Laser beam welding device, laser beam welding method, apparatus, computing device, and medium

Abstract

The present application relates to the technical field of welding, and provides a laser beam welding device, a laser beam welding method, an apparatus, a computing device, and a medium. The laser beam welding device comprises: a galvanometer assembly, configured to project a laser beam to a target welding spot for laser beam welding; and a vision assembly, comprising a vision sensor and a range finder, wherein the vision sensor is configured to determine an offset value of the galvanometer assembly relative to the target weld spot for offset calibration, and the range finder is configured to determine a defocusing amount of the galvanometer assembly for defocus compensation.

Description

Laser welding equipment, laser welding method, device, computing equipment and medium Cross-references

[0001] This application refers to Chinese Patent Application No. 202410015399.4 filed on January 4, 2024, entitled “Laser welding equipment, laser welding method, device, computing equipment and medium”, which is incorporated into this application in its entirety by reference. Technical Field

[0002] The present application relates to the field of welding technology, and in particular to a laser welding device, a laser welding method, a device, a computing device, and a medium. Background Art

[0003] Welding technologies such as laser welding are commonly used in industrial production processes. Common application scenarios of welding technology include, for example, the production process of batteries. Battery cells are the basic components of battery modules, and the tabs serve as connectors between battery cells, connecting multiple battery cells together to form a battery module. The tabs reasonably distribute the current and voltage between the battery cells to ensure that the entire battery module can work properly. During the connection process, the poles of the battery cells in the battery module need to be welded together with the tabs. High-quality welding can improve the performance and safety of the welded object (for example, a battery module) and extend its service life. Summary of the Invention

[0004] The present application aims to solve at least one of the technical problems existing in the background art. To this end, one purpose of the present application is to provide a laser welding device, a laser welding method, a laser welding apparatus, a computing device, and a storage medium to alleviate, mitigate, or eliminate the problems in the related art.

[0005] An embodiment of the first aspect of the present application provides a laser welding device, comprising: a galvanometer assembly, configured to project laser light onto a target welding point for laser welding; and a vision assembly, comprising a vision sensor and a rangefinder, wherein the vision sensor is configured to determine an offset value of the galvanometer assembly relative to the target welding point for offset calibration, and the rangefinder is configured to determine a defocus amount of the galvanometer assembly for defocus compensation.

[0006] In the technical solution of the embodiment of the present application, a visual component is provided in the laser welding equipment. The visual sensor and rangefinder in the visual component can determine the offset value and defocus amount of the galvanometer assembly to calibrate the galvanometer assembly, thereby improving welding accuracy and welding quality.

[0007] In some embodiments, the vision sensor is configured to image a marking point on the welding object to determine the offset value of the galvanometer assembly. By setting the marking point on the welding object, the offset value of the galvanometer assembly can be determined using the welding object itself, simplifying the operation process and improving welding efficiency.

[0008] In some embodiments, a rangefinder is configured to measure the distance of the target welding point to determine the defocus of the galvanometer assembly. By using the rangefinder, the measurement accuracy is improved, and the defocus determined based on the measurement result is also more accurate.

[0009] In some embodiments, the vision assembly further includes: a first mounting member, on which the vision sensor and rangefinder are mounted; and a light source, mounted on the first mounting member and configured to provide fill light for the vision sensor during imaging. Mounting all components of the vision assembly on the first mounting member improves the integration of the vision assembly and facilitates installation. Furthermore, the provision of the light source improves the imaging quality of the vision sensor, enabling more accurate offset values ​​and enhancing welding precision.

[0010] In some embodiments, the laser welding apparatus further includes a protective cover movably connected to the first mounting member and configured to move between the vision assembly and the target weld point during laser welding by the galvanometer assembly to protect the vision assembly. The protective cover protects the vision assembly during welding, reducing the risk of damage to the vision assembly from splashed welding slag.

[0011] In some embodiments, the laser welding apparatus further includes a first actuator configured to drive a protective cover to move relative to the first mounting member between the vision component and the target weld point. The protective cover is configured to be movable by the first actuator, moving between the vision component and the target weld point during welding to protect the vision component, and moving away from the vision component during measurement to enable normal measurement, thereby improving operational convenience.

[0012] In some embodiments, the laser welding equipment further includes a galvanometer mirror protection assembly located on the laser outlet side of the galvanometer mirror assembly. The galvanometer mirror protection assembly is configured to provide a transparent isolation layer between the laser outlet side of the galvanometer mirror assembly and the target welding point to protect the mirror assembly. The provision of the galvanometer mirror protection assembly protects the galvanometer mirror assembly during welding, reducing the risk of damage to the galvanometer mirror assembly from smoke and welding slag generated during welding.

[0013] In some embodiments, the galvanometer protection assembly includes one or more air knives configured to provide one or more corresponding air curtains as transparent isolation layers in the optical path of the laser projected by the galvanometer assembly. The one or more air curtains intersect the laser optical path, and the multiple air knives are arranged sequentially along the laser optical path. The air knives can generate high-speed airflow, forming an air curtain to protect the galvanometer assembly, preventing smoke and welding slag generated during welding from damaging or contaminating the galvanometer assembly.

[0014] In some embodiments, the laser welding apparatus further includes a fiber protection assembly connected to the galvanometer assembly and configured to protect the optical fiber that transmits the laser light to the galvanometer assembly. The laser light used for welding is transmitted to the galvanometer assembly via the optical fiber. The fiber protection assembly reduces the risk of damage to the optical fiber during use and extends the life of the optical fiber.

[0015] In some embodiments, the optical fiber protection assembly includes: an optical fiber protection frame; an optical fiber guide, at least a portion of which is nested within the optical fiber protection frame and used to guide the optical fiber to the galvanometer assembly, the optical fiber guide being configured to rotate relative to the optical fiber protection frame; and at least one stopper configured to limit the rotational range of the optical fiber guide relative to the optical fiber protection frame. By limiting the rotational range of the optical fiber guide, the stress on the optical fiber during use is reduced, thereby extending the service life of the optical fiber.

[0016] In some embodiments, any of the at least one stopper includes: a first sensor assembly connected to the optical fiber guide to rotate synchronously therewith; and a second sensor assembly connected to the optical fiber protection frame, the second sensor assembly and the first sensor assembly cooperating to detect the limit position of the optical fiber guide relative to the optical fiber protection frame for limiting the position. The sensor assemblies are provided on the optical fiber protection frame and the optical fiber guide, respectively, to determine the limit position of the optical fiber guide and thereby limit the rotation range of the optical fiber guide.

