CN115255626A - Method and device for adjusting welding plane to welding focal distance in real time - Google Patents
Method and device for adjusting welding plane to welding focal distance in real time Download PDFInfo
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- CN115255626A CN115255626A CN202210833179.3A CN202210833179A CN115255626A CN 115255626 A CN115255626 A CN 115255626A CN 202210833179 A CN202210833179 A CN 202210833179A CN 115255626 A CN115255626 A CN 115255626A
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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
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/046—Automatically focusing the laser beam
- B23K26/048—Automatically focusing the laser beam by controlling the distance between laser head and workpiece
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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 embodiment of the invention provides a method for adjusting a welding plane to a welding focal length in real time, which is applied to a welding machine, wherein the welding machine comprises a height measuring module, a vibrating mirror and a moving shaft, the moving shaft is perpendicular to the welding plane, and the vibrating mirror is arranged on the moving shaft and can move in the vertical direction; the method comprises the following steps: acquiring a height measurement value of the height measurement module and position information of the galvanometer on the moving shaft, wherein the height measurement value is used for displaying the height of the welding plane; based on a preset formula, determining the actual height from the galvanometer to the welding plane according to the height measurement value and the position information; and judging whether the actual height is a preset focal length, if not, controlling the galvanometer to move to a target position so that the height from the galvanometer to the welding plane is the preset focal length. The invention can adjust the welding plane to the welding focal distance in real time, and has simple and convenient steps.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a method and a device for adjusting a welding plane to a welding focal distance in real time.
Background
Laser welding is a common welding method in the technical field of welding, and in the laser welding, a plane to be welded needs to be kept at the focal distance of welding equipment, so that the welding effect can be ensured.
In the prior art, the height scale value of the welding device at the current position and the height value of the welding plane measured by the height measuring device are taken as focal lengths, but the height scale value of the welding device at the current position and the height value of the welding plane measured by the height measuring device are both virtual values on the PLC, therefore, in the process of automatic operation or repair welding of the device, whether the distance from the welding device to the plane to be welded is an actual focal length value or not cannot be known in real time, and if the actual focal length value is required to be known, after the height distance from the current welding device to the plane to be welded can only be measured by a professional instrument, the actual focal length value is compared with the virtual value on the PLC, whether the virtual value on the PLC is accurate or not can be known through comparison, and the process is complicated and has low accuracy.
Disclosure of Invention
Because the height scale value that welding equipment was located at present and the height value of the welding plane that height measuring device measured are virtual value on the PLC, consequently at the in-process of welding machine automatic operation or repair welding, operating personnel can't know in real time whether the distance of galvanometer to the welding plane is actual focus value, and if need know whether be actual focus value, can only pause equipment and look for professional instrument volume and get the comparison, this process is very loaded down with trivial details, and the accuracy is not high.
The embodiment of the invention provides a method and a device for adjusting a welding plane to a welding focal distance in real time, which can effectively solve the technical problem.
Embodiments of the invention may be implemented as follows:
in a first aspect, the present invention provides a method for adjusting a welding plane to a welding focal length in real time, which is applied to a welding machine, wherein the welding machine comprises a height measurement module, a galvanometer and a moving shaft, the moving shaft is perpendicular to the welding plane, and the galvanometer is arranged on the moving shaft and can move in a vertical direction; the method comprises the following steps:
acquiring a height measurement value of the height measurement module and position information of the galvanometer on the moving shaft, wherein the height measurement value is used for displaying the height of the welding plane;
based on a preset formula, determining the actual height from the galvanometer to the welding plane according to the height measurement value and the position information;
and judging whether the actual height is a preset focal length, if not, controlling the galvanometer to move to a target position so that the height from the galvanometer to the welding plane is the preset focal length.
Optionally, before the obtaining of the height measurement value of the height measurement module and the position information of the galvanometer on the moving axis, obtaining the relationship parameter in the preset formula by debugging the welding machine includes:
under the condition of keeping the height measurement value unchanged, controlling the welding machine to carry out debugging movement for multiple times, and acquiring debugging movement parameters generated under corresponding debugging movement;
acquiring the actual height from the galvanometer to the welding plane under corresponding debugging motion;
and substituting the preset formula into the preset formula according to the height measurement value, the parameters generated under the corresponding debugging motion and the actual height from the galvanometer to the welding plane under the corresponding debugging motion to determine the relation parameters.
