CN117733343B - Shaking welding method and control device based on motion speed feedback - Google Patents
Shaking welding method and control device based on motion speed feedback Download PDFInfo
- Publication number
- CN117733343B CN117733343B CN202410190338.1A CN202410190338A CN117733343B CN 117733343 B CN117733343 B CN 117733343B CN 202410190338 A CN202410190338 A CN 202410190338A CN 117733343 B CN117733343 B CN 117733343B
- Authority
- CN
- China
- Prior art keywords
- speed
- vibration
- vibrating mirror
- shaking
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003466 welding Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000001105 regulatory effect Effects 0.000 claims abstract description 6
- 230000001276 controlling effect Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
Landscapes
- Laser Beam Processing (AREA)
Abstract
The invention discloses a shaking welding method and a control device based on motion speed feedback. The method comprises the steps of configuring shaking welding parameters, wherein the shaking welding parameters comprise shaking frequency and shaking amplitude of a vibrating mirror, laser output power and scanning speed of the vibrating mirror; acquiring the current instantaneous speed of the vibrating mirror relative to the workpiece in real time during welding, and adjusting the vibration parameters of the vibrating mirror according to the instantaneous speed so as to increase the vibration parameters of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is larger, and reduce the vibration parameters of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is smaller; generating a new shaking track according to the shaking parameters of the regulated shaking mirror; according to the adjusted shaking parameters of the shaking mirror, the scanning speed of the shaking mirror is adjusted so that the overlapping distance of the new shaking tracks is constant; and welding along the new shaking track at the calculated scanning speed of the vibrating mirror. The invention effectively solves the problem of poor welding quality caused by uneven speed of the moving mechanism.
Description
Technical Field
The invention relates to the technical field of laser processing, in particular to a shaking welding method and a control device based on motion speed feedback.
Background
In large-size workpiece welding, the single-leaning vibrating mirror system cannot finish workpiece welding because the size of the workpiece exceeds the processing breadth of the vibrating mirror; at the moment, a vibrating mirror system is often carried by a motion mechanism such as a robot or a servo platform to realize the welding of large-size workpieces; the motion mechanism moves along the welding position track of the workpiece, and meanwhile, the vibrating mirror system moves according to the vibration track to finish the welding process. In a traditional welding mode, the vibrating mirror moves according to fixed shaking frequency, namely the period and amplitude of the shaking track of the vibrating mirror are unchanged, the track actually welded on a workpiece is uneven due to the fact that a moving structure moves, the phenomenon is that the welding track at the position with high moving speed is sparse, the welding track at the position with low moving speed is stacked, particularly, the welding track is stacked seriously at the corner because the moving mechanism is slower, serious explosion points can appear at the corner, the welding penetration of the whole workpiece is uneven, and the welding quality is seriously affected.
Disclosure of Invention
The invention aims to provide a shaking welding method and a control device based on motion speed feedback aiming at the defects in the prior art.
To achieve the above object, in a first aspect, the present invention provides a method for welding with vibration based on motion speed feedback, including:
Configuring vibration welding parameters, wherein the vibration welding parameters comprise vibration frequency and vibration amplitude of a vibrating mirror, output power of a laser and scanning speed of the vibrating mirror;
Acquiring the current instantaneous speed of the vibrating mirror relative to the workpiece in real time during welding, and adjusting the vibration parameter of the vibrating mirror according to the instantaneous speed, so as to increase the vibration parameter of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is larger, and reduce the vibration parameter of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is smaller;
Generating a new shaking track according to the shaking parameters of the regulated shaking mirror;
According to the adjusted shaking parameters of the shaking mirror, the scanning speed of the shaking mirror is adjusted so that the overlapping distance of the new shaking tracks is constant;
and controlling the welding along the new shaking track at the calculated scanning speed of the vibrating mirror.
Further, the vibration welding parameters also comprise the reference instantaneous speed of the vibrating mirror relative to the workpieceAnd reference instantaneous velocity/>, of the galvanometer relative to the workpieceLower corresponding reference jitter parameter/>The mode of adjusting the shake parameters of the vibrating mirror according to the instantaneous speed is specifically as follows:
Wherein, For the adjusted shake parameters of the vibrating mirror,/>Is the instantaneous velocity of the galvanometer currently relative to the workpiece.