[0017] In some embodiments, the optical fiber protection assembly further includes: a second mounting member connected to the optical fiber protection bracket and configured to mount the optical fiber protection assembly on the galvanometer assembly; and an end cap located at an end of the optical fiber guide member opposite the second mounting member, configured to pass through the optical fiber and be secured to the optical fiber guide member. Mounting the optical fiber protection assembly on the galvanometer assembly reduces displacement of the optical fiber relative to the galvanometer assembly, thereby improving protection of the optical fiber.

[0018] In some embodiments, the laser welding apparatus further includes a second actuator coupled to the galvanometer assembly and the vision assembly, configured to move the galvanometer assembly and the vision assembly to a working position for laser welding. Using the second actuator to move the galvanometer assembly and the vision assembly improves the automation level of the laser welding process, thereby enhancing welding efficiency and precision.

[0019] An embodiment of the second aspect of the present application provides a laser welding method applied to the laser welding equipment of the above-mentioned embodiment, including: controlling the offset calibration of the galvanometer assembly based on the offset value of the galvanometer assembly; controlling the defocus compensation of the galvanometer assembly based on the defocus amount of the galvanometer assembly; and controlling the galvanometer assembly to project laser toward the target welding point for laser welding.

[0020] An embodiment of the third aspect of the present application provides a laser welding device, comprising: a first module, configured to control offset calibration of the galvanometer assembly based on the offset value of the galvanometer assembly; a second module, configured to control defocus compensation of the galvanometer assembly based on the defocus amount of the galvanometer assembly; and a third module, configured to control the galvanometer assembly to project laser light toward a target welding point for laser welding.

[0021] In a fourth aspect, an embodiment of the present application provides a computing device comprising at least one processor and at least one memory communicatively coupled to the at least one processor. The at least one memory stores instructions that, when executed individually or collectively by the at least one processor, cause the computing device to perform the method described in the above embodiment.

[0022] An embodiment of the fifth aspect of the present application provides a non-transitory computer-readable storage medium having instructions stored thereon, which, when executed individually or collectively by one or more processors of a computing device, cause the computing device to execute a method as in the above-mentioned embodiment.

[0023] An embodiment of the sixth aspect of the present application provides a computer program product, comprising instructions, which, when executed individually or collectively by one or more processors of a computing device, cause the computing device to execute a method as described in the above embodiments.

[0024] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the drawings without creative work.

[0026] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0027] FIG1A is a schematic structural diagram of a laser welding device according to some embodiments of the present application;

[0028] FIG1B is a bottom view schematic diagram of the structure of a laser welding device according to some embodiments of the present application;

[0029] FIG1C is a schematic side view of a laser welding device according to some embodiments of the present application;

[0030] FIG2 is a schematic diagram of the structure of a visual component in some embodiments of the present application;

[0031] FIG3 is a schematic structural diagram of a galvanometer protection assembly according to some embodiments of the present application;

[0032] FIG4 is a schematic structural diagram of an optical fiber protection assembly according to some embodiments of the present application;

[0033] FIG5 is a schematic structural diagram of a second actuator according to some embodiments of the present application;

[0034] FIG6 is a schematic diagram of the overall structure of laser welding equipment according to some embodiments of the present application;

[0035] FIG7 is a schematic flow chart of a laser welding method according to some embodiments of the present application;

[0036] FIG8 is an exemplary block diagram of a laser welding device according to some embodiments of the present application;

[0037] 9 is a block diagram of an exemplary computing device that can be used with the exemplary embodiments.

[0038] Explanation of the accompanying drawings: Laser welding equipment 100; Galvanometer assembly 110, vision assembly 120, galvanometer protection assembly 130, optical fiber protection assembly 140, second actuator 150; Galvanometer 111, galvanometer assembly mounting plate 112, galvanometer mounting plate 113; Vision sensor 121, rangefinder 122, first mounting member 123, light source 124, protective cover 125, first actuator 126; Air knife 131, air knife fixing bracket 132, air inlet 133; Optical fiber protection frame 141, optical fiber guide 142, limiter 143, first sensing assembly 1431, second sensing assembly 1432, second mounting member 144, end cover 145, gasket 146; Six-axis robot 151, pipeline package 152, mounting base 153. DETAILED DESCRIPTION

[0039] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0041] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0042] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0043] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0044] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0045] In the description of the embodiments of the present application, the technical 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., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do 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 the embodiments of the present application.

[0046] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0047] Welding technologies, such as laser welding, are commonly used in industrial production processes. Common applications of welding technology include, for example, battery production. Battery cells are the fundamental components of a battery module. The connectors serve as the connectors between the cells, connecting multiple cells together to form a battery module. These connectors distribute current and voltage between the cells, ensuring the proper functioning of the entire battery module.

[0048] During the connection process, the battery cell terminals and tabs in the battery module are welded together. High-quality welding can improve the performance and safety of the welded object (e.g., the battery module) and extend its service life. However, existing welding methods cannot guarantee good welding accuracy. During the welding process, weld point deviation may occur. In severe cases, it may even cause the welded object to be welded through, causing a fire.

[0049] Based on the above considerations, a laser welding equipment was designed, which uses a visual component to calibrate the galvanometer component used for welding to improve welding accuracy and quality.

[0050] The laser welding equipment disclosed in the embodiments of the present application can be used, but is not limited to, in the production process of power batteries for vehicles, ships, aircraft, etc. Using the laser welding equipment disclosed in the present application is conducive to improving welding accuracy and welding quality.

[0051] Figures 1A, 1B, and 1C illustrate schematic diagrams of the structure of a laser welding device according to some embodiments of the present application at different viewing angles. As shown in Figures 1A-1C, an embodiment of the present application provides a laser welding device 100. The laser welding device 100 includes a galvanometer assembly 110 and a vision assembly 120.

[0052] The galvanometer assembly 110 is configured to project laser light toward a target welding point to perform laser welding.

[0053] The vision assembly 120 includes a vision sensor 121 and a rangefinder 122. The vision sensor 121 is configured to determine the offset value of the galvanometer assembly 110 relative to the target welding point for offset calibration, and the rangefinder 122 is configured to determine the defocus value of the galvanometer assembly 110 for defocus compensation.

