CN110814517A - Method, device, equipment and storage medium for controlling laser galvanometer welding - Google Patents
Method, device, equipment and storage medium for controlling laser galvanometer welding Download PDFInfo
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- CN110814517A CN110814517A CN201911028504.3A CN201911028504A CN110814517A CN 110814517 A CN110814517 A CN 110814517A CN 201911028504 A CN201911028504 A CN 201911028504A CN 110814517 A CN110814517 A CN 110814517A
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- 238000000034 method Methods 0.000 title claims abstract description 67
- 238000003780 insertion Methods 0.000 claims abstract description 111
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- 238000004590 computer program Methods 0.000 claims description 23
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Abstract
The application relates to a method, a device, equipment and a storage medium for controlling laser galvanometer welding, wherein the method comprises the following steps: receiving a galvanometer control instruction insertion request, and displaying candidate galvanometer control instructions on an editing page for editing a welding program; selecting a target galvanometer control instruction from the displayed candidate galvanometer control instructions; determining the insertion position of the target galvanometer control command; inserting the target galvanometer control command into the welding program according to the inserting position; the galvanometer control subprogram does not need to be written and the subprogram name does not need to be manually input during calling, so that the error rate of the welding program is reduced; when the programmable controller runs the welding program, the laser galvanometer welding can be controlled through a target galvanometer control instruction in the running welding program, so that the efficiency of the laser galvanometer welding is improved.
Description
Technical Field
The present application relates to the field of laser welding technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling welding of a laser galvanometer.
Background
In the traditional method for controlling the laser galvanometer welding, firstly, a robot demonstrator is used for compiling a galvanometer control subprogram, and then the galvanometer control subprogram is called in a welding main program, so that the robot laser galvanometer welding is realized. For each laser galvanometer welding device, the galvanometer control subprogram needs to be manually written by welding process personnel, and the subprogram name needs to be manually input when the corresponding galvanometer control subprogram is called in the main program. However, by writing the galvanometer control subprogram and manually inputting the subprogram name during calling, the error probability is increased, and the welding efficiency of the laser galvanometer is influenced.
Disclosure of Invention
In view of the above, it is necessary to provide a method, an apparatus, a device and a storage medium for controlling laser galvanometer welding, aiming at the technical problem of low debugging efficiency of a welding program.
A method of controlling laser galvanometer welding, comprising:
receiving a galvanometer control instruction insertion request, and displaying candidate galvanometer control instructions on an editing page for editing a welding program;
selecting a target galvanometer control instruction from the displayed candidate galvanometer control instructions;
determining the insertion position of the target galvanometer control command;
inserting the target galvanometer control command into the welding program according to the inserting position; and the welding program is used for controlling the laser galvanometer welding according to the target galvanometer control instruction.
In one embodiment, the candidate galvanometer control instructions include: a mode control type galvanometer mode control instruction, a working parameter control type galvanometer working parameter control instruction, a welding start type galvanometer welding start instruction and a welding stop type galvanometer welding stop instruction;
after the determining the insertion position of the target galvanometer control command, the method further comprises:
determining the instruction type of the target galvanometer control instruction;
judging whether the determined insertion position meets the insertion condition of the galvanometer control instruction or not according to the instruction type of the target galvanometer control instruction and the instruction inserted historically in the welding program;
and if the inserting position meets the inserting condition of the galvanometer control command, executing the step of inserting the target galvanometer control command into the welding program according to the inserting position.
In one embodiment, the galvanometer control instruction insertion condition includes:
the insertion position corresponding to the galvanometer mode control instruction is before the insertion position of the galvanometer working parameter control instruction;
the inserting position corresponding to the galvanometer parameter control command is before the inserting position of the galvanometer welding starting command;
and the insertion position corresponding to the galvanometer welding starting command is before the insertion position of the galvanometer welding stopping command.
In one embodiment, when the selected target galvanometer control command is a galvanometer mode control command, the method further includes:
displaying a mode input box on the editing page;
acquiring a mode identifier input in the mode input box;
the inserting the target galvanometer control command into the welding program comprises:
and inserting the selected galvanometer mode control command and the mode identifier into the welding program.
In one embodiment, when the selected target galvanometer control command is a galvanometer parameter control command, the method further includes:
displaying a galvanometer worker parameter input box on the editing page;
acquiring a parameter identifier input in the galvanometer parameter input box;
the inserting the target galvanometer control command into the welding program comprises:
and inserting the selected galvanometer parameter control command and the parameter identifier into the welding program.
In one embodiment, the operating the welding program to control laser galvanometer welding through a target galvanometer control command in the operating welding program includes:
the welding program is operated, and the working mode of laser galvanometer welding is controlled through a galvanometer mode control instruction in the operated welding program; and controlling the movement of the laser galvanometer in the welding process of the laser galvanometer through a galvanometer parameter control instruction in the running welding program.
An apparatus for controlling laser galvanometer welding, the apparatus comprising:
the inserting request receiving module is used for receiving a galvanometer control instruction inserting request and displaying candidate galvanometer control instructions on an editing page used for editing a welding program;
the target galvanometer control instruction selection module is used for selecting a target galvanometer control instruction from the displayed candidate galvanometer control instructions;
the insertion position determining module is used for determining the insertion position of the target galvanometer control command;
the target galvanometer control instruction inserting module is used for inserting the target galvanometer control instruction into the welding program according to the inserting position; and the welding program is used for controlling the laser galvanometer welding according to the target galvanometer control instruction.