Further, the welding vibration parameters further include a speed step of the vibration mirror moving relative to the workpiece and vibration parameters corresponding to each speed step, and the mode of adjusting the vibration parameters of the vibration mirror according to the instantaneous speed is specifically as follows:
Wherein, For the adjusted shake parameters of the vibrating mirror,/>For the instantaneous speed of the galvanometer relative to the workpiece at present,/>For the speed stage to which the instantaneous speed of the vibrating mirror relative to the workpiece currently belongs,/>For the shaking parameter corresponding to the speed stage of the shaking mirror relative to the instantaneous speed of the workpieceIs the dithering parameter corresponding to the last speed stage of the vibrating mirror corresponding to the instantaneous speed of the workpiece.
Further, the jitter parameter includes a jitter frequency and/or a jitter amplitude.
Further, the method further comprises the following steps:
the laser output energy is adjusted according to the calculated scanning speed of the galvanometer so that the energy acting on the laser processing track is constant.
In a second aspect, the present invention provides a vibration welding control apparatus based on motion speed feedback, comprising:
The parameter configuration module is used for configuring the vibration welding parameters, wherein the vibration welding parameters comprise the vibration frequency and the vibration amplitude of the vibrating mirror, the output power of the laser and the scanning speed of the vibrating mirror;
The data processing module is used for acquiring the current instantaneous speed of the vibrating mirror relative to the workpiece in real time during welding, and adjusting the vibration parameter of the vibrating mirror according to the instantaneous speed so as to increase the vibration parameter of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is larger, and reduce the vibration parameter of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is smaller;
The control unit is used for generating a new shaking track according to the shaking parameters of the shaking mirror after adjustment, adjusting the scanning speed of the shaking mirror according to the shaking parameters of the shaking mirror after adjustment so as to ensure that the overlapping interval of the new shaking track is constant, and then controlling the calculated scanning speed of the shaking mirror to weld along the new shaking track.
Further, the vibration welding parameters also comprise the reference instantaneous speed of the vibrating mirror relative to the workpieceAnd reference instantaneous velocity/>, of the galvanometer relative to the workpieceLower corresponding reference jitter parameter/>The mode of adjusting the shake parameters of the vibrating mirror according to the instantaneous speed is specifically as follows:
Wherein, For the adjusted shake parameters of the vibrating mirror,/>Is the instantaneous velocity of the galvanometer currently relative to the workpiece.
Further, the welding vibration parameters further include a speed step of the vibration mirror moving relative to the workpiece and vibration parameters corresponding to each speed step, and the mode of adjusting the vibration parameters of the vibration mirror according to the instantaneous speed is specifically as follows:
Wherein, For the adjusted shake parameters of the vibrating mirror,/>For the instantaneous speed of the galvanometer currently relative to the workpiece,For the speed stage to which the instantaneous speed of the vibrating mirror relative to the workpiece currently belongs,/>For the shaking parameter corresponding to the speed stage of the shaking mirror relative to the instantaneous speed of the workpieceIs the dithering parameter corresponding to the last speed stage of the vibrating mirror corresponding to the instantaneous speed of the workpiece.
Further, the jitter parameter includes a jitter frequency and/or a jitter amplitude.
Further, the control unit adjusts the laser output energy according to the calculated scanning speed of the galvanometer so that the energy acting on the laser processing track is constant.
The beneficial effects are that: according to the invention, the instantaneous speed of the vibrating mirror relative to the workpiece is obtained, the frequency and the amplitude of the vibrating track are dynamically adjusted, the vibrating frequency and the amplitude are increased when the moving speed is high, the vibrating frequency and the amplitude are reduced when the uniform speed is low, the scanning speed of the vibrating mirror is adjusted according to the adjusted vibrating parameters of the vibrating mirror, so that the overlapping interval of a new vibrating track is constant, the output power of the laser is adjusted according to the scanning speed of the vibrating mirror, the welding track on the workpiece is uniform, and the problem of poor welding quality caused by nonuniform speed of a moving mechanism is effectively solved.
Drawings
FIG. 1 is a schematic diagram of a dithering welding method based on motion speed feedback according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a dither trajectory generated based on dither parameters prior to adjustment;
FIG. 3 is a schematic diagram of generating a dither trajectory based on an adjusted dither frequency;
FIG. 4 is a schematic diagram of a jitter trajectory generated based on an adjusted jitter amplitude;
Fig. 5 is a schematic diagram of a vibration welding control device based on motion speed feedback according to an embodiment of the present invention.