[0054] As shown in Figures 1A-1C, the galvanometer assembly 110 includes a galvanometer 111. In some embodiments, the galvanometer assembly 110 may further include a galvanometer assembly mounting plate 112 and a galvanometer mounting plate 113. The galvanometer 111 can be mounted on the galvanometer mounting plate 113. Through the galvanometer assembly mounting plate 112, the galvanometer assembly 110 can be installed as a whole in a suitable position to fix the galvanometer assembly 110. When welding the target welding point, the galvanometer 111 focuses the high-power laser and projects it onto the target welding point for laser welding. It should be understood that the galvanometer assembly 110 shown in Figures 1A-1C is merely illustrative, and the galvanometer assembly 110 is not required to include all the elements shown.

[0055] 2 , in some embodiments, the vision sensor 121 may include an imaging device such as a 2D camera, etc. The vision sensor 121 is configured to determine an offset value of the galvanometer assembly 110 relative to a target welding point.

[0056] In some embodiments, the rangefinder 122 may include a laser rangefinder, an ultrasonic rangefinder, or other ranging devices. The rangefinder 122 is configured to determine the defocus amount of the galvanometer assembly 110 .

[0057] Laser welding equipment incorporates a vision component whose visual sensor and rangefinder can determine the offset and defocus of the galvanometer assembly to calibrate it. This improves welding accuracy and quality.

[0058] According to some embodiments of the present application, the vision sensor 121 is configured to image a marking point on the welding object to determine an offset value of the galvanometer assembly 110 .

[0059] In some embodiments, marking points can be set on the object to be welded. These marking points can be inherent structures of the object to be welded, such as edges or special shapes, or they can be manually added to the object. Furthermore, target weld points can be used as marking points. In some embodiments, the object to be welded can include a battery module, and the target weld points include the welds between the terminal and the tab in the battery module.

[0060] The visual sensor 121 images the marking point to determine the exact position of the welding object to be welded, that is, the exact position of the target welding point, so that the offset value of the galvanometer assembly 110 relative to the target welding point can be determined.

[0061] To improve calibration accuracy, the number of markers can be increased, and multiple markers can be imaged to determine the offset value of the galvanometer assembly 110. For example, a weighted average of the offset values ​​corresponding to the multiple markers can be used as the offset value of the galvanometer assembly 110. In one example, two markers are provided on the battery module, and the visual sensor 121 images the two markers to obtain the offset value corresponding to each marker, and the average of these values ​​is taken as the offset value of the galvanometer assembly 110.

[0062] By setting marking points on the welding object and using the welding object itself to determine the offset value of the galvanometer assembly, the operation process can be simplified and the welding efficiency can be improved.

[0063] According to some embodiments of the present application, the rangefinder 122 is configured to measure the distance of the target welding point to determine the defocus amount of the galvanometer assembly 110 .

[0064] During the laser welding process, since the power density at the center of the laser spot is high, it may cause damage to the welding point. Therefore, it is necessary to determine the appropriate defocus amount to obtain the appropriate power density.

[0065] The rangefinder 122 can measure the distance of the target welding point to determine the defocus amount of the galvanometer assembly 110 so that the laser power density at the target welding point meets the welding requirements.

[0066] By using a rangefinder, the measurement accuracy is improved, and the defocus amount determined based on the measurement results is also more accurate.

[0067] According to some embodiments of the present application, the visual assembly 120 further includes a first mounting member 123 and a light source 124 .

[0068] The visual sensor 121 and the rangefinder 122 are mounted on a first mounting member 123 .

[0069] The light source 124 is mounted on the first mounting member 123 and is configured to provide fill light when the visual sensor 121 forms an image.

[0070] As shown in FIG2 , the vision component 120 is also provided with a light source 124. Since laser welding is typically performed indoors, poor lighting conditions can reduce the imaging quality of the vision sensor 121, potentially leading to significant calibration errors. In such cases, the light source 124 can be used to provide fill light, improving the imaging quality of the vision sensor 121.

[0071] The visual sensor 121, the rangefinder 122, and the light source 124 can all be fixed to the first mounting member 123 to improve the integration of the visual assembly 120. The structure and material of the first mounting member 123 can be set according to the application, for example, a plate structure, a block structure, etc., which is not limited in this disclosure.

[0072] In some embodiments, the vision assembly 120 can be mounted at a desired location via the first mounting member 123. For example, the first mounting member 123, which is mounted with the vision sensor 121, the rangefinder 122, and the light source 124, can be fixed to the galvanometer assembly 110 to achieve synchronous movement of the galvanometer assembly 110 and the vision assembly 120.

[0073] It should be understood that the vision assembly 120 shown in FIG. 2 is illustrative only, and there is no requirement that the vision assembly 120 include all of the elements shown.

[0074] Mounting all parts of the vision assembly on the first mounting member improves the integration of the vision assembly and facilitates installation. Furthermore, by providing a light source, the imaging quality of the vision sensor can be improved, enabling more accurate offset values ​​to be obtained, thereby increasing welding accuracy.

[0075] According to some embodiments of the present application, the laser welding equipment 100 further includes a protective cover 125 .

[0076] The protective cover 125 is movably connected to the first mounting member 123 and is configured to move between the vision assembly 120 and the target welding point when the galvanometer assembly 110 performs laser welding, so as to protect the vision assembly 120 .

[0077] As shown in FIG. 2 , the protective cover 125 is movably connected to the first mounting member 123 and can be moved between the vision assembly 120 and the target welding point.

[0078] Since impurities such as welding slag are generated during the welding process, the splashing of impurities may damage the vision component 120. During laser welding, the protective cover 125 moves between the vision component 120 and the target welding point, and the splashing of impurities such as welding slag can be blocked by the protective cover 125, thereby protecting the vision component 120.

[0079] When the vision sensor 121 is imaging and / or the rangefinder 122 is measuring distance, the protective cover 125 can be moved to one side without blocking the vision component 120 , so that the vision component 120 can be used normally.

[0080] The connection method between the protective cover 125 and the first mounting member 123 can be selected according to the application, for example, a guide rail, a rotating shaft, etc. The protective cover 125 can be translated between the visual component 120 and the target welding point, or can be rotated between the visual component 120 and the target welding point, which is not limited in this disclosure.

[0081] By providing a protective cover, the visual components can be protected during welding, reducing the risk of damage to the visual components by splashed welding slag.

[0082] According to some embodiments of the present application, the laser welding device 100 further includes a first actuator 126 .

[0083] The first actuator 126 is configured to drive the protective cover 125 to move relative to the first mounting member 123 to between the vision component 120 and the target welding point.