Optionally, the moving axis includes a first moving axis, the welding machine is controlled to perform the debugging motion for multiple times, and the debugging motion parameters generated under the corresponding debugging motion are obtained, which specifically includes:
controlling the galvanometer to move to a first position on the first moving shaft, and acquiring a first scale value of the first moving shaft when the galvanometer is at the first position;
controlling the galvanometer to move to a second position on the first moving shaft, and acquiring a second scale value of the first moving shaft when the galvanometer is at the second position;
the obtaining of the actual height from the galvanometer to the welding plane under the corresponding debugging motion specifically includes:
and acquiring the height of the vibrating mirror to a first vibrating mirror of the welding plane when the vibrating mirror is at the first position, and acquiring the height of the vibrating mirror to a second vibrating mirror of the welding plane when the vibrating mirror is at the second position.
Optionally, the determining the relationship parameter by substituting the preset formula according to the height measurement value, the parameter generated in the corresponding debugging motion and the actual height from the galvanometer to the welding plane in the corresponding debugging motion specifically includes:
substituting the height measurement value, the first scale value and the first galvanometer height into the preset formula to obtain a first equation;
substituting the height measurement value, the second scale value and the second galvanometer height into the preset formula to obtain a second equation;
and determining the relation parameter according to the first equation and the second equation.
Optionally, the preset formula is:
y0＝k1x0+h0+b1
wherein h is0Is the elevation measurement value; x is the number of0Is the first scale value or the second scale value; when x is0Is the first scale time, y0A first galvanometer height of the galvanometer to the welding plane when the galvanometer is in the first position; when x is0At said second scale value, y0A second galvanometer height of the galvanometer to the welding plane when the galvanometer is in the second position; b1And k1Is the relation parameter.
Optionally, the moving shafts include a first moving shaft and a second moving shaft, the galvanometer is disposed on the first moving shaft, and the height measuring module is disposed on the second moving shaft; the controlling the welding machine for many times to carry out debugging movement and obtain debugging movement parameters generated under corresponding debugging movement specifically comprises:
controlling the galvanometer to move to a third position on the first moving shaft, controlling the height measuring module to move to a sixth position on the second moving shaft, and acquiring a third scale value of the first moving shaft when the galvanometer is at the third position and a sixth scale value of the second moving shaft when the height measuring module is at the sixth position;
controlling the galvanometer to move to a fourth position on the first moving shaft, controlling the height measuring module to move to a seventh position on the second moving shaft, and acquiring a fourth scale value of the first moving shaft when the galvanometer is at the fourth position and a seventh scale value of the second moving shaft when the height measuring module is at the seventh position;
controlling the galvanometer to move to a fifth position on the first moving shaft, controlling the height measuring module to move to an eighth position on the second moving shaft, and acquiring a fifth scale value of the first moving shaft when the galvanometer is at the fifth position and an eighth scale value of the second moving shaft when the height measuring module is at the eighth position;
the acquiring of the actual height from the galvanometer to the welding plane under the corresponding debugging motion specifically includes:
acquiring a third galvanometer height from the galvanometer to the welding plane when the galvanometer is at the third position; acquiring a fourth galvanometer height from the galvanometer to the welding plane when the galvanometer is at the fourth position; and acquiring a fifth galvanometer height from the galvanometer to the welding plane when the galvanometer is at the fifth position.
Optionally, the determining the relationship parameter by substituting the preset formula according to the height measurement value, the parameter generated in the corresponding debugging motion and the actual height from the galvanometer to the welding plane in the corresponding debugging motion specifically includes:
substituting the height measurement value, the third scale value, the sixth scale value and the third galvanometer height into the preset formula to obtain a third equation;
substituting the height measurement value, the fourth scale value, the seventh scale value and the fourth galvanometer height into the preset formula to obtain a fourth equation;
substituting the height measurement value, the fifth scale value, the eighth scale value and the fifth galvanometer height into the preset formula to obtain a fifth equation;
and determining the relation parameter according to the third equation, the fourth equation and the fifth equation.
Optionally, the preset formula is:
y1＝k21x11+k22x12+h1+b2
wherein h is1Is the elevation measurement value; x is a radical of a fluorine atom11Is the third scale value, the fourth scale value or the fifth scale value, x12Is the sixth scale value, the seventh scale value or the eighth scale value; when x is11Is the third scale value, x12Is said sixth scale value, y1A third galvanometer height of the galvanometer to the welding plane when the galvanometer is in the third position; when x is11Is the fourth scale value, x12Is said seventh scale value, y1A fourth galvanometer height from the galvanometer to the welding plane when the galvanometer is in the fourth position; when x is11Is the fifth scale value, x12Is the eighth scale value, y1A fifth galvanometer height from the galvanometer to the welding plane when the galvanometer is in the fifth position; b2、k21、k22Is the relation parameter.