Detailed Description
The invention will be further illustrated by the following drawings and specific examples, which are carried out on the basis of the technical solutions of the invention, it being understood that these examples are only intended to illustrate the invention and are not intended to limit the scope of the invention.
As shown in fig. 1 to 4, an embodiment of the present invention provides a method for welding a vibration based on motion speed feedback, including:
and configuring vibration welding parameters, wherein the vibration welding parameters comprise vibration frequency and vibration amplitude of the vibrating mirror, laser output power and scanning speed of the vibrating mirror. The static parameters are configured, namely the default workpiece is in a static state, and the vibrating mirror moves to ensure that the welding is normally executed at the initial moment. In the actual welding process, in order to expand the welding range, the workpiece is driven by a motion mechanism (XY stage) at the lower side thereof.
And acquiring the current instantaneous speed of the vibrating mirror relative to the workpiece in real time during welding, and adjusting the vibration parameters of the vibrating mirror according to the instantaneous speed so as to increase the vibration parameters of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is larger, and reduce the vibration parameters of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is smaller. Specifically, the above-mentioned instantaneous speed obtaining method includes, but is not limited to, using an encoder, a grating ruler, a velocimeter, a displacement sensor and other devices capable of feeding back speed or position, and obtaining the instantaneous speed between the galvanometer and the workpiece to be processed after processing and calculating.
The embodiment of the invention adopts two modes of adjusting the shake parameters of the vibrating mirror according to the instantaneous speed, wherein the first mode needs to pre-configure the reference instantaneous speed of the vibrating mirror relative to a workpieceAnd reference instantaneous velocity/>, of the galvanometer relative to the workpieceLower corresponding reference jitter parameter/>The adjusting mode is specifically as follows:
Wherein, For the adjusted shake parameters of the vibrating mirror,/>Is the instantaneous velocity of the galvanometer currently relative to the workpiece.
The second welding vibration parameter to be preconfigured also comprises a speed step of the vibrating mirror moving relative to the workpiece and vibration parameters corresponding to each speed step, and the vibration parameters are specifically shown in the following table:
Wherein, Respectively the speed steps of the vibrating mirror relative to the workpiece,In turn/>And (3) corresponding jitter parameters, wherein i is a natural number greater than or equal to 4. The adjusting mode is specifically as follows:
Wherein, For the adjusted shake parameters of the vibrating mirror,/>For the instantaneous speed of the galvanometer currently relative to the workpiece,For the speed stage to which the instantaneous speed of the vibrating mirror relative to the workpiece currently belongs,/>For the shaking parameter corresponding to the speed stage of the shaking mirror relative to the instantaneous speed of the workpieceThe vibration parameter corresponding to the last speed stage of the vibrating mirror corresponding to the instantaneous speed of the workpiece is that n is a natural number which is more than 1 and less than i.
The jitter parameters include in particular the jitter frequency and/or the jitter amplitude. The vibration frequency of the vibrating mirror can be independently adjusted according to the instantaneous speed, the vibration amplitude of the vibrating mirror can be independently adjusted according to the instantaneous speed, and the vibration frequency and the vibration amplitude of the vibrating mirror can be simultaneously adjusted according to the instantaneous speed. The jitter frequency and the jitter amplitude can be adjusted by the two adjusting modes. Whether the dithering frequency and the dithering amplitude are adjusted or not can be set through software, and a dithering frequency adjusting mode or a dithering amplitude adjusting mode can be set to be started in actual application, or both modes can be started.