In one embodiment, the candidate galvanometer control instructions include: a mode control type galvanometer mode control instruction, a working parameter control type galvanometer working parameter control instruction, a welding start type galvanometer welding start instruction and a welding stop type galvanometer welding stop instruction;
the device further comprises:
the instruction type determining module is used for determining the instruction type of the target galvanometer control instruction;
the inserting position judging module is used for judging whether the determined inserting position meets the inserting condition of the galvanometer control instruction or not according to the instruction type of the target galvanometer control instruction and the instruction inserted historically in the welding program; and if the inserting position meets the inserting condition of the galvanometer control command, executing the step of inserting the target galvanometer control command into the welding program according to the inserting position.
In one embodiment, when the selected target galvanometer control command is a galvanometer mode control command, the apparatus further includes:
the mode input box display module is used for displaying a mode input box on the editing page;
a mode identifier acquiring module, configured to acquire a mode identifier input in the mode input box;
the target galvanometer control instruction insertion module is further configured to:
and inserting the selected galvanometer mode control command and the mode identifier into the welding program.
In one embodiment, when the selected target galvanometer control command is a galvanometer parameter control command, the apparatus further includes:
the parameter input box display module is used for displaying the galvanometer parameter input box on the editing page;
the parameter identification acquisition module is used for acquiring the parameter identification input in the galvanometer parameter input box;
the target galvanometer control instruction insertion module is further configured to:
and inserting the selected galvanometer parameter control command and the parameter identifier into the welding program.
In one embodiment, the target galvanometer control instruction insertion module is further configured to:
the welding program is operated through a programmable controller, and the working mode of the laser galvanometer welding is controlled through a galvanometer mode control instruction in the operated welding program; and controlling the movement of the laser galvanometer in the welding process of the laser galvanometer through a galvanometer parameter control instruction in the running welding program.
A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of any of the methods described above.
A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of any of the methods described above.
According to the method, the device, the equipment and the storage medium for controlling the welding of the laser galvanometer, when a galvanometer control instruction insertion request is received, candidate galvanometer control instructions are displayed on an editing page for editing a welding program; selecting a target galvanometer control instruction from the displayed candidate galvanometer control instructions; determining the insertion position of a target galvanometer control command; the target galvanometer control instruction can be quickly inserted into the welding program according to the insertion position without compiling a galvanometer control subprogram and manually inputting a subprogram name during calling, so that the error rate of the welding program is reduced; when the programmable controller runs the welding program, the laser galvanometer welding can be controlled through a target galvanometer control instruction in the running welding program, so that the efficiency of the laser galvanometer welding is improved.
Drawings
FIG. 1 is a diagram of an exemplary embodiment of a method for controlling laser galvanometer welding;
FIG. 2 is a schematic flow chart illustrating a method for controlling laser galvanometer welding in one embodiment;
FIG. 3 is a schematic diagram of welding parameters of a laser galvanometer in one embodiment;
FIG. 4 is a diagram of an edit page in one embodiment;
FIG. 5 is a schematic flow chart illustrating a method for controlling laser galvanometer welding in one embodiment;
FIG. 6 is a schematic view of an embodiment of a robot controlling the path of galvanometer movement;
FIG. 7 is a schematic flow chart illustrating a method for controlling laser galvanometer welding in one embodiment;
FIG. 8 is a schematic flow chart illustrating a method for controlling laser galvanometer welding in one embodiment;
FIG. 9 is a schematic flow chart illustrating a method for controlling laser galvanometer welding in one embodiment;
FIG. 10 is a block diagram showing an example of an apparatus for controlling laser galvanometer welding;
FIG. 11 is a block diagram showing the construction of an apparatus for controlling laser galvanometer welding in another embodiment;
FIG. 12 is a block diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
FIG. 1 is a diagram of an exemplary embodiment of a method for controlling laser galvanometer welding. Referring to fig. 1, the method for controlling laser galvanometer welding is applied to a system for controlling laser galvanometer welding. The system for controlling laser galvanometer welding includes a terminal 110, a programmable controller 120, and a laser galvanometer welding device 130. The terminal 110 and the laser galvanometer welding device 130 are communicatively coupled via the programmable controller 120. The terminal 110 may specifically be a desktop terminal or a mobile terminal, and the mobile terminal may specifically be at least one of a mobile phone, a tablet computer, a notebook computer, and the like. Laser galvanometer welding equipment 130 includes the laser instrument, shakes the mirror, welding robot, welding frock clamp etc. wherein shakes the mirror and sets up on the robot, and the removal of robot can drive and shake the mirror and remove.
In one embodiment, as shown in FIG. 2, a method of controlling laser galvanometer welding is provided. The embodiment is mainly illustrated by applying the method to the terminal 110 in fig. 1. Referring to fig. 2, the method for controlling the welding of the laser galvanometer specifically comprises the following steps:
s202, receiving a galvanometer control instruction insertion request, and displaying candidate galvanometer control instructions on an editing page for editing a welding program.