[0084] As shown in FIG2 , the first actuator 126 can drive the protective cover 125 to move. The first actuator 126 can be selected according to the application. For example, a cylinder device, a gear transmission device, an electromagnetic transmission device, etc. can be used, and this disclosure does not limit this.

[0085] In the example shown in FIG. 2 , a cylinder device is used as the first actuator 126 .

[0086] The protective cover is driven to move by the first actuator. During welding, the protective cover is moved between the visual component and the target welding point to protect the visual component. When the visual component is measured, the protective cover is moved away to enable normal measurement, thereby improving the convenience of operation.

[0087] According to some embodiments of the present application, the laser welding equipment 100 further includes a galvanometer protection assembly 130 .

[0088] The galvanometer protection assembly 130 is located at the laser outlet side of the galvanometer assembly 110 and is configured to provide a transparent isolation layer between the laser outlet side of the galvanometer assembly 110 and the target welding point to protect the galvanometer assembly 110 .

[0089] During laser welding, the high-energy laser beam impacts the material at the weld point, producing impurities such as smoke and slag as the material melts, and spatter may occur. These spattered impurities may damage the galvanometer mirror or adhere to it, affecting the laser beam output and deteriorating the weld quality.

[0090] As shown in FIG1C , a galvanometer protection assembly 130 is disposed on the laser outlet side of the galvanometer assembly 110. The galvanometer protection assembly 130 can provide a transparent isolation layer between the laser outlet side of the galvanometer assembly 110 and the target weld point. While the laser can be projected normally to the target weld point, it can also block impurities spattered during the welding process, reducing their impact on the galvanometer assembly 110. The transparent isolation layer can be made of any suitable material, including but not limited to high-speed airflow, transparent resin, etc.

[0091] By providing a galvanometer protection assembly, the galvanometer assembly can be protected during welding, reducing the risk of damage to the galvanometer assembly caused by smoke and welding slag generated during the welding process.

[0092] According to some embodiments of the present application, the galvanometer protection assembly 130 includes one or more air knives 131 .

[0093] The one or more wind knives 131 are configured to provide one or more corresponding wind curtains as transparent isolation layers on the optical path of the laser projected by the galvanometer assembly 110. The one or more wind curtains intersect the optical path of the laser. The multiple wind knives are arranged in sequence along the optical path of the laser.

[0094] As shown in Figure 3, the number of wind knives 131 in the galvanometer protection assembly 130 can be designed according to the application. In order to obtain a better protection effect, the number of wind knives can be increased.

[0095] In some embodiments, air enters the galvanometer protection assembly 130 through the air inlet 133 and is blown out at high speed by the air knife 131. In one example, the wind speed can be 50 meters per second. The high-speed airflow forms an air curtain, which blocks impurities such as smoke and welding slag generated during the welding process, making it difficult for them to approach the galvanometer assembly 110, thereby protecting the galvanometer assembly 110.

[0096] The air outlet of the air knife 131 can be oriented to intersect the laser beam path projected by the galvanometer assembly 110, thereby providing an air curtain along the laser beam path. For better protection, the air outlet of the air knife can be oriented perpendicular to the downward direction of the laser beam path to prevent impurities such as welding slag from splashing upward onto the galvanometer assembly 110.

[0097] When the galvanometer protection assembly 130 includes multiple air knives 131, the multiple air knives 131 can be arranged sequentially along the laser light path to provide multiple air curtains along the laser light path, thereby improving the protection effect. The air outlets of the multiple air knives 131 can be oriented in the same direction to provide multiple parallel air curtains, or they can be oriented at different angles to effectively block impurities flying in multiple directions.

[0098] In some embodiments, the galvanometer guard assembly 130 further includes an air knife fixing bracket 132. The air knife 131 and the air inlet 133 can both be mounted on the air knife fixing bracket 132. The air knife fixing bracket 132 can be mounted on the galvanometer assembly 110 to secure the galvanometer guard assembly 130 and the galvanometer assembly 110 as a whole for ease of use.

[0099] It should be understood that the galvanometer protection assembly 130 shown in FIG. 3 is merely illustrative, and the galvanometer protection assembly 130 is not required to include all of the elements shown.

[0100] In the example shown in FIG3 , the galvanometer protection assembly 130 includes two air knives 131 . The two air knives 131 are installed in parallel in the direction of the laser light path, and the air outlets are oriented in the same direction, both perpendicular to the downward direction of the laser light path.

[0101] The air knife can generate high-speed airflow to form an air curtain to protect the galvanometer assembly, preventing the smoke and welding slag generated during welding from damaging or contaminating the galvanometer assembly.

[0102] According to some embodiments of the present application, the laser welding equipment 100 further includes an optical fiber protection assembly 140 .

[0103] The optical fiber protection assembly 140 is connected to the galvanometer assembly 110 and is configured to protect an optical fiber (not shown) that transmits laser light to the galvanometer assembly 110 .

[0104] The high-power laser light generated by the laser is transmitted to the galvanometer assembly 110 via an optical fiber. During the welding process, the galvanometer assembly 110 moves according to the location of the target weld point. This movement can cause deformation of the optical fiber, such as twisting and stretching, and poses a risk of damage. Therefore, as shown in Figure 1A, an optical fiber protection assembly 140 is used to protect the optical fiber.

[0105] The laser used for welding is transmitted to the galvanometer assembly via optical fiber. By setting up an optical fiber protection component, the risk of damage to the optical fiber during use is reduced and the life of the optical fiber is extended.

[0106] According to some embodiments of the present application, the optical fiber protection assembly 140 includes an optical fiber protection frame 141 , an optical fiber guide 142 , and at least one stopper 143 .

[0107] At least a portion of the optical fiber guide 142 is nested in the optical fiber protection frame 141 and is used to guide the optical fiber to be connected to the galvanometer assembly 110. The optical fiber guide 142 is configured to be rotatable relative to the optical fiber protection frame 141.

[0108] At least one stopper 143 is configured to limit the rotation range of the optical fiber guide 142 relative to the optical fiber protection frame 141 .

[0109] As shown in FIG4 , the optical fiber protection assembly 140 includes an optical fiber protection frame 141 , an optical fiber guide 142 , and a stopper 143 . The optical fiber passes through the optical fiber guide 142 and the optical fiber protection frame 143 and is connected to the galvanometer assembly 110 .