And generating a new shaking track according to the shaking parameters of the regulated shaking mirror. Specifically, referring to fig. 2, fig. 2 illustrates an L-shaped dithering track generated without adjusting a dithering parameter in the prior art, each circle in the figure is a track of one period of dithering of the vibrating mirror, when the workpiece and the vibrating mirror relatively move, the instantaneous speed of the vibrating mirror relative to the workpiece changes, and the laser welding density formed on the workpiece based on the dithering track changes, so that the welding effect is affected. Referring to fig. 3, fig. 3 illustrates a shake track generated by adjusting only the shake frequency of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece changes, wherein the uneven circle density of the shake track is caused by the current instantaneous speed change of the vibrating mirror relative to the workpiece, specifically, taking a lower end as an example, an acceleration section of the workpiece moving upwards at the initial position, the current instantaneous speed of the vibrating mirror relative to the workpiece can be changed from small to large, the shake frequency of the vibrating mirror is correspondingly adjusted to be changed from small to large, a deceleration section and an acceleration section are correspondingly arranged before and after the middle turning, the right side of the end position is the deceleration section, the current instantaneous speed of the vibrating mirror relative to the workpiece at the deceleration section is also changed from large to small, and the corresponding shake frequency is also changed from large to small, thereby causing uneven circle density. Referring to fig. 4, fig. 4 illustrates a shake path generated by adjusting only the shake frequency of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece changes, wherein the different diameters of circles in the shake path are also caused by the current instantaneous speed of the vibrating mirror relative to the workpiece. The above description has been given of the case where the track of one period of vibration of the vibrating mirror is a circular track, but the present invention is not limited thereto, and may be a spiral line, a sinusoidal line, an ellipse, a horizontal 8-word, a vertical 8-word, or the like.
And adjusting the scanning speed of the vibrating mirror according to the adjusted vibrating parameters of the vibrating mirror so as to ensure that the overlapping distance of the new vibrating tracks is constant. Specifically, taking the dithering parameter of the vibrating mirror as the dithering frequency and/or the dithering amplitude as an example, the scanning speed of the vibrating mirror is obtained by calculating in the following manner:
Wherein, For the scanning speed of the adjusted vibrating mirror,/>Is the circumference ratio,/>To adjust the vibration amplitude of the vibrating mirror according to the instantaneous speed,/>To the shaking frequency of the vibrating mirror after being regulated according to the instantaneous speed,/>Is the overlapping pitch of the new wobble track. If the oscillation frequency of the oscillating mirror is adjusted only according to the instantaneous velocity, the above/>The vibration amplitude of the vibrating mirror which is originally configured is obtained; if the amplitude of the shake of the vibrating mirror is adjusted only according to the instantaneous speed, the above/>The dithering frequency of the vibrating mirror which is originally configured is the dithering frequency of the vibrating mirror.
And controlling the welding along the new shaking track at the calculated scanning speed of the vibrating mirror. The scanning speed of the galvanometer, that is, the time required for the galvanometer to complete one periodic movement, such as the time of drawing one circle in the dithering track illustrated in fig. 2 to 4, can ensure that the laser welding track is the same as that of the workpiece stationary welded by using the dithering track illustrated in fig. 2.
In order to further improve the welding quality, the method further comprises adjusting the output energy of the laser according to the calculated scanning speed of the vibrating mirror so as to enable the energy acting on the laser processing track to be constant. The laser output energy can be adjusted by the power, frequency and pulse width of the laser. Specifically, the relation between the energy and the galvanometer speed on the laser processing track is as follows:
Wherein, Energy per laser track length,/>For the length of the laser processing track,/>For scanning speed of galvanometer,/>Is the average power of the laser.
Referring to fig. 2 to 5, based on the above embodiments, it can be easily understood by a person skilled in the art that the present invention further provides a vibration welding control device based on motion speed feedback, which includes a parameter configuration module 1, a data processing module 2, and a control unit 3.
The parameter configuration module 1 is configured to configure a vibration welding parameter, where the vibration welding parameter includes a vibration frequency and a vibration amplitude of the vibrating mirror, an output power of the laser, and a scanning speed of the vibrating mirror. The static parameters are configured, namely the default workpiece is in a static state, and the vibrating mirror moves to ensure that the welding is normally executed at the initial moment. In the actual welding process, in order to expand the welding range, the workpiece is driven by a motion mechanism (XY stage) at the lower side thereof.
The data processing module 2 is used for acquiring the current instantaneous speed of the vibrating mirror relative to the workpiece in real time during welding, and adjusting the vibration parameter of the vibrating mirror according to the instantaneous speed so as to increase the vibration parameter of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is larger, and reduce the vibration parameter of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is smaller. Specifically, the above-mentioned instantaneous speed obtaining method includes, but is not limited to, using an encoder, a grating ruler, a velocimeter, a displacement sensor and other devices capable of feeding back speed or position, and obtaining the instantaneous speed between the galvanometer and the workpiece to be processed after processing and calculating.