Wherein, mirror vibration control command is the control command that can control the mirror vibration system of laser welding equipment through this instruction in welding process, and mirror vibration control command includes: the control method comprises a galvanometer mode control instruction, a galvanometer parameter control instruction, a galvanometer welding starting instruction and a galvanometer welding stopping instruction. The candidate galvanometer control command corresponds to a command type, and the command type comprises: the welding mode control type, the work parameter control type, the welding start type and the welding stop type are determined, for example, the galvanometer mode control command corresponds to the mode control type, the galvanometer work parameter control command corresponds to the work parameter control type, the galvanometer welding start command corresponds to the welding start type, and the galvanometer welding stop command corresponds to the welding stop type.
And S204, selecting a target galvanometer control command from the displayed candidate galvanometer control commands.
In one embodiment, the galvanometer mode control command is used to determine a galvanometer mode during a laser galvanometer welding process. For example, robot static welding teaching mode (Teach team): in this mode, the teaching welding focus coincides with the actual weld; robot static welding working mode (Work team): in the mode, the robot is static, and the galvanometer is welded; software teaching mode (TeachSeam Point): in this mode, the upper computer software can check whether the welding focus moves along the actual welding line; in the robot dynamic welding teaching mode (Rob Teach team), in the robot dynamic welding teaching mode, the robot moves and checks whether a welding focus is superposed with an actual welding Seam; a robot dynamic welding working mode (Rob Work team), wherein in the mode, the robot moves and welds while vibrating a mirror; a spot welding teaching mode (Teach Point), wherein in the mode, a welding Point can be taught; spot welding mode (WorkPoint), in which a spot can be welded.
In one embodiment, the galvanometer parameter control command is used for determining welding working parameters of the laser galvanometer so as to control the movement of the laser galvanometer in the welding process of the laser galvanometer. The galvanometer parameters comprise a workpiece (PartComponent), a Track (Track Robot), a Track focus (Track Point Robot) and a welding Seam (sea Welded). Referring to fig. 3, the relationship between the workpiece, the trajectory focus, and the weld is illustrated. The workpiece is a welding object, the workpiece can be different products to be welded, and different products are corresponding to workpiece numbers, such as Part 0-Part n; the tracks are welding tracks, such as points, line segments, circles, ellipses, polygons and other shapes, namely, the tracks can be multiple, such as Track 0-Track n; the Track focus is used for ensuring that the laser energy is controlled to be the maximum value at the welding position by the laser galvanometer in the welding process, and a plurality of Track focuses can be provided, such as Track Point 0-Track Point n; the welding Seam is a position to be welded on the workpiece, and a plurality of welding seams, such as Seam 0-Seam n, can be arranged on one track of one workpiece.
In one embodiment, the terminal presents an editing page for editing the welding program. In the process of editing the welding program, when a galvanometer control command insertion request is received, a candidate galvanometer control command is obtained from a database, the obtained candidate galvanometer control command is displayed on the editing page, and then a target galvanometer control command is selected from the candidate galvanometer control command so as to be inserted into the welding program edited by the editing page.
Taking the edit page shown in fig. 4 as an example, a description is given to display a candidate galvanometer control instruction in the edit page, as shown in fig. 4, a welding program being edited is displayed on the edit page, when an "instruction" button at the lower left corner of the edit page is triggered, a page to be inserted is displayed in the program edit page, and when an "Rlsk (galvanometer)" button is triggered, a candidate galvanometer control instruction is displayed on the page, where the galvanometer control instructions in fig. 4 include: rlsk _ Mode (galvanometer Mode control command), Rlsk _ Param (galvanometer parameter control command), Rlsk _ Start (galvanometer welding Start command), and Rlsk _ Stop (galvanometer welding Stop command). And when detecting that the galvanometer mode control instruction or the galvanometer working parameter control instruction is triggered, displaying a corresponding input frame so as to input a target galvanometer mode or a target galvanometer working parameter.
And S206, determining the insertion position of the target galvanometer control command.
The inserting position is the position where the target control instruction is inserted after the welding program edited by the editing page.
In one embodiment, when a trigger operation on an editing page is detected, the position where the trigger operation occurs is acquired, and the position is determined as the insertion position of the target galvanometer control instruction. The trigger operation may be a touch operation or a click operation.
And S208, inserting the target galvanometer control command into a welding program according to the inserting position, wherein the welding program is used for controlling the laser galvanometer welding according to the target galvanometer control command.
In one embodiment, after the terminal determines the insertion position of the target galvanometer control instruction, the terminal inserts the target galvanometer control instruction into the welding program edited by the editing page according to the insertion position, and displays the inserted target galvanometer control instruction at the corresponding position of the welding program of the editing page.
In one embodiment, the terminal may execute step 208 followed by step 202 and 208, so that the insertion of different target galvanometer control instructions may be achieved.
In one embodiment, the terminal sends the welding program inserted with the target galvanometer control command to the programmable controller, and when the welding program is run through the programmable controller, the welding of the laser galvanometer is controlled through the target galvanometer control command in the running welding program. For example, the working mode of laser galvanometer welding is controlled through a galvanometer mode control instruction in a running welding program; controlling the movement of the laser galvanometer in the welding process of the laser galvanometer through a galvanometer parameter control instruction in an operating welding program, for example, controlling the laser galvanometer to move to a corresponding position, and performing laser welding according to a determined welding object, a welding track, a track focus, a welding seam and the like; and controlling the laser galvanometer to execute the starting and stopping of the welding process at the determined position through a galvanometer welding starting instruction and a welding stopping instruction in the running welding program.