In a second aspect, the present invention provides a device for adjusting a welding plane to a welding focal length in real time, which is used for implementing any one of the above methods for adjusting a welding plane to a welding focal length in real time, and the device for adjusting a welding plane to a welding focal length in real time is applied to a welding machine, the welding machine includes a height measuring module, a vibrating mirror, and a moving shaft, the moving shaft is perpendicular to the welding plane, and the vibrating mirror is disposed on the moving shaft and can move in a vertical direction; the device for adjusting the welding plane to the welding focal distance in real time comprises:
the height measurement value acquisition module is used for acquiring a height measurement value of the height measurement module and position information of the galvanometer on the moving shaft, wherein the height measurement value is used for displaying the height of the welding plane;
the actual height determining module is used for determining the actual height from the galvanometer to the welding plane according to the height measurement value and the position information based on a preset formula;
and the focal length correction module is used for judging whether the actual height is a preset focal length or not, and if not, controlling the galvanometer to move to a target position so that the height from the galvanometer to the welding plane is the preset focal length.
The beneficial effects of the embodiment of the invention include, for example:
the method for adjusting the welding plane to the welding focal distance in real time obtains the height measurement value of the height measurement module and the position information of the galvanometer on the first moving axis in real time through the pre-debugged welding machine, determines the actual height of the galvanometer to the welding plane in real time based on a preset formula, and controls the galvanometer to move according to the actual height so that the height from the galvanometer to the welding plane is the preset focal distance. The real-time display of the actual height from the galvanometer to the welding plane in the operation process of the equipment can reduce the distance error measured by the PLC and improve the accuracy.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flowchart illustrating steps of a method for adjusting a welding plane to a welding focal distance in real time according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps for determining relationship parameters according to an embodiment of the present invention;
FIG. 3 is a schematic view of a five-axis welder provided by an embodiment of the present invention;
FIG. 4 is a schematic illustration of a six-axis welder provided by an embodiment of the present invention;
FIG. 5 is a diagram of an apparatus architecture for adjusting a welding plane to a welding focal length in real time according to an embodiment of the present invention;
icon: 100-welding machine; 102-height measurement module; 104-galvanometer; 105-first axis of movement.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the product of the present invention is used to usually place, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are only used to distinguish one description from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Multi-axis laser welders typically include five axis welders as well as six axis welders derived from five axis welders. In the welding process, in order to ensure the welding quality of the welding machine, the welding point position needs to be located on the focal length of the galvanometer. In the prior art, the height scale value of the welding equipment at the current position and the height value of the welding plane measured by the height measuring device are taken as focal lengths, but the height scale value of the welding equipment at the current position and the height value of the welding plane measured by the height measuring device are both virtual values on the PLC, so that whether the distance from the welding equipment to the plane to be welded is an actual focal length value cannot be known in real time in the automatic operation or repair welding process of the equipment, and if the actual focal length value needs to be known, after the height distance from the current welding equipment to the plane to be welded is measured only by a professional instrument, the actual focal length value is compared with the virtual value on the PLC, whether the virtual value on the PLC is accurate can be known through comparison, and the process is complicated and the accuracy is not high.
Referring to fig. 1, a flowchart of steps of a method for adjusting a welding plane to a welding focal length in real time according to an embodiment of the present disclosure is provided, where the method is applied to a welding machine, where the welding machine includes a height measurement module, a vibrating mirror, and a first moving axis, where the first moving axis is perpendicular to the welding plane, and the vibrating mirror is disposed on the first moving axis and can move in a vertical direction; the method comprises the following steps:
step S110: and acquiring a height measurement value of the height measurement module and position information of the galvanometer on the moving shaft.
The height measurement value is used for displaying the height of the welding plane, and the height of the welding plane is not constant for different batteries; for example, the height of the welding plane can be tested by arranging a pressure head on the height measuring module, abutting the welding plane through the pressure head, and displaying the height of the welding plane through the height measuring value of the height measuring module.
In the actual implementation process, the welding machine can be controlled by the controller, the controller can be a device which is arranged outside the welding machine main body and is in communication connection with each module on the welding machine in a wired or wireless mode, for example, a terminal device such as a PLC, a computer and a touch screen, so that a user can control the welding machine by the controller. The height of a welding plane of the battery to be welded, namely a height measurement value, is obtained through the height measurement module, and meanwhile, the position information of the vibrating mirror on the moving axis is recorded, and the position information can be reflected through the scale value of the vibrating mirror on the moving axis.
After the height measurement value and the position information of the galvanometer on the first moving axis are acquired, step S120 is executed.
Step S120: and determining the actual height from the galvanometer to the welding plane according to the height measurement value and the position information based on a preset formula.
The preset formula is a correlation function of the actual height from the galvanometer to the welding plane, a height measurement value and position information of the galvanometer on a moving axis, and is program logic executed in the controller; in the preset formula, the position information of the galvanometer on the moving axis is an independent variable; the actual height from the galvanometer to the welding plane is a dependent variable; the height measurement value is a fixed value and is related to the height of the welding plane of the battery to be measured; after the controller acquires the height measurement value and the position information of the vibrating mirror on the moving shaft, the acquired data is substituted into a preset formula, so that the actual height from the vibrating mirror to the welding plane can be calculated without measuring through a professional instrument.