The embodiment of the invention adopts two modes of adjusting the shake parameters of the vibrating mirror according to the instantaneous speed, wherein the first mode needs to pre-configure the reference instantaneous speed of the vibrating mirror relative to a workpieceAnd reference instantaneous velocity/>, of the galvanometer relative to the workpieceLower corresponding reference jitter parameter/>The adjusting mode is specifically as follows:
Wherein, For the adjusted shake parameters of the vibrating mirror,/>Is the instantaneous velocity of the galvanometer currently relative to the workpiece.
The second welding vibration parameter to be preconfigured also comprises a speed step of the vibrating mirror moving relative to the workpiece and vibration parameters corresponding to each speed step, and the vibration parameters are specifically shown in the following table:
Wherein, Respectively the speed steps of the vibrating mirror relative to the workpiece,In turn/>And (3) corresponding jitter parameters, wherein i is a natural number greater than or equal to 4. The adjusting mode is specifically as follows:
Wherein, For the adjusted shake parameters of the vibrating mirror,/>For the instantaneous speed of the galvanometer currently relative to the workpiece,For the speed stage to which the instantaneous speed of the vibrating mirror relative to the workpiece currently belongs,/>For the shaking parameter corresponding to the speed stage of the shaking mirror relative to the instantaneous speed of the workpieceThe vibration parameter corresponding to the last speed stage of the vibrating mirror corresponding to the instantaneous speed of the workpiece is that n is a natural number which is more than 1 and less than i.
The jitter parameters include in particular the jitter frequency and/or the jitter amplitude. The vibration frequency of the vibrating mirror can be independently adjusted according to the instantaneous speed, the vibration amplitude of the vibrating mirror can be independently adjusted according to the instantaneous speed, and the vibration frequency and the vibration amplitude of the vibrating mirror can be simultaneously adjusted according to the instantaneous speed. The jitter frequency and the jitter amplitude can be adjusted by the two adjusting modes. Whether the dithering frequency and the dithering amplitude are adjusted or not can be set through software, and a dithering frequency adjusting mode or a dithering amplitude adjusting mode can be set to be started in actual application, or both modes can be started.
The control unit 3 is configured to generate a new shake track according to the adjusted shake parameters of the shake mirror, specifically, referring to fig. 2, fig. 2 is a schematic L-shaped shake track generated without shake parameter adjustment in the prior art, each circle in the figure is a track of one period of shake of the shake mirror, when the workpiece and the shake mirror relatively move, the instantaneous speed of the shake mirror relative to the workpiece changes, and the laser welding density formed on the workpiece based on the shake track changes, so as to affect the welding effect. Referring to fig. 3, fig. 3 illustrates a shake track generated by adjusting only the shake frequency of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece changes, wherein the uneven circle density of the shake track is caused by the current instantaneous speed change of the vibrating mirror relative to the workpiece, specifically, taking a lower end as an example, an acceleration section of the workpiece moving upwards at the initial position, the current instantaneous speed of the vibrating mirror relative to the workpiece can be changed from small to large, the shake frequency of the vibrating mirror is correspondingly adjusted to be changed from small to large, a deceleration section and an acceleration section are correspondingly arranged before and after the middle turning, the right side of the end position is the deceleration section, the current instantaneous speed of the vibrating mirror relative to the workpiece at the deceleration section is also changed from large to small, and the corresponding shake frequency is also changed from large to small, thereby causing uneven circle density. Referring to fig. 4, fig. 4 illustrates a shake path generated by adjusting only the shake frequency of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece changes, wherein the different diameters of circles in the shake path are also caused by the current instantaneous speed of the vibrating mirror relative to the workpiece. The above description has been given of the case where the track of one period of vibration of the vibrating mirror is a circular track, but the present invention is not limited thereto, and may be a spiral line, a sinusoidal line, an ellipse, a horizontal 8-word, a vertical 8-word, or the like.
The control unit 3 is further configured to adjust a scanning speed of the galvanometer according to the adjusted jitter parameter of the galvanometer, so that an overlapping pitch of the new jitter track is constant. Specifically, taking the dithering parameter of the vibrating mirror as the dithering frequency and/or the dithering amplitude as an example, the scanning speed of the vibrating mirror is obtained by calculating in the following manner:
Wherein, For the scanning speed of the adjusted vibrating mirror,/>Is the circumference ratio,/>To adjust the vibration amplitude of the vibrating mirror according to the instantaneous speed,/>To the shaking frequency of the vibrating mirror after being regulated according to the instantaneous speed,/>Is the overlapping pitch of the new wobble track. If the oscillation frequency of the oscillating mirror is adjusted only according to the instantaneous velocity, the above/>The vibration amplitude of the vibrating mirror which is originally configured is obtained; if the amplitude of the shake of the vibrating mirror is adjusted only according to the instantaneous speed, the above/>The dithering frequency of the vibrating mirror which is originally configured is the dithering frequency of the vibrating mirror.