In the embodiment, when the terminal receives the galvanometer control instruction insertion request, the candidate galvanometer control instruction is displayed on an editing page for editing the welding program; selecting a target galvanometer control instruction from the displayed candidate galvanometer control instructions; determining the insertion position of a target galvanometer control command; the target galvanometer control instruction can be quickly inserted into the welding program according to the insertion position without compiling a galvanometer control subprogram and manually inputting a subprogram name during calling, so that the error rate of the welding program is reduced; when the programmable controller runs the welding program, the laser galvanometer welding can be controlled through a target galvanometer control instruction in the running welding program, so that the efficiency of the laser galvanometer welding is improved.
In one embodiment, as shown in fig. 5, the method of controlling laser galvanometer welding further comprises the steps of:
and S502, identifying the command type of the target galvanometer control command.
S504, judging whether the determined insertion position meets the insertion condition of the galvanometer control instruction or not according to the instruction type of the target galvanometer control instruction and the instruction inserted historically in the welding program.
Wherein, the galvanometer control instruction insertion condition comprises: the insertion position corresponding to the galvanometer mode control instruction is before the insertion position of the galvanometer parameter control instruction; the inserting position corresponding to the galvanometer parameter control command is before the inserting position of the galvanometer welding starting command; and the insertion position corresponding to the galvanometer welding starting command is before the insertion position of the galvanometer welding stopping command.
In one embodiment, after the terminal determines the insertion position of the target galvanometer control command, the terminal identifies the command type of the target galvanometer control command, acquires the command type and the insertion position of the insertion command in the welding program, and then judges whether the determined insertion position of the target galvanometer control command meets the galvanometer control command insertion condition or not according to the command type of the target galvanometer control command and the command type and the insertion position of the insertion command in the welding program. And if the determined insertion position of the target galvanometer control command meets the galvanometer control command insertion condition, executing a step of inserting the target galvanometer control command into the welding program according to the insertion position. And if the determined insertion position does not accord with the inserting condition of the galvanometer control instruction, refusing to insert the target galvanometer control instruction.
The insertion condition of the galvanometer control command is described by taking a complete laser galvanometer welding process as an example. As shown in FIG. 6, the workpiece to be welded has two parts, part 1 and part 2, and part 1 and part 2 are welded along a weld joint P3-P4, and the moving route of the robot controlled galvanometer in the welding process is Home-P1-P2-P3-P4-P5-Home. The galvanometer welding mode can be selected when the galvanometer moves to any position between Home-P1-P2, galvanometer parameters can be set when the galvanometer moves to any position between P2-P3, P3-P4 are parts to be actually welded by laser, a welding starting command must be called when the galvanometer moves to a point P3, and a welding stopping command must be called when the galvanometer moves to a point P4. Therefore, the position of the galvanometer mode selection command in the welding program is before the position of the galvanometer parameter control command, the position of the galvanometer parameter control command is before the position of the galvanometer welding start command, the position of the galvanometer welding start command is before the position of the galvanometer welding stop command, the welding start command is at the starting point of the welding seam, and the welding stop command is at the end point of the welding seam.
In the embodiment, the terminal judges whether the determined insertion position meets the insertion condition of the galvanometer control instruction or not by identifying the instruction type of the target galvanometer control instruction and according to the instruction type of the target galvanometer control instruction and the instruction inserted historically in the welding program, so that the target galvanometer control instruction is inserted into the welding program when the determined insertion position meets the insertion condition of the galvanometer control instruction, the logic sequence of the inserted instruction can be ensured, and the error rate of the welding program is reduced; when the programmable controller runs the welding program, the laser galvanometer welding can be controlled through a target galvanometer control instruction in the running welding program, so that the efficiency of the laser galvanometer welding is improved.
In one embodiment, as shown in fig. 7, when the terminal detects that the selected target galvanometer control command is a galvanometer mode selection command, the method for controlling laser galvanometer welding further includes the following steps:
s702, displaying a mode input box on the edit page.
The mode input box is used for inputting a mode identifier corresponding to a to-be-inserted galvanometer control mode, and the to-be-inserted galvanometer control mode can be any one of a robot static welding teaching mode, a robot static welding working mode, a software teaching mode, a robot dynamic welding working mode, a spot welding teaching mode and a spot welding working mode. The mode identification corresponds to the galvanometer control mode, and the mode identification can be the number of the galvanometer control mode, for example, number 0 corresponds to the robot static welding teaching mode, number 2 corresponds to the robot static welding working mode, number 3 corresponds to the software teaching mode, number 4 corresponds to the robot dynamic welding teaching mode, number 5 corresponds to the robot dynamic welding working mode, number 6 corresponds to the spot welding teaching mode, and number 7 corresponds to the spot welding working mode.
S704, acquiring the mode identification input in the mode input box.
And S706, inserting the selected galvanometer mode control command and the mode identifier into a welding program.