[0110] The fiber protection frame 141 is fixed relative to the galvanometer assembly 110. The fiber guide 142 can rotate relative to the fiber protection frame 141. In some embodiments, a gasket 146 is disposed between the optical fiber and the fiber guide 142 to confine the optical fiber within the fiber guide 142, allowing the fiber guide 142 and the optical fiber to rotate synchronously.

[0111] The stopper 143 limits the rotational range of the optical fiber guide 142 relative to the optical fiber protection frame 141, thereby limiting the rotational range of the optical fiber, thereby preventing significant distortion and damage to the optical fiber. The number of stoppers 143 can be adjusted based on the application. For example, a single stopper 143 can be used for positioning, or multiple stoppers 143 can be spaced at regular intervals to achieve a better positioning effect.

[0112] The limiter 143 can use different limiting methods, such as physical limiting method, electromagnetic limiting method, inductive limiting method, etc. When the physical limiting method is used, limiting structures can be respectively provided on the optical fiber protection frame 141 and the optical fiber guide 142. When the optical fiber guide 142 rotates to the limit position, the two limiting structures contact each other and cannot continue to rotate, thereby realizing the limiting function. When the electromagnetic limiting method is used, magnetic components can be respectively provided on the optical fiber protection frame 141 and the optical fiber guide 142, thereby realizing the limiting function through the magnetic field. When the inductive limiting method is used, sensor components can be respectively provided on the optical fiber protection frame 141 and the optical fiber guide 142. The rotation of the optical fiber guide 142 is controlled by detecting the movement and / or position of the sensor component to realize the limiting function. The limiting method of the limiter 143 can be selected according to the application scenario.

[0113] In some embodiments, an elastic component, such as a spring, may be further provided between the optical fiber protection frame 141 and the optical fiber guide 142 to buffer the force exerted on the optical fiber when it is stretched or compressed.

[0114] It should be understood that the optical fiber protection assembly 140 shown in FIG. 4 is merely illustrative, and the optical fiber protection assembly 140 is not required to include all of the elements shown.

[0115] By limiting the rotation range of the optical fiber guide, the force applied to the optical fiber during use is reduced, thereby extending the service life of the optical fiber.

[0116] According to some embodiments of the present application, any one of the at least one stopper 143 includes a first sensing component 1431 and a second sensing component 1432 .

[0117] The first sensor assembly 1431 is connected to the optical fiber guide 142 to rotate synchronously with the optical fiber guide 142 .

[0118] The second sensor assembly 1432 is connected to the optical fiber protection frame 141. The second sensor assembly 1432 cooperates with the first sensor assembly 1431 to detect the extreme position of the optical fiber guide 142 relative to the optical fiber protection frame 141 for positioning.

[0119] As shown in Figure 4 , a first sensor assembly 1431 is mounted on the fiber guide 142, and a second sensor assembly 1432 is mounted on the fiber protection frame 141. The second sensor assembly 1432 can be positioned on the fiber protection frame 141 at a position corresponding to the maximum rotational position of the fiber guide shaft 142. When the first sensor assembly 1431 rotates within the sensing range of the second sensor assembly 1432, the second sensor assembly 1432 detects the position of the first sensor assembly 1431 and generates a detection signal indicating that the fiber guide 142 has reached its maximum rotational position, thereby limiting its position.

[0120] In some embodiments, two second sensing assemblies 1432 may be provided in opposite diameters of the optical fiber protection frame 141. Correspondingly, two first sensing assemblies 1431 may be provided in opposite diameters of the optical fiber guide shaft 142.

[0121] In an example, the second sensing component 1432 may use a photoelectric switch, and the first sensing component 1431 is a corresponding sensing sheet.

[0122] Sensor components are respectively arranged on the optical fiber protection frame and the optical fiber guide to determine the limit position of the optical fiber guide and realize the limitation of the rotation range of the optical fiber guide.

[0123] According to some embodiments of the present application, the optical fiber protection assembly 140 further includes a second mounting member 144 and an end cap 145 .

[0124] The second mounting member 144 is connected to the optical fiber protection frame 141 and is configured to mount the optical fiber protection assembly 140 on the galvanometer assembly 110 .

[0125] The end cap 145 is located at an end of the optical fiber guide 142 opposite to the second mounting member 144 , and is configured to pass the optical fiber through and be fixed to the optical fiber guide 142 .

[0126] As shown in FIG. 4 , the optical fiber protection assembly 140 is connected to the galvanometer assembly 110 via a second mounting member 144 , so that the optical fiber protection assembly 140 and the galvanometer assembly 110 are fixed as one body.

[0127] An end cap 145 is provided on the optical fiber guide 142 and passes through the optical fiber. In some embodiments, the end cap 145 also passes through a gasket 146 wrapped around the outer surface of the optical fiber. Securing the end cap 145 on the optical fiber guide 142 can reduce the ingress of dust and other impurities into the optical fiber guide 142.

[0128] Installing the optical fiber protection assembly on the galvanometer assembly reduces the displacement of the optical fiber relative to the galvanometer assembly and improves the protection effect for the optical fiber.

[0129] According to some embodiments of the present application, the laser welding device 100 further includes a second actuator 150 .

[0130] The second actuator 150 is connected to the galvanometer assembly 110 and the vision assembly 120 , and is configured to move the galvanometer assembly 110 and the vision assembly 120 to a working position for laser welding.

[0131] As shown in Figure 6, the second actuator 150 can drive the galvanometer assembly 110 and the vision assembly 120 to move. The second actuator 150 can include various devices capable of performing movement operations, such as a multi-axis movement device.

[0132] In the example shown in FIG5 , the second actuator 150 may be a six-axis motion device, including a six-axis robot 151, a dress pack 152, and a mounting base 153. The six-axis robot 151 is fixed by the mounting base 153 and can drive the galvanometer assembly 110 and the vision assembly 120 to move in various directions.

[0133] It should be understood that the second actuator 150 shown in FIG. 5 is merely illustrative, and the second actuator 150 is not required to include all of the elements shown.

[0134] Using the second actuator to move the galvanometer assembly and the vision assembly can improve the automation level of the laser welding process and improve welding efficiency and welding accuracy.

[0135] 7 , an embodiment of the present application provides a laser welding method 700 . The laser welding method 700 is applied to the laser welding device 100 described above. The laser welding method 700 includes steps 710 to 730 .

[0136] Step 710 : Based on the offset value of the galvanometer assembly 110 , control the galvanometer assembly 110 to perform offset calibration.

[0137] Step 720 : Based on the defocus amount of the galvanometer assembly 110 , control the galvanometer assembly 110 to perform defocus compensation.

