement sensor 16, the clamp trolley 12 will trigger the reset of the displacement sensor 16 only after it continues to move for at least 10mm, which can effectively improve the stability and accuracy of the unique data fed back after reset.

[0051] Combine Figure 1 and Figure 3 As shown, based on the laser welding device 10 described in any of the above embodiments, the present application also provides a laser welding method. The laser welding method can use the laser welding device 10 described in any of the above embodiments to weld the workpiece to be welded, or can use any other welding device to weld the workpiece to be welded, as long as the corresponding method steps can be implemented. The laser welding method may include:

[0052] Step S110 , driving the fixture trolley 12 to move relative to the bracket 13 along the first direction 17 until the zero point matching element 14 on the fixture trolley 12 corresponds to the position of the zero point sensor 15 on the bracket 13 , and driving the displacement sensor 16 to reset through the control element.

[0053] Step S120 : driving the clamp trolley 12 to continue moving along the first direction 17 , and obtaining the displacement of the clamp trolley 12 through the displacement sensor 16 .

[0054] In step S130 , the control element drives the galvanometer 11 to move along the second direction 18 and the third direction 19 on the bracket 13 according to the displacement of the fixture carriage 12 and the welding position or welding path.

[0055] According to the displacement detected by the displacement sensor 16, the position of the workpiece to be welded relative to the bracket 13 in the first direction 17 can be determined, so that the galvanometer 11 is controlled to move in the second direction 18 and the third direction 19 through the control element to determine the position of the galvanometer 11 in the second direction 18 and the third direction 19, so that the position or movement trajectory of the galvanometer 11 is adapted to the welding position or welding path on the workpiece to be welded, thereby realizing welding of the workpiece to be welded.

[0056] The above-mentioned laser welding method is used to weld the workpiece to be welded. The positioning of the workpiece to be welded and the position adjustment of the galvanometer 11 are simple and convenient, without excessive debugging, and the repeated detection accuracy is high, which can meet the needs of mass production of high-precision welding operations.

[0057] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A laser welding device, characterized in that: include: A fixture trolley, used for placing a workpiece to be welded and capable of moving along a first direction; Bracket; a galvanometer, disposed on the bracket and capable of moving on the bracket along a second direction and a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other; A zero-point matching component is provided on the fixture trolley; A zero-point sensor is provided on a motion path of the zero-point matching element as the fixture trolley moves; A displacement sensor is used to sense the displacement of the fixture trolley relative to the bracket, and the displacement sensor is configured to be reset when the zero point matching element corresponds to the position of the zero point sensor.

2. The laser welding device according to claim 1, characterized in that The bracket includes a first frame, a second frame and a third frame. The second frame and the third frame are spaced apart in the second direction and are both arranged along the third direction. The first frame is arranged along the third direction and connected to the second frame and the third frame.

3. The laser welding device according to claim 2, characterized in that: The bracket also includes a fourth frame arranged along the third direction, the fourth frame is arranged on the first frame, and can move in the second direction along the first frame, the galvanometer is arranged on the fourth frame, and can move in the third direction along the fourth frame.

4. The laser welding device according to claim 3, characterized in that: The laser welding device also includes a Y-axis driving component and a Z-axis driving component. The first frame is provided with a Y-axis guide rail along the second direction. The Y-axis driving component is provided on the first frame and is used to drive the fourth frame to move along the Y-axis guide rail relative to the first frame. The fourth frame is provided with a Z-axis guide rail along the third direction. The Z-axis driving component is provided on the fourth frame and is used to drive the galvanometer to move along the Z-axis guide rail relative to the fourth frame.

5. The laser welding device according to claim 2, characterized in that: The fixture trolley is arranged between the second frame and the third frame. The laser welding device also includes an X-axis driving component and an X-axis guide rail arranged on at least one of the second frame and the third frame. The X-axis guide rail is arranged along the first direction. The X-axis driving component is used to drive the fixture trolley to move along the X-axis guide rail relative to the second frame and the third frame.

6. The laser welding device according to claim 5, characterized in that: The X-axis guide rail is arranged on the second frame, the clamp trolley is spaced apart from the third frame, and the bracket also includes a first mounting frame and a second mounting frame arranged on the third frame and facing the clamp trolley. The displacement sensor is arranged on the first mounting frame and is opposite to the side of the clamp trolley facing the third frame. The zero point sensor is arranged on the second mounting frame and is located on the side of the clamp trolley in the third direction.

7. The laser welding device according to any one of claims 1 to 6, characterized in that: The displacement sensor includes an encoder, and a code disk of the displacement sensor contacts a side surface of the clamp trolley and is movable along with the movement of the clamp trolley.

8. The laser welding device according to any one of claims 1 to 6, characterized in that: The zero-point sensor includes a sensor body and a photosensitive component. The sensor body is provided with a slot located on the movement path of the zero-point matching element as the fixture trolley moves. The photosensitive component is used to provide light passing through the slot. At least a portion of the zero-point matching element is made of light-blocking material. The zero-point matching element is configured to block the light provided by the photosensitive component when passing through the slot.

9. The laser welding device according to claim 8, characterized in that: The zero-point matching element is disposed on one edge of the clamp trolley in the second direction and is spaced apart from two edges of the clamp trolley in the first direction.

10. A laser welding method, characterized in that: include: Driving the fixture trolley to move in a first direction until the zero-point matching element on the fixture trolley corresponds to the position of the zero-point sensor, and driving the displacement sensor to reset to zero; Driving the clamp trolley to continue moving along the first direction, and obtaining the displacement of the clamp trolley through a displacement sensor; The galvanometer is driven to move along the second direction and the third direction on the bracket according to the displacement of the fixture trolley and the welding position, wherein the first direction, the second direction and the third direction are perpendicular to each other.

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