Step S130: and judging whether the actual height is a preset focal length, if not, controlling the galvanometer to move to a target position so that the height from the galvanometer to the welding plane is the preset focal length. When the galvanometer is at the target position, the actual height from the galvanometer to the welding plane is equal to the preset focal length; the preset focal length is the preset focal length of the galvanometer, the preset focal length is related to the model of the galvanometer, the focal lengths of different types of welding machines are different, and the focal length of a common galvanometer is 495mm; the position to which the galvanometer is moved on the moving axis may be controlled in order to achieve a preset focal length.
After the actual height from the galvanometer to the welding plane is obtained in step S120, step S130 is executed to determine whether the actual height is the preset focal length (i.e. the required height from the galvanometer to the welding plane), and if not, the galvanometer is controlled to move to the target position so that the height from the galvanometer to the welding plane is the preset focal length.
In an alternative embodiment, a display device, such as a display screen or the like, may be provided in communicative connection with the controller; a controller with a display screen may also be provided. After the controller obtains the actual height of the welding machine based on the preset formula, the real-time galvanometer height of the welding machine can be displayed through the display equipment or the display screen of the controller, so that a user can observe the real-time galvanometer height conveniently. If the actual height of the welding machine is not the preset focal length, a user can send a control instruction to the controller through the terminal equipment, or the controller automatically generates the control instruction; and controlling the galvanometer to move on the moving shaft according to the control instruction, and adjusting the height of the galvanometer of the welding machine to enable the height of the galvanometer to be a preset focal length, so that the purpose of adjusting the welding plane to the welding focal length in real time is achieved.
Optionally, before obtaining the height measurement value of the height measurement module and the position information of the galvanometer on the moving axis, obtaining the relationship parameter in the preset formula by debugging the welding machine includes the following steps as shown in fig. 2:
step S141: and under the condition of keeping the height measurement value unchanged, controlling the welding machine to carry out debugging movement for multiple times, and acquiring debugging movement parameters generated under corresponding debugging movement.
Step S142: and acquiring the actual height from the galvanometer to the welding plane under corresponding debugging motion.
Step S143: and substituting the preset formula according to the height measurement value, the parameters generated under the corresponding debugging motion and the actual height from the galvanometer to the welding plane under the corresponding debugging motion to determine the relation parameters.
The setting motion includes controlling the altimeter module to move on a moving axis on which it is mounted and/or controlling the galvanometer to move on a moving axis on which it is mounted. The debugging motion parameters refer to positions or scale values generated by the height measuring module and/or the galvanometer in debugging motion. The relation parameter is a parameter value in the preset formula for representing an association relation between an independent variable (namely position information of the galvanometer on a moving axis) and a dependent variable (namely actual height from the galvanometer to a welding plane), and the relation parameter is a fixed value.
In the actual welding process, the height of the welding plane of the battery to be welded is not constant, and the heights of the welding planes of different batteries to be welded may have differences, so that the height measurement value can also be changed correspondingly. Therefore, in order to ensure that the height measurement value is constant, the relative distance between the height measurement module and the welding plane needs to be controlled to be constant.
In the debugging stage of the welding machine, under the condition that the height measurement value is required to be kept unchanged, controlling a galvanometer to carry out debugging motion on a moving shaft, and then acquiring generated debugging motion parameters; measuring by a professional instrument to obtain the actual height from the lower galvanometer at the corresponding position to the welding plane; and substituting the height measurement value, the parameters generated under the corresponding debugging motion and the actual height from the galvanometer to the welding plane under the corresponding debugging motion into a preset formula, and determining the relation parameters through calculation.
Optionally, the moving axis includes a first moving axis, the welding machine is controlled to perform the debugging motion for multiple times, and the debugging motion parameters generated under the corresponding debugging motion are obtained, which specifically includes:
and controlling the galvanometer to move to a first position on the first moving shaft, and acquiring a first scale value of the first moving shaft when the galvanometer is at the first position.
And controlling the galvanometer to move to a second position on the first moving shaft, and acquiring a second scale value of the first moving shaft when the galvanometer is at the second position.
The acquiring of the actual height from the galvanometer to the welding plane under the corresponding debugging motion specifically includes:
and acquiring the height of the vibrating mirror to a first vibrating mirror of the welding plane when the vibrating mirror is at the first position, and acquiring the height of the vibrating mirror to a second vibrating mirror of the welding plane when the vibrating mirror is at the second position.
Referring to fig. 3, a schematic diagram of a five-axis welding machine 100 provided in an embodiment of the present disclosure includes an elevation module 102, a galvanometer 104, and a first moving axis 105, a welding plane is located between the elevation module 102 and the ground, the first moving axis 105 is perpendicular to the welding plane, and the galvanometer 104 is disposed on the first moving axis 105 and can move in a vertical direction.
Under the condition that the height measurement value is not changed, the controller controls the galvanometer to move to any two positions on the first moving axis, and the first position and the second position can be any two positions in the moving range of the galvanometer. The first axis of travel may have a scale indicating the position of the device mounted on the first axis of travel. After the galvanometer is controlled to move to the first position on the first moving shaft, a scale value (namely a first scale value) of the first moving shaft when the galvanometer is at the first position at the moment is obtained, and meanwhile, the height (namely the height of the first galvanometer) from the galvanometer to a welding plane at the moment is obtained. And after the galvanometer is controlled to move to the second position on the first moving axis, acquiring the scale value (namely, the second scale value) of the first moving axis when the galvanometer is at the second position at the moment. Meanwhile, the height of the vibrating mirror from the first vibrating mirror to the welding plane when the vibrating mirror is at the first position is obtained, and the height of the vibrating mirror from the second vibrating mirror to the welding plane when the vibrating mirror is at the second position is obtained.
Optionally, the preset formula is:
y0＝k1x0+h0+b1
wherein h is0Is the altimetry value; x is the number of0Is the first scale value or the second scale value; when x is0Is the first scale time, y0A first galvanometer height of the galvanometer to the welding plane when the galvanometer is in the first position; when x is0At said second scale value, y0A second galvanometer height of the galvanometer to the welding plane when the galvanometer is in the second position; b is a mixture of1And k1Is the relation parameter.
Optionally, the determining the relationship parameter by substituting the preset formula according to the height measurement value, the parameter generated in the corresponding debugging motion and the actual height from the galvanometer to the welding plane in the corresponding debugging motion specifically includes:
and substituting the height measurement value, the first scale value and the first galvanometer height into the preset formula to obtain a first equation.
And substituting the height measurement value, the second scale value and the second galvanometer height into the preset formula to obtain a second equation.
And determining the relation parameter according to the first equation and the second equation.
In practical cases, when the welder is a five-axis welder, the movement axis perpendicular to the welding plane generally includes only the first movement axis, and the relationship parameter b can be solved by obtaining two equations, i.e., the first equation and the second equation, from the two sets of data according to the preset formula1And k1。
For example, the height measurement value h0Is 10cm and a first scale value x0Is 5cm and the height y of the first galvanometer0Is 10cm, is substituted into a preset formula to obtain a first equation of 10=5 xk1+10+b1(ii) a The second scale value is 10cm, the height of the second galvanometer is 20cm, and the second scale value is substituted into a preset formula to obtain a second equation of 20=10 xk1+10+b1(ii) a Combining the first equation and the second equation to obtain k1Is 2, b1Is-10.
Optionally, the moving shafts include a first moving shaft and a second moving shaft, the galvanometer is disposed on the first moving shaft, and the height measuring module is disposed on the second moving shaft; the controlling the welding machine for many times to carry out debugging movement and acquiring debugging movement parameters generated under corresponding debugging movement specifically comprises:
controlling the galvanometer to move to a third position on the first moving shaft, controlling the height measuring module to move to a sixth position on the second moving shaft, and acquiring a third scale value of the first moving shaft when the galvanometer is at the third position and a sixth scale value of the second moving shaft when the height measuring module is at the sixth position;
controlling the galvanometer to move to a fourth position on the first moving shaft, controlling the height measuring module to move to a seventh position on the second moving shaft, and acquiring a fourth scale value of the first moving shaft when the galvanometer is at the fourth position and a seventh scale value of the second moving shaft when the height measuring module is at the seventh position;
controlling the galvanometer to move to a fifth position on the first moving shaft, controlling the height measuring module to move to an eighth position on the second moving shaft, and acquiring a fifth scale value of the first moving shaft when the galvanometer is at the fifth position and an eighth scale value of the second moving shaft when the height measuring module is at the eighth position;
the acquiring of the actual height from the galvanometer to the welding plane under the corresponding debugging motion specifically includes:
acquiring a third galvanometer height from the galvanometer to the welding plane when the galvanometer is at the third position; acquiring the fourth galvanometer height from the galvanometer to the welding plane when the galvanometer is at the fourth position; and acquiring the height of the vibrating mirror from the vibrating mirror to the fifth vibrating mirror of the welding plane when the vibrating mirror is at the fifth position.
The multi-axis welder also includes a six-axis welder, as exemplified in FIG. 4, which generally includes two adjacent axes perpendicular to the ground, a first axis of movement and a second axis of movement. In a six-axis welding machine, the galvanometer can be arranged on a first moving axis and moves in the moving range of the first moving axis; the height measuring module can be arranged on the second moving shaft and can move in the moving range of the second moving shaft.
When a six-axis welding machine acquires debugging motion parameters generated under corresponding debugging motion, the galvanometer is controlled to move to a third position, a fourth position and a fifth position on a first moving axis under the condition that a height measurement value measured by a height measurement module is kept unchanged, wherein the third position, the fourth position and the fifth position are three arbitrary positions on the first moving axis; and acquiring a third scale value of the first moving shaft when the galvanometer is at the third position, a fourth scale value of the first moving shaft when the galvanometer is at the fourth position, and a fifth scale value of the first moving shaft when the galvanometer is at the fifth position.
Controlling the height measuring module to move to a sixth position, a seventh position and an eighth position on the second moving shaft, wherein the sixth position, the seventh position and the eighth position are any three positions on the second moving shaft; and acquiring a sixth scale value of the second moving shaft when the height measuring module is at the sixth position, a seventh scale value of the second moving shaft when the height measuring module is at the seventh position, and an eighth scale value of the second moving shaft when the height measuring module is at the eighth position.
Respectively measuring and acquiring the height of the galvanometer to the third galvanometer of the welding plane when the galvanometer is at the third position by a professional instrument; acquiring the height of a fourth galvanometer from the galvanometer to a welding plane when the galvanometer is at the fourth position; and acquiring a fifth galvanometer height from the galvanometer to the welding plane when the galvanometer is at a fifth position.
Optionally, when the welder includes a second axis of movement, the preset formula may be:
y1＝k21x11+k22x12+h1+b2
wherein h is1Is the altimetry value; x is the number of11Is the third scale value, the fourth scale value or the fifth scale value, x12Is the sixth scale value, the seventh scale value or the eighth scale value; when x is11Is the third scale value, y1A third galvanometer height of the galvanometer to the welding plane when the galvanometer is in the third position; when x is11At said fourth scale value, y1A fourth galvanometer height of the galvanometer to the welding plane when the galvanometer is in the fourth position; when x is11Is the fifth scale value, y1A fifth galvanometer height of the galvanometer from the welding plane when the galvanometer is in the fifth position; b is a mixture of2、k21、k22Is the relation parameter.
Optionally, the determining the relationship parameter by substituting the preset formula according to the height measurement value, the parameter generated in the corresponding debugging motion and the actual height from the galvanometer to the welding plane in the corresponding debugging motion specifically includes:
and substituting the height measurement value, the third scale value, the sixth scale value and the third galvanometer height into the preset formula to obtain a third equation.
And substituting the height measurement value, the fourth scale value, the seventh scale value and the fourth galvanometer height into the preset formula to obtain a fourth equation.
And substituting the height measurement value, the fifth scale value, the eighth scale value and the fifth galvanometer height into the preset formula to obtain a fifth equation.
And determining the relation parameter according to the third equation, the fourth equation and the fifth equation.
When the welder is a six-axis welder, x12I.e. the scale value of the second axis of movement, due to the presence of k22Therefore, it is necessary to measure a set of data more and solve the determination k in the form of a system of equations of the order of three21、k22And b2The value of (c).
For example, the height h1Is 10cm, the third scale value is 10cm, the sixth scale value is 5cm, the third galvanometer height is 20cm, and the third equation is 20=10 xk by substituting the preset equation21+5×k22+10+b2(ii) a Substituting the fourth scale value of 20cm, the seventh scale value of 10cm and the height of the fourth galvanometer of 25cm into a preset formula to obtain a fourth equation of 25=20 xk21+10×k22+10+b2(ii) a The fifth scale value is 30m, the eighth scale value is 15cm, the height of the fifth galvanometer is 30cm, and the fifth equation is 30=30 xk by substituting the preset equation21+15×k22+10+b2(ii) a Finally get k by solution21＝0.25、k22＝0.5、b2And =25. When the controller controls the six-axis welding machine to work, the relation parameter k can be determined21＝0.25、k22＝0.5、b2＝25。
Based on the same inventive concept, as shown in fig. 5, an embodiment of the present disclosure provides a device 300 for adjusting a welding plane to a welding focal length in real time, which is used for implementing any one of the above methods for adjusting a welding plane to a welding focal length in real time, where the device 300 for adjusting a welding plane to a welding focal length in real time is applied to a welding machine, the welding machine includes a height measuring module, a galvanometer, and a first moving axis, the moving axis is perpendicular to the welding plane, and the galvanometer is disposed on the first moving axis and can move in a vertical direction; the apparatus 300 for adjusting a welding plane to a welding focal distance in real time includes:
a height measurement value obtaining module 301, configured to obtain a height measurement value of the height measurement module and position information of the galvanometer on the first moving axis, where the height measurement value is a vertical distance from the height measurement module to the welding plane.
An actual height determining module 302, configured to determine an actual height from the galvanometer to the welding plane according to the height measurement value and the position information based on a preset formula.
And the focal length correction module 303 is configured to determine whether the actual height is a preset focal length, and if not, control the galvanometer to move to a target position, so that the height from the galvanometer to the welding plane is the preset focal length.
With respect to the above-mentioned apparatus 300, the specific functions of the respective modules have been described in detail in the embodiments of the method for adjusting the welding plane to the welding focal distance in real time provided in the present specification, and will not be described in detail herein.
The method for adjusting the welding plane to the welding focal distance in real time obtains the height measurement value of the height measurement module and the position information of the galvanometer on the first moving axis in real time through the pre-debugged welding machine, determines the actual height of the galvanometer to the welding plane in real time based on a preset formula, and controls the galvanometer to move according to the actual height so that the height from the galvanometer to the welding plane is the preset focal distance. The real-time display of the actual height from the galvanometer to the welding plane in the operation process of the equipment can be realized, the distance error measured by the PLC is reduced, and the accuracy is improved.
In the embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (9)
1. A method for adjusting a welding plane to a welding focal length in real time is characterized by being applied to a welding machine, wherein the welding machine comprises a height measuring module, a vibrating mirror and a moving shaft, the moving shaft is perpendicular to the welding plane, and the vibrating mirror is arranged on the moving shaft and can move in the vertical direction; the method comprises the following steps:
acquiring a height measurement value of the height measurement module and position information of the galvanometer on the moving shaft, wherein the height measurement value is used for displaying the height of the welding plane;
based on a preset formula, determining the actual height from the galvanometer to the welding plane according to the height measurement value and the position information;
and judging whether the actual height is a preset focal length, if not, controlling the galvanometer to move to a target position so that the height from the galvanometer to the welding plane is the preset focal length.
2. The method for adjusting the welding plane to the welding focal length in real time according to claim 1, wherein before the obtaining the height measurement value of the height measurement module and the position information of the galvanometer on the moving axis, obtaining the relation parameter in the preset formula by debugging the welding machine comprises:
under the condition of keeping the height measurement value unchanged, controlling the welding machine to carry out debugging movement for multiple times, and acquiring debugging movement parameters generated under corresponding debugging movement;
acquiring the actual height from the galvanometer to the welding plane under corresponding debugging motion;
and substituting the preset formula according to the height measurement value, the parameters generated under the corresponding debugging motion and the actual height from the galvanometer to the welding plane under the corresponding debugging motion to determine the relation parameters.
3. The method according to claim 2, wherein the moving axis comprises a first moving axis, the controlling the welding machine to perform the debugging motion for a plurality of times and obtaining the debugging motion parameters generated under the corresponding debugging motion comprises:
controlling the galvanometer to move to a first position on the first moving shaft, and acquiring a first scale value of the first moving shaft when the galvanometer is at the first position;
controlling the galvanometer to move to a second position on the first moving shaft, and acquiring a second scale value of the first moving shaft when the galvanometer is at the second position;
the obtaining of the actual height from the galvanometer to the welding plane under the corresponding debugging motion specifically includes:
and acquiring the height of the vibrating mirror to a first vibrating mirror of the welding plane when the vibrating mirror is at the first position, and acquiring the height of the vibrating mirror to a second vibrating mirror of the welding plane when the vibrating mirror is at the second position.
4. The method according to claim 3, wherein the determining the relation parameter by substituting the height measurement value, the parameter generated by the corresponding debugging motion, and the actual height of the galvanometer to the welding plane by the corresponding debugging motion into the preset formula comprises:
substituting the height measurement value, the first scale value and the first galvanometer height into the preset formula to obtain a first equation;
substituting the height measurement value, the second scale value and the second galvanometer height into the preset formula to obtain a second equation;
and determining the relation parameter according to the first equation and the second equation.
5. The method for adjusting the welding plane to the welding focal distance in real time according to claim 3 or 4, wherein the preset formula is as follows:
y0＝k1x0+h0+b1
wherein h is0Is the elevation measurement value; x is the number of0Is the first scale value or the second scale value; when x is0Is the first scale time, y0A first galvanometer height of the galvanometer to the welding plane when the galvanometer is in the first position; when x is0At said second scale value, y0A second galvanometer height of the galvanometer to the welding plane when the galvanometer is in the second position; b is a mixture of1And k1Is the relation parameter.
6. The method of adjusting a welding plane to a welding focal length in real time as claimed in claim 2, wherein the moving axis comprises a first moving axis and a second moving axis, the galvanometer is disposed on the first moving axis, and the height measurement module is disposed on the second moving axis; the controlling the welding machine for many times to carry out debugging movement and acquiring debugging movement parameters generated under corresponding debugging movement specifically comprises:
controlling the galvanometer to move to a third position on the first moving shaft, controlling the height measuring module to move to a sixth position on the second moving shaft, and acquiring a third scale value of the first moving shaft when the galvanometer is at the third position and a sixth scale value of the second moving shaft when the height measuring module is at the sixth position;
controlling the galvanometer to move to a fourth position on the first moving shaft, controlling the height measuring module to move to a seventh position on the second moving shaft, and acquiring a fourth scale value of the first moving shaft when the galvanometer is at the fourth position and a seventh scale value of the second moving shaft when the height measuring module is at the seventh position;
controlling the galvanometer to move to a fifth position on the first moving shaft, controlling the height measuring module to move to an eighth position on the second moving shaft, and acquiring a fifth scale value of the first moving shaft when the galvanometer is at the fifth position and an eighth scale value of the second moving shaft when the height measuring module is at the eighth position;
the acquiring of the actual height from the galvanometer to the welding plane under the corresponding debugging motion specifically includes:
acquiring a third galvanometer height from the galvanometer to the welding plane when the galvanometer is at the third position; acquiring a fourth galvanometer height from the galvanometer to the welding plane when the galvanometer is at the fourth position; and acquiring the height of the vibrating mirror from the vibrating mirror to the fifth vibrating mirror of the welding plane when the vibrating mirror is at the fifth position.
7. The method according to claim 6, wherein the determining the relation parameter by substituting the height measurement value, the parameter generated by the corresponding debugging motion, and the actual height of the galvanometer to the welding plane by the corresponding debugging motion into the preset formula comprises:
substituting the height measurement value, the third scale value, the sixth scale value and the third galvanometer height into the preset formula to obtain a third equation;
substituting the height measurement value, the fourth scale value, the seventh scale value and the fourth galvanometer height into the preset formula to obtain a fourth equation;
substituting the height measurement value, the fifth scale value, the eighth scale value and the fifth galvanometer height into the preset formula to obtain a fifth equation;
and determining the relation parameter according to the third equation, the fourth equation and the fifth equation.
8. The method for adjusting the welding plane to the welding focal distance in real time according to claim 6 or 7, wherein the preset formula is as follows:
y1＝k21x11+k22x12+h1+b2
wherein h is1Is the elevation measurement value; x is the number of11Is the third scale value, the fourth scale value or the fifth scale value, x12Is the sixth scale value, the seventh scale value, or the eighth scale value; when x is11Is the third scale value, x12Is said sixth scale value, y1A third galvanometer height of the galvanometer to the welding plane when the galvanometer is in the third position; when x is11Is the fourth scale value, x12Is the seventh scale value, y1A fourth galvanometer height of the galvanometer to the welding plane when the galvanometer is in the fourth position; when x is11Is the fifth scale value, x12Is the eighth scale value, y1A fifth galvanometer height from the galvanometer to the welding plane when the galvanometer is in the fifth position; b is a mixture of2、k21、k22For the relationship ofAnd (4) counting.
9. A device for adjusting a welding plane to a welding focal distance in real time, which is used for implementing the method for adjusting a welding plane to a welding focal distance in real time according to any one of claims 1 to 8, wherein the device for adjusting a welding plane to a welding focal distance in real time is applied to a welding machine, the welding machine comprises a height measuring module, a vibrating mirror and a moving shaft, the moving shaft is perpendicular to the welding plane, and the vibrating mirror is arranged on the moving shaft and can move in a vertical direction; the device for adjusting the welding plane to the welding focal distance in real time comprises:
the height measurement value acquisition module is used for acquiring a height measurement value of the height measurement module and position information of the galvanometer on the moving shaft, wherein the height measurement value is used for displaying the height of the welding plane;
the actual height determining module is used for determining the actual height from the galvanometer to the welding plane according to the height measurement value and the position information based on a preset formula;
and the focal length correction module is used for judging whether the actual height is a preset focal length or not, and if not, controlling the galvanometer to move to a target position so that the height from the galvanometer to the welding plane is the preset focal length.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117020457A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Welding system and spot inspection method of welding system |
| CN117020411A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Welding system and spot inspection method of welding system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117020457A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Welding system and spot inspection method of welding system |
| CN117020411A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Welding system and spot inspection method of welding system |
| CN117020457B (en) * | 2023-10-08 | 2024-02-06 | 宁德时代新能源科技股份有限公司 | Welding system and spot inspection method of welding system |
| CN117020411B (en) * | 2023-10-08 | 2024-02-20 | 宁德时代新能源科技股份有限公司 | Welding system and spot inspection method of welding system |
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