[0138] Step 730 : Control the galvanometer assembly 110 to project laser light toward the target welding point to perform laser welding.

[0139] The visual sensor 121 images the marking point and determines the exact position of the welding object to be welded, that is, the exact position of the target welding point, thereby determining the offset value of the galvanometer assembly 110 relative to the target welding point. Based on the offset value, the galvanometer assembly can be offset calibrated.

[0140] To improve calibration accuracy, the number of marking points can be increased, and multiple marking points can be imaged to determine the offset value of the galvanometer assembly 110. For example, a weighted average of the offset values ​​corresponding to each of the multiple marking points can be used as the offset value of the galvanometer assembly 110. In one example, two marking points are provided on the battery module, and the visual sensor 121 images the two marking points to obtain the offset value corresponding to each marking point. The average of these values ​​is then taken as the offset value of the galvanometer assembly 110. Based on the offset value of the galvanometer assembly 110, a calibration value for the offset value of the galvanometer assembly 110 can be determined.

[0141] The rangefinder 122 can measure the distance of the target welding point to determine the defocus of the galvanometer assembly 110 so that the laser power density at the target welding point meets the welding requirements. According to the defocus, the galvanometer assembly can be defocused.

[0142] In some embodiments, the target welding point includes multiple welding points. For example, the welding object is a battery module, and the target welding point is the welding point between the pole and the tab in the battery module. At this time, the weighted average of the defocus amounts corresponding to the multiple welding points can be used as the defocus amount of the galvanometer assembly 110. In one example, the rangefinder 122 can measure the distance of the tabs corresponding to the four poles on both sides of the head and tail of the battery module to obtain the defocus amount corresponding to each welding point, and take the average value as the defocus amount of the galvanometer assembly 110. According to the defocus amount of the galvanometer assembly 110, the defocus amount compensation value of the galvanometer assembly 110 in the height direction can be calculated.

[0143] Based on the calibration value and the defocus compensation value, the galvanometer assembly 110 can be moved to the working position by, for example, the second actuator 150 shown in FIG6 , to complete the offset calibration and defocus compensation.

[0144] The embodiment of the present application provides a laser welding device 800. Referring to FIG. 8 , the laser welding device 800 includes a first module 810, a second module 820, and a third module 830.

[0145] The first module 810 is configured to control offset calibration of the galvanometer assembly 110 based on the offset value of the galvanometer assembly 110 .

[0146] The second module 820 is configured to control defocus compensation of the galvanometer assembly 110 based on the defocus amount of the galvanometer assembly 110 .

[0147] The third module 830 is configured to control the galvanometer assembly 110 to project laser light toward a target welding point to perform laser welding.

[0148] The first module 810, the second module 820, and the third module 830 in the laser welding apparatus 800 may correspond to steps 710 to 730 in the laser welding method 700 shown in FIG7 , respectively. For the sake of brevity, these steps are not described here in detail. It should be understood that, corresponding to the embodiment of the laser welding method 700, the embodiment of the laser welding apparatus 800 may further include more modules.

[0149] It should be noted that the functions of the various modules discussed herein can be divided into multiple modules, and / or at least some functions of multiple modules can be combined into a single module. The specific module discussed herein performing an action includes the specific module itself performing the action, or alternatively, the specific module calling or otherwise accessing another component or module that performs the action (or performs the action in conjunction with the specific module). Therefore, the specific module that performs an action can include the specific module itself that performs the action and / or another module that the specific module calls or otherwise accesses to perform the action.

[0150] It should also be understood that various technologies can be described herein in the general context of software hardware elements or program modules. The above modules described about Figure 8 can be implemented in hardware or in the hardware in conjunction with software and / or firmware. For example, these modules can be implemented as computer program code / instructions, which are configured to be executed in one or more processors and stored in a computer-readable storage medium. Alternatively, these modules can be implemented as hardware logic / circuits. Hardware logic / circuits can include integrated circuit chips (which include processors (for example, central processing unit (CPU), microcontroller, microprocessor, digital signal processor (DSP) etc.), memory, one or more communication interfaces, and / or one or more components in other circuits), and can perform received program code and / or include embedded firmware to perform functions in some embodiments.

[0151] An embodiment of the present application provides a computing device. The computing device includes: at least one processor; and at least one memory communicatively connected to the at least one processor, the at least one memory storing instructions that, when executed individually or collectively by the at least one processor, cause the computing device to perform the laser welding method 700. The computing device is, for example, computing device 900 as shown in FIG9 . FIG9 illustrates an example configuration of computing device 900 that can be used to implement the methods described herein. For example, the aforementioned laser welding apparatus 800 can be implemented in whole or in part by computing device 900 or a similar device or system.

[0152] The computing device 900 may include at least one processor 905, memory 907, communication interface(s) 902, a display device 901, other input / output (I / O) devices 903, and one or more mass storage devices 906, all capable of communicating with one another, such as via a system bus 904 or other appropriate connections. The memory 907 may store instructions that, when executed by the processor 905, cause the processor 905 to perform methods such as those described in the above-described embodiments.

[0153] The computing device 900 can be a variety of different types of devices. Examples of the computing device 900 include, but are not limited to, a desktop computer, a server computer, a laptop or netbook computer, a mobile device (e.g., a tablet computer, a cellular or other wireless phone (e.g., a smartphone), a notepad computer, a mobile station), a wearable device (e.g., eyeglasses, a watch), an entertainment device (e.g., an entertainment appliance, a set-top box communicatively coupled to a display device, a game console), a television or other display device, an automobile computer, and the like.

[0154] The processor 905 may be a single processing unit or multiple processing units, all of which may include a single or multiple computing units or multiple cores. The processor 905 may be implemented as one or more microprocessors, microcomputers, microcontrollers, digital signal processors, central processing units, state machines, logic circuits, and / or any device that manipulates signals based on operational instructions. Among other capabilities, the processor 905 may be configured to retrieve and execute computer-readable instructions stored in the memory 907, mass storage device 906, or other computer-readable media, such as program code for an operating system 908, program code for application programs 909, program code for other programs 910, and the like.