The control unit 3 is further configured to control the welding along the new dither trajectory at the calculated scanning speed of the galvanometer. The scanning speed of the galvanometer, that is, the time required for the galvanometer to complete one periodic movement, such as the time of drawing one circle in the dithering track illustrated in fig. 2 to 4, can ensure that the laser welding track is the same as that of the workpiece stationary welded by using the dithering track illustrated in fig. 2.
In order to further improve the welding quality, the control unit 3 also adjusts the laser output energy according to the calculated scanning speed of the galvanometer so that the energy acting on the laser processing track is constant. The laser output energy can be adjusted by the power, frequency and pulse width of the laser. Specifically, the relation between the energy and the galvanometer speed on the laser processing track is as follows:
Wherein, Energy per laser track length,/>For the length of the laser processing track,/>For scanning speed of galvanometer,/>Is the average power of the laser.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that other parts not specifically described are within the prior art or common general knowledge to a person of ordinary skill in the art. Modifications and alterations may be made without departing from the principles of this invention, and such modifications and alterations should also be considered as being within the scope of the invention.
Claims (10)
1. A method of vibration welding based on motion speed feedback, comprising:
Configuring vibration welding parameters, wherein the vibration welding parameters comprise vibration frequency and vibration amplitude of a vibrating mirror, output power of a laser and scanning speed of the vibrating mirror;
Acquiring the current instantaneous speed of the vibrating mirror relative to the workpiece in real time during welding, and adjusting the vibration parameter of the vibrating mirror according to the instantaneous speed, so as to increase the vibration parameter of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is larger, and reduce the vibration parameter of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is smaller;
Generating a new shaking track according to the shaking parameters of the regulated shaking mirror;
According to the adjusted shaking parameters of the shaking mirror, the scanning speed of the shaking mirror is adjusted so that the overlapping distance of the new shaking tracks is constant;
and controlling the welding along the new shaking track at the calculated scanning speed of the vibrating mirror.
2. The method of claim 1, wherein the vibration welding parameters further comprise a reference instantaneous speed of the vibrating mirror relative to the workpieceAnd reference instantaneous velocity of the galvanometer relative to the workpieceLower corresponding reference jitter parameter/>The mode of adjusting the shake parameters of the vibrating mirror according to the instantaneous speed is specifically as follows:
；
Wherein, For the adjusted shake parameters of the vibrating mirror,/>Is the instantaneous velocity of the galvanometer currently relative to the workpiece.
3. The method for welding vibration based on motion speed feedback according to claim 1, wherein the vibration welding parameters further comprise a speed step of the vibration mirror moving relative to the workpiece and vibration parameters corresponding to each speed step, and the manner of adjusting the vibration parameters of the vibration mirror according to the instantaneous speed is as follows:
；
Wherein, For the adjusted shake parameters of the vibrating mirror,/>For the instantaneous speed of the galvanometer relative to the workpiece at present,/>For the speed stage to which the instantaneous speed of the vibrating mirror relative to the workpiece currently belongs,/>For the shaking parameter corresponding to the speed stage of the shaking mirror relative to the instantaneous speed of the workpieceIs a jitter parameter corresponding to a later speed stage of the speed stage to which the instantaneous speed of the vibrating mirror relative to the workpiece belongs.
4. A method of vibration welding based on motion speed feedback according to claim 1, characterized in that the vibration parameters comprise vibration frequency and/or vibration amplitude.
5. The method of vibration welding based on motion speed feedback of claim 1, further comprising:
And adjusting the output energy of the laser according to the calculated scanning speed of the vibrating mirror so as to ensure that the energy acting on the laser processing track is constant.