In one embodiment, after the terminal acquires the mode identifier, the terminal inserts the selected galvanometer mode control instruction and the mode identifier into the welding program according to the determined insertion position, so that when the program runs, the laser galvanometer is controlled to work in the galvanometer mode corresponding to the welding mode identifier through the inserted galvanometer mode control instruction and the mode identifier.
In the embodiment, when the terminal detects that the selected target galvanometer control instruction is the galvanometer mode selection instruction, the mode input frame is displayed on the editing page, the mode identifier input in the mode input frame is acquired, and the selected galvanometer mode control instruction and the mode identifier are inserted into the welding program, so that the galvanometer mode control instruction and the mode identifier can be quickly inserted into the welding program without manually writing the welding mode subprogram and manually inputting the subprogram name during calling, and the error rate of the welding program is reduced; when the programmable controller runs the welding program, the laser galvanometer is controlled to carry out laser welding in the galvanometer mode corresponding to the mode identification, so that the welding efficiency of the laser galvanometer is improved.
In one embodiment, as shown in fig. 8, when the terminal detects that the selected target galvanometer control command is a galvanometer parameter control command, the method for controlling laser galvanometer welding further includes the following steps:
and S802, displaying a galvanometer worker parameter input box on the edit page.
Wherein, the mirror worker's parameter input box that shakes includes: a workpiece input box, a track focus input box and a weld input box. The workpiece input box is used for determining a laser-welded workpiece; a trajectory input box for determining a welding trajectory used in welding the selected workpiece; the track focus input box is used for determining a track focus used when the determined welding track is used for welding the determined workpiece; the weld input box is used to select a weld for the target weld.
S804, acquiring the parameter identification input in the galvanometer parameter input box.
Wherein, the parameter identification comprises: workpiece identification, track focus identification and weld joint identification. Such as workpiece 0 to workpiece n (Part 0-Part n), Track 0 to Track n (Track 0-Track n), Track focus 0 to Track focus n (Track Point 0-Track Point n), and weld 0 to weld n (Seam 0-Seam n).
And S806, inserting the selected galvanometer parameter control command and the parameter identifier into a welding program.
In one embodiment, after the terminal acquires the parameter identifier, the terminal inserts the selected galvanometer parameter selection instruction and the parameter identifier into the welding program according to the determined insertion position, so that when the program runs, the laser galvanometer is controlled to perform laser galvanometer welding on the determined workpiece by adopting the determined track, the track focus and the welding seam through the inserted galvanometer parameter selection instruction and the parameter identifier.
In the embodiment, when the terminal detects that the selected target galvanometer control instruction is the galvanometer parameter control instruction, the galvanometer parameter input frame is displayed on the editing page, the parameter identification input in the galvanometer parameter input frame is acquired, and the selected galvanometer parameter control instruction and the parameter identification are inserted into the welding program, so that the galvanometer working parameters can be quickly inserted into the welding program without manually writing specific parameters, and the error rate of the welding program is reduced; when the programmable controller runs the welding program, the laser galvanometer is controlled to perform laser galvanometer welding on the determined workpiece by adopting the determined track, the track focus and the welding seam, so that the efficiency of the laser galvanometer welding is improved.
In an embodiment, as shown in fig. 9, a laser galvanometer welding method is further provided, and the method is described by taking the application of the method to the terminal shown in fig. 1 as an example, and specifically includes the following steps:
and S902, receiving a galvanometer control instruction insertion request, and displaying candidate galvanometer control instructions on an editing page for editing the welding program.
And S904, selecting a target galvanometer control command from the displayed candidate galvanometer control commands.
And S906, determining the insertion position of the target galvanometer control command.
And S908, identifying the type of the target galvanometer control command.
S910, judging whether the determined insertion position meets the insertion condition of the galvanometer control instruction or not according to the type of the target galvanometer control instruction and the inserted instruction in the welding program.
S912, when the selected target galvanometer control instruction is a galvanometer mode control instruction, displaying a mode input box on the edit page; acquiring a mode identifier input in a mode input box; and inserting the selected galvanometer mode control command and the mode identifier into the welding program according to the determined insertion position.
S914, when the selected target galvanometer control instruction is a galvanometer parameter control instruction, displaying a galvanometer parameter input box on an edit page; acquiring a parameter identifier input in a parameter selection input box; and inserting the selected galvanometer parameter control command and the parameter identification into the welding program according to the determined insertion position.
And S916, when the selected target galvanometer control command is a welding starting command or a welding stopping command, inserting the welding starting command or the welding stopping command into a welding program according to the determined insertion position.
And S918, operating the welding program to control the welding of the laser galvanometer through a target galvanometer control command in the operated welding program.
Fig. 2, 5, 7, 8, and 9 are flow diagrams illustrating a method of controlling laser galvanometer welding in one embodiment. It should be understood that although the steps in the flowcharts of fig. 2, 5, 7, 8 and 9 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2, 5, 7, 8, and 9 may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 10, there is provided an apparatus for controlling laser galvanometer welding, the apparatus comprising: an insertion request receiving module 1002, a target galvanometer control instruction selecting module 1004, an insertion position determining module 1006 and a target galvanometer control instruction inserting module 1008, wherein:
an insertion request receiving module 1002, configured to receive a galvanometer control instruction insertion request, and display a candidate galvanometer control instruction on an editing page used for editing a welding program;
a target galvanometer control instruction selecting module 1004, configured to select a target galvanometer control instruction from the displayed candidate galvanometer control instructions;
an insertion position determining module 1006, configured to determine an insertion position of the target galvanometer control command; the target galvanometer control instruction insertion module 1008 is used for inserting the target galvanometer control instruction into a welding program according to the insertion position; and the welding program is used for controlling the laser galvanometer welding according to the target galvanometer control instruction.