[0155] The memory 907 and the mass storage device 906 are examples of computer-readable storage media for storing instructions that are executed by the processor 905 to implement the various functions described above. For example, the memory 907 may generally include both volatile memory and non-volatile memory (e.g., RAM, ROM, etc.). In addition, the mass storage device 906 may generally include a hard drive, a solid-state drive, removable media, including external and removable drives, memory cards, flash memory, floppy disks, optical disks (e.g., CDs, DVDs), storage arrays, network attached storage, storage area networks, etc. The memory 907 and the mass storage device 906 may all be collectively referred to herein as memory or computer-readable storage media, and may be non-transitory media capable of storing computer-readable, processor-executable program instructions as computer program code, which may be executed by the processor 905 as a specific machine configured to implement the operations and functions described in the examples herein.

[0156] A plurality of programs may be stored on the mass storage device 906. These programs include an operating system 908, one or more application programs 909, other programs 910, and program data 911, and they may be loaded into the memory 907 for execution. Examples of such applications or program modules may include, for example, computer program logic (e.g., computer program code or instructions) for implementing the following components / functions: the laser welding apparatus 800 (including the first module 810, the second module 820, and the third module 830), the laser welding method 700 (including any suitable steps of the laser welding method 700), and / or additional embodiments described herein.

[0157] Although illustrated in FIG. 9 as being stored in memory 907 of computing device 900 , operating system 908 , application programs 909 , other programs 910 , and program data 911 , or portions thereof, may be implemented using any form of computer-readable media accessible by computing device 900 .

[0158] One or more communication interfaces 902 are used to exchange data with other devices, such as via a network, direct connection, and the like. Such communication interfaces can be one or more of the following: any type of network interface (e.g., a network interface card (NIC)), a wired or wireless wireless interface (such as an IEEE 802.11 wireless LAN (WLAN)), a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth™ interface, a Near Field Communication (NFC) interface, and the like. The communication interface 902 can facilitate communication within a variety of network and protocol types, including wired networks (e.g., LAN, cable, and the like) and wireless networks (e.g., WLAN, cellular, satellite, and the like), the Internet, and the like. The communication interface 902 can also provide communication with external storage devices (not shown), such as storage arrays, network attached storage, storage area networks, and the like.

[0159] In some examples, a display device 901 such as a monitor may be included for displaying information and images to the user. Other I / O devices 903 may be devices that receive various inputs from the user and provide various outputs to the user, and may include a touch input device, a gesture input device, a camera, a keyboard, a remote control, a mouse, a printer, an audio input / output device, and the like.

[0160] The technology described herein can be supported by these various configurations of the computing device 900 and is not limited to the specific examples of the technology described herein. For example, the functionality can also be implemented in whole or in part on a "cloud" by using a distributed system. The cloud includes and / or represents a platform for resources. The platform abstracts the underlying functionality of the hardware (e.g., servers) and software resources of the cloud. Resources can include applications and / or data that can be used when performing computing processing on a server away from the computing device 900. Resources can also include services provided over the Internet and / or through a subscriber network such as a cellular or Wi-Fi network. The platform can abstract resources and functions to connect the computing device 900 to other computing devices. Therefore, the implementation of the functions described herein can be distributed throughout the cloud. For example, functions can be implemented partially on the computing device 900 and partially through a platform that abstracts the functions of the cloud.

[0161] An embodiment of the present application further provides a non-transitory computer-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor executes a method as in any of the above embodiments.

[0162] Computer-readable storage media includes volatile and nonvolatile, removable and non-removable media implemented by any method or technology for storage of information, such as computer-readable instructions, data structures, program modules, or other data. Computer-readable storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVDs), or other optical storage devices, magnetic cassettes, magnetic tape, magnetic disk storage devices or other magnetic storage devices, or any other non-transmission media that can be used to store information for access by a computing device.

[0163] An embodiment of the present application further provides a computer program product, comprising instructions, which, when executed by a processor, causes the processor to execute a method as described in any of the above embodiments.

[0164] A specific embodiment of the present application is described below. It should be understood that this specific embodiment is described for illustrative purposes only and should not be construed as limiting the present application.

[0165] As shown in FIG6 , the laser welding apparatus 100 includes a galvanometer assembly 110, a vision assembly 120, a galvanometer protection assembly 130, a fiber protection assembly 140, and a second actuator 150. As shown in FIG1A , the vision assembly 120, the galvanometer protection assembly 130, and the fiber protection assembly 140 are mounted on the galvanometer assembly 110, fixed integrally therewith, and connected to the second actuator 150 via a galvanometer assembly mounting plate 112.

[0166] The laser transmits high-energy laser light via optical fiber to the galvanometer assembly 110, which projects the laser light onto the target welding point between the battery module's pole and tab to weld them. The battery module can be cylindrical, in which case the laser light path projected by the galvanometer assembly 110 is horizontal.

[0167] Two marking points are set on the battery module. As shown in Figure 2, the visual sensor 121 in the visual component 120 images the two marking points on the battery module, thereby calculating the offset value of the galvanometer component 110 relative to the target welding point. During imaging, the light source 124 provides supplemental light. At the same time, the rangefinder 122 in the visual component 120 measures the distance to the target welding points corresponding to the four poles at the head and tail of the battery module, thereby calculating the defocus of the galvanometer component 110 and determining the compensation value for defocus compensation.

[0168] The visual sensor 121, rangefinder 122, and light source 124 are all mounted on a first mounting member 123. The first mounting member 123 is connected to the galvanometer assembly 110. A first actuator 126 is also mounted on the first mounting member 123, which drives the movement of a protective cover 125. During laser welding, the protective cover 125 moves between the visual assembly 120 and the battery module to protect the visual assembly 120.

[0169] A galvanometer protection assembly 130 is located on the laser outlet side of the galvanometer assembly 110. As shown in Figure 3, this assembly 130 includes two air knives 131, arranged along the laser beam path. The air outlets of these air knives are oriented downward, perpendicular to the laser beam path, to minimize the impact of upward splattering of welding slag during welding. Both air knives 131 are mounted on an air knife mounting bracket 132, which is connected to the galvanometer assembly 110.

[0170] The fiber protection assembly 140 is mounted to the galvanometer assembly 110 via a second mounting member 144. As shown in Figure 4, the fiber guide 142 is rotatable relative to the fiber protection frame 141. The fiber is wrapped with a gasket 146 and placed within the fiber guide 142, allowing for synchronous rotation with the fiber guide 142. Two first sensor assemblies 1431 are mounted on the fiber guide 142, diametrically opposed to each other. Two corresponding second sensor assemblies 1432 are mounted on the fiber protection frame 141, diametrically opposed to each other. When the first sensor assemblies 1431 rotate within the sensing range of the second sensor assemblies 1432, the second sensor assemblies 1432 detect the position of the first sensor assemblies 1431 and generate a detection signal instructing the fiber guide 142 to rotate to its limit position, thereby limiting its position. An end cap 145 is mounted on the fiber guide 142. The end cap 145 passes through the fiber and the gasket 146 surrounding the fiber and is secured to the fiber guide 142.