6. A vibration welding control device based on motion speed feedback, comprising:
The parameter configuration module is used for configuring the vibration welding parameters, wherein the vibration welding parameters comprise the vibration frequency and the vibration amplitude of the vibrating mirror, the output power of the laser and the scanning speed of the vibrating mirror;
The data processing module is used for acquiring the current instantaneous speed of the vibrating mirror relative to the workpiece in real time during welding, and adjusting the vibration parameter of the vibrating mirror according to the instantaneous speed so as to increase the vibration parameter of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is larger, and reduce the vibration parameter of the vibrating mirror when the current instantaneous speed of the vibrating mirror relative to the workpiece is smaller;
The control unit is used for generating a new shaking track according to the shaking parameters of the shaking mirror after adjustment, adjusting the scanning speed of the shaking mirror according to the shaking parameters of the shaking mirror after adjustment so as to ensure that the overlapping interval of the new shaking track is constant, and then controlling the calculated scanning speed of the shaking mirror to weld along the new shaking track.
7. The apparatus of claim 6, wherein the dither welding parameters further comprise a reference instantaneous velocity of the galvanometer relative to the workpieceAnd reference instantaneous velocity/>, of the galvanometer relative to the workpieceLower corresponding reference jitter parameter/>The mode of adjusting the shake parameters of the vibrating mirror according to the instantaneous speed is specifically as follows:
；
Wherein, For the adjusted shake parameters of the vibrating mirror,/>Is the instantaneous velocity of the galvanometer currently relative to the workpiece.
8. The vibration welding control device based on motion speed feedback according to claim 6, wherein the vibration welding parameters further comprise a speed step of the vibration mirror moving relative to the workpiece and vibration parameters corresponding to each speed step, and the manner of adjusting the vibration parameters of the vibration mirror according to the instantaneous speed is specifically as follows:
；
Wherein, For the adjusted shake parameters of the vibrating mirror,/>For the instantaneous speed of the galvanometer relative to the workpiece at present,/>For the speed stage to which the instantaneous speed of the vibrating mirror relative to the workpiece currently belongs,/>For the shaking parameter corresponding to the speed stage of the shaking mirror relative to the instantaneous speed of the workpieceIs a jitter parameter corresponding to a later speed stage of the speed stage to which the instantaneous speed of the vibrating mirror relative to the workpiece belongs.
9. A vibration welding control device based on motion speed feedback according to claim 6, characterized in that the vibration parameters comprise vibration frequency and/or vibration amplitude.
10. The apparatus of claim 6, wherein the control unit further adjusts the laser output energy according to the calculated scanning speed of the galvanometer so that the energy acting on the laser processing trajectory is constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410190338.1A CN117733343B (en) | 2024-02-21 | 2024-02-21 | Shaking welding method and control device based on motion speed feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410190338.1A CN117733343B (en) | 2024-02-21 | 2024-02-21 | Shaking welding method and control device based on motion speed feedback |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117733343A CN117733343A (en) | 2024-03-22 |
| CN117733343B true CN117733343B (en) | 2024-05-03 |
Family
ID=90254912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410190338.1A Active CN117733343B (en) | 2024-02-21 | 2024-02-21 | Shaking welding method and control device based on motion speed feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117733343B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6177648B1 (en) * | 1999-03-30 | 2001-01-23 | Laser Machining, Inc. | Steered laser beam system with laser power control |
| KR20090032222A (en) * | 2007-09-27 | 2009-04-01 | 정의갑 | Laser welding system and welding method thereof using scanning mirror |
| DE102009043604A1 (en) * | 2009-09-28 | 2011-03-31 | Jenoptik Automatisierungstechnik Gmbh | Method for decoating an edge portion of thin layer solar cell module, comprises producing traces of beam spots arranged to each other that are induced through a laser pulse, with changing direction sense |
| CN103338891A (en) * | 2010-10-22 | 2013-10-02 | 伊雷克托科学工业股份有限公司 | Laser processing systems and methods for beam dithering and skiving |