In the embodiment, when the terminal receives the galvanometer control instruction insertion request, the candidate galvanometer control instruction is displayed on an editing page for editing the welding program; selecting a target galvanometer control instruction from the displayed candidate galvanometer control instructions; determining the insertion position of a target galvanometer control command; the target galvanometer control instruction can be quickly inserted into the welding program according to the insertion position without compiling a galvanometer control subprogram and manually inputting a subprogram name during calling, so that the error rate of the welding program is reduced; when the programmable controller runs the welding program, the laser galvanometer welding can be controlled through a target galvanometer control instruction in the running welding program, so that the efficiency of the laser galvanometer welding is improved.
In one embodiment, the galvanometer candidate control instructions include: a mode control type galvanometer mode control instruction, a working parameter control type galvanometer working parameter control instruction, a welding start type galvanometer welding start instruction and a welding stop type galvanometer welding stop instruction; as shown in fig. 11, the apparatus further includes an instruction type determining module 1010 and an insertion position judging module 1012; wherein:
the instruction type determining module 1010 is used for determining the instruction type of the target galvanometer control instruction;
an insertion position judging module 1012, configured to judge whether the determined insertion position meets an insertion condition of the galvanometer control instruction according to the instruction type of the target galvanometer control instruction and an instruction inserted historically in the welding program; and if the inserting position meets the inserting condition of the galvanometer control instruction, executing a step of inserting the target galvanometer control instruction into the welding program according to the inserting position.
In the embodiment, the terminal judges whether the determined insertion position meets the insertion condition of the galvanometer control instruction or not by identifying the instruction type of the target galvanometer control instruction and according to the instruction type of the target galvanometer control instruction and the instruction inserted historically in the welding program, so that the target galvanometer control instruction is inserted into the welding program when the determined insertion position meets the insertion condition of the galvanometer control instruction, the logic sequence of the inserted instruction can be ensured, and the error rate of the welding program is reduced; when the programmable controller runs the welding program, the laser galvanometer welding can be controlled through a target galvanometer control instruction in the running welding program, so that the efficiency of the laser galvanometer welding is improved.
In one embodiment, when the selected target galvanometer control command is a galvanometer mode control command, as shown in fig. 11, the apparatus further includes: a mode input box presentation module 1014 and a mode identification acquisition module 1016, wherein:
a mode input box display module 1014 for displaying a mode input box on an edit page;
a mode identifier obtaining module 1016, configured to obtain a mode identifier input in the mode input box;
the target galvanometer control instruction insertion module 1008 is further configured to:
and inserting the selected galvanometer mode control command and the mode identifier into a welding program.
In the embodiment, when the terminal detects that the selected target galvanometer control instruction is the galvanometer mode selection instruction, the mode input frame is displayed on the editing page, the mode identifier input in the mode input frame is acquired, and the selected galvanometer mode control instruction and the mode identifier are inserted into the welding program, so that the galvanometer mode control instruction and the mode identifier can be quickly inserted into the welding program without manually writing the welding mode subprogram and manually inputting the subprogram name during calling, and the error rate of the welding program is reduced; when the programmable controller runs the welding program, the laser galvanometer is controlled to carry out laser welding in the galvanometer mode corresponding to the mode identification, so that the welding efficiency of the laser galvanometer is improved.
In one embodiment, when the selected target galvanometer control command is a galvanometer parameter control command, as shown in fig. 11, the apparatus further includes: a parameter input box presentation module 1018 and a parameter identification acquisition module 1020, wherein:
a parameter input box display module 1018 for displaying the galvanometer parameter input box on the editing page;
a parameter identifier acquiring module 1020 for acquiring the parameter identifier input in the galvanometer parameter input box;
the target galvanometer control instruction insertion module 1008 is further configured to:
and inserting the selected galvanometer parameter control command and the parameter identifier into a welding program.
In one embodiment, the target galvanometer control instruction insertion module 1008 is further configured to:
the welding program is operated through a programmable controller, and the working mode of laser galvanometer welding is controlled through a galvanometer mode control instruction in the operated welding program; and controlling the movement of the laser galvanometer in the welding process of the laser galvanometer through a galvanometer parameter control instruction in the running welding program.
In the embodiment, when the terminal detects that the selected target galvanometer control instruction is the galvanometer parameter control instruction, the galvanometer parameter input frame is displayed on the editing page, the parameter identification input in the galvanometer parameter input frame is acquired, and the selected galvanometer parameter control instruction and the parameter identification are inserted into the welding program, so that the galvanometer working parameters can be quickly inserted into the welding program without manually writing specific parameters, and the error rate of the welding program is reduced; when the programmable controller runs the welding program, the laser galvanometer is controlled to perform laser galvanometer welding on the determined workpiece by adopting the determined track, the track focus and the welding seam, so that the efficiency of the laser galvanometer welding is improved.
FIG. 12 is a diagram illustrating an internal structure of a computer device in one embodiment. The computer device may specifically be the terminal 110 in fig. 1. As shown in fig. 12, the computer apparatus includes a processor, a memory, a network interface, an input device, and a display screen connected through a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program that, when executed by the processor, causes the processor to implement a method of controlling laser galvanometer welding. The internal memory may also have stored thereon a computer program that, when executed by the processor, causes the processor to perform a method of controlling laser galvanometer welding. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 12 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, the apparatus for controlling laser galvanometer welding provided herein may be implemented in the form of a computer program that is executable on a computer device such as that shown in fig. 1. The memory of the computer device may store various program modules constituting the apparatus for controlling laser galvanometer welding, such as an insertion request receiving module 1002, a target galvanometer control command selecting module 1004, an insertion position determining module 1006, and a target galvanometer control command inserting module 1008 shown in fig. 10. The computer program constituted by the respective program modules causes the processor to execute the steps in the method of controlling laser galvanometer welding of the various embodiments of the present application described in the present specification.
For example, the computer apparatus shown in fig. 12 may perform S202 through the insertion request receiving module 1002 in the apparatus for controlling laser galvanometer welding shown in fig. 10. The computer apparatus may perform S204 through the target galvanometer control instruction selection module 1004. The computer device may perform S206 by the insertion location determination module 1006. The computer apparatus may perform S208 through the target galvanometer control instruction insertion module 1008.
In one embodiment, there is provided a computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of: receiving a galvanometer control instruction insertion request, and displaying candidate galvanometer control instructions on an editing page for editing a welding program; selecting a target galvanometer control instruction from the displayed candidate galvanometer control instructions; determining the insertion position of a target galvanometer control command; inserting a target galvanometer control instruction into a welding program according to the insertion position; and operating the welding program to control the laser galvanometer welding through the target galvanometer control command in the operated welding program.
In one embodiment, the galvanometer candidate control instructions include: a mode control type galvanometer mode control instruction, a working parameter control type galvanometer working parameter control instruction, a welding start type galvanometer welding start instruction and a welding stop type galvanometer welding stop instruction;
the computer program, when executed by the processor, causes the processor to further perform the steps of: determining the instruction type of a target galvanometer control instruction; judging whether the determined insertion position meets the insertion condition of the galvanometer control instruction or not according to the instruction type of the target galvanometer control instruction and the instruction inserted historically in the welding program; and if the inserting position meets the inserting condition of the galvanometer control instruction, executing a step of inserting the target galvanometer control instruction into the welding program according to the inserting position.
In one embodiment, when the selected target galvanometer control instruction is a galvanometer mode control instruction, the computer program, when executed by the processor, causes the processor to further perform the steps of: displaying a mode input box on an editing page; acquiring a mode identifier input in a mode input box;
the computer program, when executed by the processor, causes the processor to perform the steps of inserting the target galvanometer control command into the welding program: and inserting the selected galvanometer mode control command and the mode identifier into a welding program.
In one embodiment, when the selected target galvanometer control command is a galvanometer parameter control command, the computer program, when executed by the processor, causes the processor to further perform the steps of: displaying a galvanometer worker parameter input box on an editing page; acquiring a parameter identifier input in a galvanometer parameter input box;
the computer program, when executed by the processor, causes the processor to perform the steps of inserting the target galvanometer control command into the welding program: and inserting the selected galvanometer parameter control command and the parameter identifier into a welding program.
In one embodiment, when the computer program is executed by the processor to control the laser galvanometer welding step according to the target galvanometer control command, the processor is specifically caused to execute the following steps: the welding program is operated through a programmable controller, and the working mode of laser galvanometer welding is controlled through a galvanometer mode control instruction in the operated welding program; and controlling the movement of the laser galvanometer in the welding process of the laser galvanometer through a galvanometer parameter control instruction in the running welding program.
In one embodiment, a computer readable storage medium is provided, storing a computer program that, when executed by a processor, causes the processor to perform the steps of: receiving a galvanometer control instruction insertion request, and displaying candidate galvanometer control instructions on an editing page for editing a welding program; selecting a target galvanometer control instruction from the displayed candidate galvanometer control instructions; determining the insertion position of a target galvanometer control command; inserting a target galvanometer control instruction into a welding program according to the insertion position; and operating the welding program to control the laser galvanometer welding through the target galvanometer control command in the operated welding program.
In one embodiment, the galvanometer candidate control instructions include: a mode control type galvanometer mode control instruction, a working parameter control type galvanometer working parameter control instruction, a welding start type galvanometer welding start instruction and a welding stop type galvanometer welding stop instruction;
the computer program, when executed by the processor, causes the processor to further perform the steps of: determining the instruction type of a target galvanometer control instruction; judging whether the determined insertion position meets the insertion condition of the galvanometer control instruction or not according to the instruction type of the target galvanometer control instruction and the instruction inserted historically in the welding program; and if the inserting position meets the inserting condition of the galvanometer control instruction, executing a step of inserting the target galvanometer control instruction into the welding program according to the inserting position.
In one embodiment, when the selected target galvanometer control instruction is a galvanometer mode control instruction, the computer program, when executed by the processor, causes the processor to further perform the steps of: displaying a mode input box on an editing page; acquiring a mode identifier input in a mode input box;
the computer program, when executed by the processor, causes the processor to perform the steps of inserting the target galvanometer control command into the welding program: and inserting the selected galvanometer mode control command and the mode identifier into a welding program.
In one embodiment, when the selected target galvanometer control command is a galvanometer parameter control command, the computer program, when executed by the processor, causes the processor to further perform the steps of: displaying a galvanometer worker parameter input box on an editing page; acquiring a parameter identifier input in a galvanometer parameter input box;
the computer program, when executed by the processor, causes the processor to perform the steps of inserting the target galvanometer control command into the welding program: and inserting the selected galvanometer parameter control command and the parameter identifier into a welding program.
In one embodiment, when the computer program is executed by the processor to control the laser galvanometer welding step according to the target galvanometer control command, the processor is specifically caused to execute the following steps: the welding program is operated through a programmable controller, and the working mode of laser galvanometer welding is controlled through a galvanometer mode control instruction in the operated welding program; and controlling the movement of the laser galvanometer in the welding process of the laser galvanometer through a galvanometer parameter control instruction in the running welding program.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of controlling laser galvanometer welding, comprising:
receiving a galvanometer control instruction insertion request, and displaying candidate galvanometer control instructions on an editing page for editing a welding program;
selecting a target galvanometer control instruction from the displayed candidate galvanometer control instructions;
determining the insertion position of the target galvanometer control command;
inserting the target galvanometer control command into the welding program according to the inserting position; and the welding program is used for controlling the laser galvanometer welding according to the target galvanometer control instruction.
2. The method of claim 1, wherein the galvanometer candidate control commands comprise: a mode control type galvanometer mode control instruction, a working parameter control type galvanometer working parameter control instruction, a welding start type galvanometer welding start instruction and a welding stop type galvanometer welding stop instruction;
after the determining the insertion position of the target galvanometer control command, the method further comprises:
determining the instruction type of the target galvanometer control instruction;
judging whether the determined insertion position meets the insertion condition of the galvanometer control instruction or not according to the instruction type of the target galvanometer control instruction and the instruction inserted historically in the welding program;
and if the inserting position meets the inserting condition of the galvanometer control command, executing the step of inserting the target galvanometer control command into the welding program according to the inserting position.
3. The method of claim 2, wherein the galvanometer control command insertion condition comprises:
the insertion position corresponding to the galvanometer mode control instruction is before the insertion position of the galvanometer working parameter control instruction;
the inserting position corresponding to the galvanometer parameter control command is before the inserting position of the galvanometer welding starting command;
and the insertion position corresponding to the galvanometer welding starting command is before the insertion position of the galvanometer welding stopping command.
4. The method of claim 2, wherein when the selected target galvanometer control command is a galvanometer mode control command, the method further comprises:
displaying a mode input box on the editing page;
acquiring a mode identifier input in the mode input box;
the inserting the target galvanometer control command into the welding program comprises:
and inserting the selected galvanometer mode control command and the mode identifier into the welding program.
5. The method of claim 2, wherein when the selected target galvanometer control command is a galvanometer parameter control command, the method further comprises:
displaying a galvanometer worker parameter input box on the editing page;
acquiring a parameter identifier input in the galvanometer parameter input box;
the inserting the target galvanometer control command into the welding program comprises:
and inserting the selected galvanometer parameter control command and the parameter identifier into the welding program.
6. The method of claim 2, wherein said controlling laser galvanometer welding in accordance with said target galvanometer control commands comprises:
the welding program is operated through a programmable controller, and the working mode of the laser galvanometer welding is controlled through a galvanometer mode control instruction in the operated welding program; and controlling the movement of the laser galvanometer in the welding process of the laser galvanometer through a galvanometer parameter control instruction in the running welding program.
7. An apparatus for controlling a laser galvanometer weld, the apparatus comprising:
the inserting request receiving module is used for receiving a galvanometer control instruction inserting request and displaying candidate galvanometer control instructions on an editing page used for editing a welding program;
the target galvanometer control instruction selection module is used for selecting a target galvanometer control instruction from the displayed candidate galvanometer control instructions;
the insertion position determining module is used for determining the insertion position of the target galvanometer control command;
the target galvanometer control instruction inserting module is used for inserting the target galvanometer control instruction into the welding program according to the inserting position; and the welding program is used for controlling the laser galvanometer welding according to the target galvanometer control instruction.
8. The apparatus of claim 7, wherein the galvanometer candidate control instructions comprise: a mode control type galvanometer mode control instruction, a working parameter control type galvanometer working parameter control instruction, a welding start type galvanometer welding start instruction and a welding stop type galvanometer welding stop instruction;
the device further comprises:
the instruction type determining module is used for determining the instruction type of the target galvanometer control instruction;
the inserting position judging module is used for judging whether the determined inserting position meets the inserting condition of the galvanometer control instruction or not according to the instruction type of the target galvanometer control instruction and the instruction inserted historically in the welding program; and if the inserting position meets the inserting condition of the galvanometer control command, executing the step of inserting the target galvanometer control command into the welding program according to the inserting position.
9. A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 6.
10. A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method according to any one of claims 1 to 6.
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