[0171] The galvanometer assembly 110 and the vision assembly 120 are connected to the second actuator 150 and can be moved by the second actuator 150. As shown in Figure 5, the second actuator 150 includes a six-axis robot 151, a pipeline package 152, and a mounting base 153. The six-axis robot 151 is fixed by the mounting base 153 and can drive the galvanometer assembly 110 and the vision assembly 120 to move in various directions. The second actuator 150 drives the vision assembly 120 to perform imaging and ranging. According to the calibration value for offset calibration and the compensation value for defocus compensation determined by the processor 905 in Figure 9, for example, the galvanometer assembly 110 is moved to the working position, the offset calibration and defocus compensation are completed, and the target welding point is welded.

[0172] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A laser welding device (100), comprising: A galvanometer assembly (110) configured to project a laser beam onto a target welding point for laser welding; And A vision assembly (120), including a vision sensor (121) and a rangefinder (122), wherein the vision sensor (121) is configured to determine an offset value of the galvanometer assembly (110) relative to the target welding point for offset calibration, and the rangefinder (122) is configured to determine a defocus amount of the galvanometer assembly (110) for defocus compensation.

2. The laser welding device (100) according to claim 1, wherein, The vision sensor (121) is configured to image a marking point on a welding object to determine the offset value of the galvanometer assembly (110).

3. The laser welding device (100) according to any one of claims 1-2, wherein, The rangefinder (122) is configured to measure the distance to the target welding point to determine the defocus amount of the galvanometer assembly (110).

4. The laser welding device (100) according to any one of claims 1-3, wherein, The vision assembly (120) further includes: A first mounting member (123) on which the vision sensor (121) and the rangefinder (122) are mounted; and A light source (124) mounted on the first mounting member (123), the light source (124) being configured to provide supplementary lighting when the vision sensor (121) images.

5. The laser welding device (100) according to claim 4, further comprising: A protective cover (125) movably connected to the first mounting member (123), configured to move between the vision assembly (120) and the target welding point when the galvanometer assembly (110) performs the laser welding to protect the vision assembly (120).

6. The laser welding device (100) according to claim 5, further comprising: A first actuator (126) configured to drive the protective cover (125) to move relative to the first mounting member (123) between the vision assembly (120) and the target welding point.

7. The laser welding device (100) according to any one of claims 1-6, further comprising: A galvanometer protection assembly (130) located on the laser exit side of the galvanometer assembly (110), the galvanometer protection assembly (130) being configured to provide a transparent isolation layer between the laser exit side of the galvanometer assembly (110) and the target welding point to protect the galvanometer assembly (110).

8. The laser welding device (100) according to claim 7, wherein, The galvanometer protection assembly (130) includes: One or more air knives (131) configured to provide one or more air curtains as the transparent isolation layer on the optical path of the laser beam projected by the galvanometer assembly (110), the one or more air curtains intersecting the optical path of the laser beam, and the plurality of air knives (131) being arranged in sequence along the optical path of the laser beam.

9. The laser welding device (100) according to any one of claims 1-8, further comprising: An optical fiber protection assembly (140) connected to the galvanometer assembly (110), configured to protect the optical fiber that transmits the laser beam to the galvanometer assembly (110).

10. The laser welding device (100) according to claim 9, wherein, The optical fiber protection assembly (140) includes: An optical fiber protection frame (141); An optical fiber guide (142), at least a part of the optical fiber guide (142) is nested inside the optical fiber protection frame (141) and is used to guide the optical fiber to be connected to the galvanometer assembly (110), and the optical fiber guide (142) is configured to be rotatable relative to the optical fiber protection frame (141); and At least one limiter (143), configured to limit the rotation range of the optical fiber guide (142) relative to the optical fiber protection frame (141).

11. The laser welding device (100) according to claim 10, wherein, Any one of the at least one limiter (143) includes: A first sensing assembly (1431), connected to the optical fiber guide (142) to rotate synchronously with the optical fiber guide (142); and A second sensing assembly (1432), connected to the optical fiber protection frame (141), and the second sensing assembly (1432) and the first sensing assembly (1431) cooperate to detect the limit position of the optical fiber guide (142) relative to the optical fiber protection frame (141) for limiting.

12. The laser welding device (100) according to any one of claims 10-11, wherein, The optical fiber protection assembly (140) further includes: A second mounting member (144), connected to the optical fiber protection frame (141), configured to mount the optical fiber protection assembly (140) on the galvanometer assembly (110); and An end cap (145), located at one end of the optical fiber guide (142) opposite to the second mounting member (144), configured to pass through the optical fiber and be fixed to the optical fiber guide (142).

13. The laser welding device (100) according to any one of claims 1-12, further includes: A second actuator (150), connected to the galvanometer assembly (110) and the vision assembly (120), configured to move the galvanometer assembly (110) and the vision assembly (120) to a working position for the laser welding.

14. A laser welding method, applied to the laser welding device (100) described in any one of claims 1-13, wherein, The laser welding method includes: Based on the offset value of the galvanometer assembly (110), controlling the offset calibration of the galvanometer assembly (110); Based on the defocus amount of the galvanometer assembly (110), controlling the defocus compensation of the galvanometer assembly (110); and Controlling the galvanometer assembly (110) to project laser light to the target welding point for the laser welding.

15. A laser welding device, including: A first module, configured to control the offset calibration of the galvanometer assembly (110) based on the offset value of the galvanometer assembly (110); A second module, configured to control the defocus compensation of the galvanometer assembly (110) based on the defocus amount of the galvanometer assembly (110); And A third module, configured to control the galvanometer assembly (110) to project laser light to the target welding point for the laser welding.

16. A computing device, including: At least one processor; And At least one memory communicatively coupled to the at least one processor, the at least one memory storing instructions that, when executed by the at least one processor alone or in combination, cause the computing device to perform the method of claim 14.

17. A non-transitory computer-readable storage medium having instructions stored thereon that, when executed by one or more processors of a computing device alone or in combination, cause the computing device to perform the method of claim 14.

18. A computer program product comprising instructions that, when executed by one or more processors of a computing device alone or in combination, cause the computing device to perform the method of claim 14.

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