| CN106825918A (en) * | 2017-03-13 | 2017-06-13 | 浙江师范大学 | A kind of hybrid laser beam scanning device and control method |
| CN110449732A (en) * | 2018-05-07 | 2019-11-15 | 大族激光科技产业集团股份有限公司 | A kind of laser-processing system and laser processing |
| CN112496557A (en) * | 2020-12-03 | 2021-03-16 | 新代科技(苏州)有限公司 | Laser marking system and laser marking method |
| TWM609583U (en) * | 2020-12-03 | 2021-03-21 | 新代科技股份有限公司 | Laser marking system |
| CN112825405A (en) * | 2019-11-20 | 2021-05-21 | 财团法人工业技术研究院 | Scanning laser system capable of laser dynamic compensation and laser dynamic compensation method thereof |
| CN115446455A (en) * | 2022-09-22 | 2022-12-09 | 山东大学 | Corner laser welding method based on power follow-up control |
| CN115805365A (en) * | 2023-01-17 | 2023-03-17 | 武汉铱科赛科技有限公司 | Composite deflection laser filling scanning system, method, device and equipment |
-
2024
- 2024-02-21 CN CN202410190338.1A patent/CN117733343B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6177648B1 (en) * | 1999-03-30 | 2001-01-23 | Laser Machining, Inc. | Steered laser beam system with laser power control |
| KR20090032222A (en) * | 2007-09-27 | 2009-04-01 | 정의갑 | Laser welding system and welding method thereof using scanning mirror |
| DE102009043604A1 (en) * | 2009-09-28 | 2011-03-31 | Jenoptik Automatisierungstechnik Gmbh | Method for decoating an edge portion of thin layer solar cell module, comprises producing traces of beam spots arranged to each other that are induced through a laser pulse, with changing direction sense |
| CN103338891A (en) * | 2010-10-22 | 2013-10-02 | 伊雷克托科学工业股份有限公司 | Laser processing systems and methods for beam dithering and skiving |
| CN106825918A (en) * | 2017-03-13 | 2017-06-13 | 浙江师范大学 | A kind of hybrid laser beam scanning device and control method |
| CN110449732A (en) * | 2018-05-07 | 2019-11-15 | 大族激光科技产业集团股份有限公司 | A kind of laser-processing system and laser processing |
| CN112825405A (en) * | 2019-11-20 | 2021-05-21 | 财团法人工业技术研究院 | Scanning laser system capable of laser dynamic compensation and laser dynamic compensation method thereof |
| CN112496557A (en) * | 2020-12-03 | 2021-03-16 | 新代科技(苏州)有限公司 | Laser marking system and laser marking method |
| TWM609583U (en) * | 2020-12-03 | 2021-03-21 | 新代科技股份有限公司 | Laser marking system |
| CN115446455A (en) * | 2022-09-22 | 2022-12-09 | 山东大学 | Corner laser welding method based on power follow-up control |
| CN115805365A (en) * | 2023-01-17 | 2023-03-17 | 武汉铱科赛科技有限公司 | Composite deflection laser filling scanning system, method, device and equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117733343A (en) | 2024-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7324867B2 (en) | Controller for a laser using predictive models of materials processing | |
| US6177648B1 (en) | Steered laser beam system with laser power control | |
| US20120187103A1 (en) | Pulse laser machining apparatus and pulse laser machining method | |
| WO2015156119A1 (en) | Laser processing device and laser processing method | |
| CN113441852B (en) | Laser spiral scanning blind hole manufacturing method | |
| CN106695118A (en) | Four-freedom-degree XY vibrating mirror scanning device and control method | |
| JP4614844B2 (en) | Laser processing method and laser processing apparatus | |
| WO2012074635A1 (en) | Method and apparatus for reducing taper of laser scribes | |
| CN117733343B (en) | Shaking welding method and control device based on motion speed feedback | |
| US9931713B2 (en) | Laser systems and methods for AOD rout processing | |
| KR20200112644A (en) | Laser processing apparatus and laser processing method | |
| JP5632662B2 (en) | Pulsed laser processing method | |
| CN107812708B (en) | Method for adjusting vibration direction angle of self-synchronizing elliptical vibration machine and self-synchronizing elliptical vibration machine | |
| CN110977153B (en) | Control method of spiral scanning laser processing head | |
| JP2003234306A (en) | Laser machining method and device therefor | |
| CN215846425U (en) | Laser high-speed dislocation perforating device that Z axle dynamic state removed | |
| CN1321494C (en) | Motor control device | |
| RU2579851C2 (en) | Method for plasma arc welding and device for plasma arc welding | |
| JP2011147201A (en) | Electric motor control apparatus | |
| JP3619493B2 (en) | Pulse stabilization method for laser processing | |
| US11541604B2 (en) | Method for producing three-dimensional object using movable lens with control of laser power, scan speed and beam diameter | |
| JP2004174539A (en) | Laser beam machining method | |
| JP2004034051A (en) | Article processing device | |
| Land | A new era in galvanometer scanner control | |
| JP2004034121A (en) | Laser beam machining device and machining method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |