CN115533394A - Control method of welding apparatus, and storage medium - Google Patents
Control method of welding apparatus, and storage medium Download PDFInfo
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- CN115533394A CN115533394A CN202211545893.9A CN202211545893A CN115533394A CN 115533394 A CN115533394 A CN 115533394A CN 202211545893 A CN202211545893 A CN 202211545893A CN 115533394 A CN115533394 A CN 115533394A
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- 238000003466 welding Methods 0.000 title claims abstract description 481
- 238000000034 method Methods 0.000 title claims abstract description 88
- 238000003860 storage Methods 0.000 title claims abstract description 12
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
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Abstract
The invention discloses a control method of welding equipment, the welding equipment and a storage medium, wherein the method is applied to the welding equipment and comprises the following steps: determining the relative position between a first welding point of a first workpiece to be welded and a second welding point of a second workpiece to be welded according to the image corresponding to the welding work area; when the relative position is not matched with the preset relative position, determining the deviation amount between the relative position and the preset relative position; and determining a workpiece position adjusting parameter according to the deviation amount, and controlling a workpiece grabbing component of the welding equipment to execute a position calibration process according to the workpiece position adjusting parameter so as to correct the relative position. The method is based on the dislocation condition of the welding points of the two workpieces to be welded to clarify the workpiece position adjusting parameters of the workpieces to be welded, and executes the position calibration process according to the workpiece position adjusting parameters so as to enable the welding points of the two workpieces to be welded to correspond or align, so that the method does not need human participation and has high automation degree.
Description
Technical Field
The present invention relates to the field of welding technologies, and in particular, to a control method for a welding apparatus, and a storage medium.
Background
Welding, also known as fusion welding, is a manufacturing process that joins metals or other thermoplastic materials in a heated, high temperature, or high pressure manner. When two workpieces to be welded are welded into a whole, the welding positions of the two workpieces to be welded need to be positioned or aligned for welding. At present, the welding positions of two workpieces to be welded are positioned or aligned in a manual mode, and the automation degree is low.
The above-mentioned contents are only for assisting understanding of the technical solution of the present invention, and do not represent an admission that the above-mentioned contents are related art.
Disclosure of Invention
The invention mainly aims to provide a control method of welding equipment, the welding equipment and a storage medium, and aims to solve the problem of low automation degree caused by positioning or aligning the welding positions of two workpieces to be welded in a manual mode.
In order to achieve the above object, the present invention provides a control method of a welding apparatus, including:
determining the relative position between a first welding point of a first workpiece to be welded and a second welding point of a second workpiece to be welded according to the image corresponding to the welding work area;
when the relative position is not matched with a preset relative position, determining a deviation amount according to the relative position;
and determining a workpiece position adjusting parameter according to the deviation amount, and controlling a workpiece grabbing component of the welding equipment to execute a position calibration process according to the workpiece position adjusting parameter so as to correct the relative position.
Optionally, before the step of determining a relative position between a first welding point of a first workpiece to be welded and a second welding point of a second workpiece to be welded according to the image corresponding to the welding work area, the method further includes:
when the end of the calibration process is detected or a welding instruction is received, acquiring an image corresponding to the welding working area;
after the step of determining the relative position between the first welding point of the first workpiece to be welded and the second welding point of the second workpiece to be welded according to the image corresponding to the welding work area, the method further comprises the following steps:
and when the relative position is matched with the preset relative position, controlling a welding assembly of the welding equipment to perform a welding action.
Optionally, the step of determining a workpiece position adjustment parameter based on the deviation amount comprises:
determining at least two of a moving direction, a moving distance, a rotating direction and a rotating angle according to the deviation amount;
generating a workpiece position adjusting parameter according to at least two of the moving direction, the moving distance, the rotating direction and the rotating angle;
the step of controlling a workpiece grabbing component of the welding equipment to execute a position calibration process according to the workpiece position adjustment parameter comprises the following steps:
and controlling the workpiece grabbing component to grab the target welding workpiece to move the moving distance according to the moving direction, and/or controlling the workpiece grabbing component to grab the target welding workpiece to rotate by the rotation angle according to the rotation direction, wherein the target welding workpiece comprises the first workpiece to be welded and/or the second workpiece to be welded.
Optionally, the step of determining a relative position between a first welding point of the first workpiece to be welded and a second welding point of the second workpiece to be welded according to the image corresponding to the welding work area includes:
determining a first coordinate corresponding to a first welding point of the first workpiece to be welded and a second coordinate corresponding to a second welding point of the second workpiece to be welded based on the image;
comparing the first coordinate with the second coordinate;
and generating a relative position between a first welding point of the first workpiece to be welded and a second welding point of the second workpiece to be welded according to the comparison result.
Optionally, the method further comprises:
and controlling a pressing device in the welding equipment to move to a preset position so that the first workpiece to be welded is attached to the second workpiece to be welded, and executing the step of determining the relative position between the first welding point of the first workpiece to be welded and the second welding point of the second workpiece to be welded according to the image corresponding to the welding work area.
Optionally, the step of controlling the welding assembly of the welding device to perform the welding action further comprises:
acquiring workpiece information of the first workpiece to be welded and/or the second workpiece to be welded, wherein the workpiece information comprises a workpiece mark and a material;
determining welding parameters according to the workpiece information, wherein the welding parameters comprise welding power and/or welding time;
and controlling the welding assembly to perform a welding action according to the welding parameters.
Optionally, the step of determining welding parameters from the workpiece information comprises:
acquiring reference welding data matched with the workpiece information in historical welding data;
acquiring use information of a welded workpiece corresponding to the reference welding data;
determining target welding parameters from the reference welding data according to the usage information;
and determining the welding parameters according to the target welding parameters.
Optionally, the usage information comprises a usage duration and a usage score, and the step of determining the target welding parameter from the reference welding data according to the usage information comprises:
acquiring weighted values corresponding to the use duration and the use score respectively;
carrying out weighted summation according to the use duration, the weight value corresponding to the use duration, the use score and the weight value corresponding to the use score to obtain use satisfaction;
and determining the target welding parameters according to the reference welding data of the welded workpiece corresponding to the highest use satisfaction degree in the use satisfaction degrees.
Further, to achieve the above object, the present invention also provides a welding apparatus comprising: a memory, a processor and a control program of a welding apparatus stored in said memory and executable on said processor, said control program of a welding apparatus realizing the steps of the control method of a welding apparatus as described above when executed by said processor.
Further, in order to achieve the above object, the present invention also provides a storage medium having stored thereon a control program of a welding apparatus, which when executed by the processor, realizes the respective steps of the control method of the welding apparatus as described above.
The control method of the welding equipment, the welding equipment and the storage medium provided by the invention have the advantages that the relative position between the first welding point of the first workpiece to be welded and the second welding point of the second workpiece to be welded is determined according to the image corresponding to the welding working area, whether the welding points of the two workpieces to be welded correspond or not is determined, when the relative position is not matched with the preset relative position, the welding points of the two workpieces to be welded are misplaced, the deviation amount between the relative position and the preset relative position is further determined, the misplacement condition of the welding points of the two workpieces to be welded is obtained through the deviation amount, the workpiece position adjusting parameter is determined according to the deviation amount, the workpiece position adjusting parameter of the workpieces to be welded is determined according to the misplacement condition of the welding points of the two workpieces to be welded, the workpiece grabbing component is controlled to execute the position calibration process according to the workpiece position adjusting parameter, the relative position is corrected, the welding points of the two workpieces to be welded correspond or align, the welding points of the two workpieces to meet the welding requirements of welding, manual participation is not needed, and the automation degree is high.
In addition, compared with the method that when the welding points of the two workpieces to be welded are positioned or aligned manually, the two workpieces to be welded are attached and then moved for multiple times, so that the welding points of the two workpieces to be welded are positioned or aligned, the workpiece grabbing component is controlled to execute the position calibration process according to the workpiece position adjustment parameters to correct the relative position, the welding points of the two workpieces to be welded can be aligned or matched only by one-time adjustment, the operation is simple, and the welding efficiency is improved.
Drawings
Fig. 1 is a schematic structural view of a welding apparatus to which various embodiments of a control method of the welding apparatus of the present invention relate;
FIG. 2 is a schematic view of the overall construction of the welding apparatus of the present invention;
FIG. 3 is a simplified top view of the overall structure of the welding apparatus of the present invention;
FIG. 4 is a schematic view of a position adjusting device of the welding apparatus of the present invention;
FIG. 5 is a schematic flow chart diagram of a first embodiment of a control method of the welding apparatus of the present invention;
FIG. 6 is a simplified schematic diagram of identifying coordinates corresponding to a weld point of a workpiece to be welded based on a coordinate grid;
fig. 7 is a schematic flow chart of a welding operation implemented in a first embodiment of a control method of a welding apparatus according to the present invention;
fig. 8 is a flowchart illustrating a second embodiment of a control method of the welding apparatus according to the present invention.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a control method of welding equipment, which is applied to the welding equipment and comprises the following steps:
determining the relative position between a first welding point of a first workpiece to be welded and a second welding point of a second workpiece to be welded according to the image corresponding to the welding work area;
when the relative position is not matched with a preset relative position, determining a deviation value according to the relative position;
and determining a workpiece position adjusting parameter according to the deviation amount, and controlling a workpiece grabbing component of the welding equipment to execute a position calibration process according to the workpiece position adjusting parameter so as to correct the relative position.
The method comprises the steps of determining the relative position between a first welding point of a first workpiece to be welded and a second welding point of a second workpiece to be welded according to an image corresponding to a welding working area to determine whether the welding points of the two workpieces to be welded correspond or not, indicating that the welding points of the two workpieces to be welded are staggered when the relative position is not matched with a preset relative position, further determining the deviation amount between the relative position and the preset relative position, acquiring the dislocation condition of the welding points of the two workpieces to be welded according to the deviation amount, determining a workpiece position adjusting parameter of the workpieces to be welded based on the dislocation condition of the welding points of the two workpieces to be welded, further controlling a workpiece grabbing component to execute a position calibration process according to the workpiece position adjusting parameter to correct the relative position, so that the welding points of the two workpieces to be welded correspond or align to meet the welding requirement, and the automation degree is high without human participation.
In addition, compared with the method that when the welding points of the two workpieces to be welded are positioned or aligned manually, the two workpieces to be welded are attached and then moved for multiple times, so that the welding points of the two workpieces to be welded are positioned or aligned, the workpiece grabbing component is controlled to execute the position calibration process according to the workpiece position adjustment parameters to correct the relative position, the welding points of the two workpieces to be welded can be aligned or matched only by one-time adjustment, the operation is simple, and the welding efficiency is improved.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
It should be noted that the main implementation of the method of the present invention is a welding apparatus. Referring to fig. 1, fig. 1 is a schematic structural diagram of a welding apparatus according to various embodiments of a control method of the welding apparatus of the present invention.
As shown in fig. 1, the welding apparatus may include: a memory 101 and a processor 102. It will be understood by those skilled in the art that the block diagram of the terminal shown in fig. 1 does not constitute a limitation of the terminal, which may include more or fewer components than shown, or some components may be combined, or a different arrangement of components. The memory 101 stores therein an operating system and a control program for the welding apparatus. The processor 102 is a control center of the welding apparatus, and the processor 102 executes a control program of the welding apparatus stored in the memory 101 to implement the steps of the embodiments of the control method of the welding apparatus of the present invention.
Optionally, the welding device may further include a Display unit 103, and the Display unit 103 includes a Display panel, which may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like, for outputting an interface displaying the user's browsing.
Optionally, the welding device further comprises a communication unit 104, and the communication unit 104 establishes data communication (the data communication may be IP communication or bluetooth channel) with the terminal device, the purchase platform of the welded workpiece, or the usage feedback system of the welded workpiece through a network protocol to realize data transmission with the terminal device, the purchase platform of the welded workpiece, or the usage feedback system of the welded workpiece.
Alternatively, referring to fig. 2, fig. 3 and fig. 4, fig. 2 is a schematic diagram of an overall structure of the welding apparatus of the present invention, fig. 3 is a simple schematic diagram of an overall structure of the welding apparatus of the present invention from top, and fig. 4 is a schematic diagram of a position adjustment device of the welding apparatus of the present invention, where the welding apparatus includes a base 1, a camera positioning assembly 2 disposed on the base 1, a workpiece grabbing assembly 3 and a welding assembly 4. Wherein, be provided with the drive module on the frame 1, the drive module includes two liang of mutually perpendicular's X axle drive module, Y axle drive module and Z axle drive module, and welding subassembly 4 sets up in being used for the first Z axle drive module of welded, and the position control device that the subassembly 3 formed is snatched with the work piece to the locating component 2 of taking a picture sets up in being used for treating the second Z axle drive module A that the welding work piece carries out position control.
Optionally, the welding apparatus further includes a workpiece carrier (not shown) provided on the base, the workpiece carrier being a welding work area for placing a first workpiece to be welded and a second workpiece to be welded.
Optionally, a clamp can be further arranged on the workpiece bearing table for fixing the workpiece to be welded.
Optionally, the camera positioning assembly 2 further includes a camera device 21, the camera device 21 is disposed on the second Z-axis driving module a and is disposed corresponding to the workpiece carrying table, and the camera device 21 is configured to obtain an image corresponding to the welding work area.
Alternatively, the imaging device 21 employs a video camera.
Optionally, the workpiece grabbing component 3 further includes a workpiece grabbing member 31 and a driving member 32, the workpiece grabbing device 3 is disposed on the second Z-axis driving module a and is disposed corresponding to the workpiece bearing table, the driving member 32 is connected to the workpiece grabbing member 31, and the workpiece grabbing member 31 is driven by the second Z-axis driving module a to move to a preset grabbing position along a direction close to the workpiece bearing table so as to grab the workpiece to be welded on the workpiece bearing table.
Alternatively, the workpiece gripper 31 is a suction nozzle type gripper or a suction cup type gripper.
Alternatively, the driving member 32 employs a driving motor.
Alternatively, the driving member 32 employs a rotating motor, so that after the workpiece grabbing member, such as a suction cup type grabbing member, grabs the workpiece to be welded, the rotating motor drives the workpiece grabbing member to rotate, so that the workpiece to be welded rotates by a determined rotation angle according to the rotation direction, thereby adjusting the placement angle of the workpiece to be welded.
Optionally, the welding assembly 4 is movably arranged on a first Z-axis driving module for welding, is arranged corresponding to the workpiece bearing table, and is controlled to move to a preset welding position so as to weld a first workpiece to be welded and a second workpiece to be welded on the workpiece bearing table according to the determined welding parameters.
It should be noted that the welding equipment in this embodiment may be based on existing welding equipment, the structural diagram of the welding equipment shown in fig. 2 does not constitute a limitation to the welding equipment, and the welding equipment may include more components than those shown, or may combine some components, or may have different component arrangements.
Optionally, the second Z-axis driving module a drives the workpiece grabbing piece 31 to move to a preset grabbing position in a direction close to the work bearing table to grab the to-be-welded workpiece on the workpiece bearing table, and then the second Z-axis driving module a drives the workpiece grabbing piece 31 to move to a preset workpiece adjusting position in a direction away from the work bearing table to control the workpiece grabbing piece 31 in the workpiece grabbing assembly 3 to grab the to-be-welded workpiece to move by a determined moving distance in the moving direction, and/or control the workpiece grabbing piece 31 in the workpiece grabbing assembly 3 to grab the to-be-welded workpiece to rotate by a determined rotation angle in the rotation direction, and after the placement position of the to-be-welded workpiece is adjusted, the second Z-axis driving module a further drives the workpiece grabbing piece 31 to move to a preset placement position in a direction close to the work bearing table to place the to-be-welded workpiece after the placement position is adjusted on the workpiece bearing table.
The control of the workpiece gripping element 31 in the workpiece gripping assembly 3 to grip the workpiece to be welded and move the determined moving distance according to the moving direction refers to driving the workpiece gripping element 31 to move along the direction parallel to the plane of the work loading platform, such as along the X-axis negative direction, along the X-axis positive direction, along the Y-axis negative direction, along the Y-axis positive direction, for example, as shown in fig. 4, moving to the left, may be correspondingly set to move along the Y-axis positive direction, or moving to the right, may be correspondingly set to move along the Y-axis negative direction, and is not limited thereto.
Optionally, the welding apparatus further includes a pressing device (not shown in the drawings), which is controlled to move to a preset position, so that the first workpiece to be welded in the welding work area is attached to the second workpiece to be welded, so as to know the corresponding alignment condition between the first welding point of the first workpiece to be welded and the second welding point of the second workpiece to be welded.
It should be noted that, in this embodiment, only the description of the composition structure including the welding device is provided, and the welding device is not limited, and the welding device may further include other functional components, which may refer to the prior art and are not described again.
For example, a first workpiece to be welded may be fixed on the workpiece bearing table in advance, the pressing device is controlled to move to a preset position, a movable second workpiece to be welded is attached to the first workpiece to be welded, an image corresponding to a welding work area is obtained, a relative position between a first welding point of the first workpiece to be welded and a second welding point of the second workpiece to be welded is determined according to the image corresponding to the welding work area, when the relative position is not matched with the preset relative position, a deviation between the relative position and the preset relative position is determined, a workpiece position adjustment parameter is determined according to the deviation, and a workpiece grabbing assembly execution position calibration process is controlled according to the workpiece position adjustment parameter to correct the relative position.
Optionally, when the relative position does not match the preset relative position, the pressing device may be controlled to move to the initial position, and the second Z-axis driving module a drives the workpiece grabbing element 31 to move to the preset grabbing position in the direction close to the work carrier to grab the second to-be-welded workpiece on the work carrier, and then the second Z-axis driving module a may drive the workpiece grabbing element 31 to move to the preset workpiece adjusting position in the direction away from the work carrier to control the workpiece grabbing element to execute the position calibration process according to the workpiece position adjustment parameter, so as to correct the relative position, for example, the workpiece grabbing element 31 in the workpiece grabbing element 3 is controlled to grab the second to-be-welded workpiece and move by a determined moving distance in the moving direction, and/or the workpiece grabbing element 31 in the workpiece grabbing element 3 is controlled to grab the second to-be-welded workpiece and rotate by a determined rotation angle in the rotation direction, and after the placement position of the to-be-welded workpiece is adjusted, the second to-be-welded workpiece grabbing element 31 is further driven by the second Z-axis driving module to move to the preset placement position in the direction close to the work carrier to place the adjusted second to the second to-be-welded workpiece on the work carrier.
Optionally, after the second workpiece to be welded with the adjusted placement position is placed on the workpiece bearing table, the pressing device is controlled to move to a preset position, the movable second workpiece to be welded is attached to the first workpiece to be welded, and when the relative position is matched with the preset relative position, the welding assembly is controlled to perform welding.
Various embodiments of the control method of the welding apparatus of the present invention are proposed based on the structural block diagram of the welding apparatus described above.
In a first embodiment, the present invention provides a control method of a welding apparatus, please refer to fig. 5, and fig. 5 is a flowchart illustrating the control method of the welding apparatus according to the first embodiment of the present invention. In this embodiment, the control method of the welding apparatus includes the steps of:
step S10, determining the relative position between a first welding point of a first workpiece to be welded and a second welding point of a second workpiece to be welded according to the image corresponding to the welding work area;
the welding work area refers to an area where a welding position where the first workpiece to be welded and the second workpiece to be welded perform a welding operation. The first workpiece to be welded and the second workpiece to be welded refer to workpieces to be welded.
Alternatively, the first workpiece to be welded and/or the second workpiece to be welded may be metal, or may be a thermoplastic material, which is not limited thereto.
Alternatively, in practical applications, the first workpiece to be soldered may be a Printed Circuit Board (PCB), and the second workpiece to be soldered may be a product of the PCB, such as various types of electronic components, where the PCB is an important electronic component, a support of the electronic component, and a carrier for electrically interconnecting the electronic components.
The image corresponding to the welding work area can be obtained by shooting based on a camera device arranged on the welding equipment. As an alternative implementation, step S10 includes:
determining a first coordinate corresponding to a first welding point of the first workpiece to be welded and a second coordinate corresponding to a second welding point of the second workpiece to be welded based on the image;
comparing the first coordinate with the second coordinate;
and generating a relative position between a first welding point of the first workpiece to be welded and a second welding point of the second workpiece to be welded according to the comparison result.
In an actual application process, in order to obtain a high-quality and good-quality welded workpiece after welding, when two workpieces to be welded are welded into a whole, welding positions of the two workpieces to be welded need to be positioned or aligned for welding, and a first coordinate corresponding to a first welding point of a first workpiece to be welded and a second coordinate corresponding to a second welding point of a second workpiece to be welded can be obtained based on image recognition.
Optionally, a first weld point of the first workpiece to be welded corresponds to a second weld point of the second workpiece to be welded.
Optionally, the number of the first welding points and/or the second welding points may be one, or at least two, such as two, or more.
Optionally, the first coordinate corresponding to the first welding point of the first workpiece to be welded is acquired based on image recognition, a coordinate grid may be set in advance based on the image, after the position of the first welding point of the first workpiece to be welded on the image is recognized based on the image, the first coordinate of the first welding point is determined based on the coordinate grid, and similarly, the coordinate grid may also be set corresponding to the welding work area.
Similarly, the specific item manner of obtaining the second coordinate corresponding to the second welding point of the second workpiece to be welded based on the image recognition may refer to the specific implementation of obtaining the first coordinate corresponding to the first welding point of the first workpiece to be welded based on the image recognition, and is not described herein again.
And comparing the first coordinate with the second coordinate, and generating the relative position between the first welding point of the first workpiece to be welded and the second welding point of the second workpiece to be welded according to the comparison result. Exemplarily, referring to fig. 6, fig. 6 is a simplified schematic diagram of identifying coordinates corresponding to welding points of a workpiece to be welded based on a coordinate grid, assuming that first coordinates of first welding points a, B of a first workpiece to be welded are (5, 3, - α 1), (7.1, 2.2, - α 1), respectively, where α 1 is a placement angle of the first workpiece to be welded compared to a transverse coordinate, first coordinates of second welding points C, D of a second workpiece to be welded are (2, 3, - α 2), (3, 2, - α 1), respectively, where α 2 is a placement angle of the second workpiece to be welded compared to a transverse coordinate (X-axis), the first welding point a is aligned with the second welding point C correspondingly, and the first welding point B is aligned with the second welding point D correspondingly, comparing the first coordinate with the second coordinate, wherein the relative position between the second welding point of the second workpiece to be welded and the first welding point of the first workpiece to be welded is (3, 0, - α 1+ α 2), which indicates that the second workpiece to be welded and the first welding point of the first workpiece to be welded are correspondingly aligned, the moving distance required to move along the X-axis direction is 3, the moving distance required to move along the y-axis direction is 0, so that the first welding point a and the second welding point C are correspondingly aligned, and based on the second welding point C as a fixed point, the rotation angle of the placement angle of the second workpiece to be welded rotating along the counterclockwise direction is controlled to be (α 2- α 1), so that all the second welding points of the second workpiece to be welded are correspondingly aligned with the first welding point of the first workpiece to be welded respectively.
It can be understood that, when the number of the first welding points and the second welding points is one, if the first workpiece to be welded has only one first welding point a, and the second workpiece to be welded has only one second welding point C, the moving distance of the second workpiece to be welded which can directly move along the X-axis direction is 3, and the moving distance of the y-axis direction is 0, so that the first welding point a and the second welding point C are correspondingly aligned, and a reference coordinate point such as a point B or a corner vertex of the first workpiece to be welded is also determined on the first workpiece to be welded, and further, referring to a manner that the first workpiece to be welded has at least two first welding points such as a point a and a point B, so that the second welding point of the second workpiece to be welded is correspondingly aligned with the first welding point of the first workpiece to be welded, which is not described herein again.
As an optional implementation manner, step S10 further includes:
and controlling a pressing device in the welding equipment to move to a preset position so as to enable the first workpiece to be welded to be attached to the second workpiece to be welded, and executing the step S10.
And controlling a pressing device in the welding equipment to move to a preset position so that the first workpiece to be welded is attached to the second workpiece to be welded and fixed, and obtaining an image corresponding to the welding working area more accurately.
Step S20, when the relative position is not matched with a preset relative position, determining a deviation value according to the relative position;
and S30, determining a workpiece position adjusting parameter according to the deviation amount, and controlling a workpiece grabbing component of the welding equipment to execute a position calibration process according to the workpiece position adjusting parameter so as to correct the relative position.
The preset relative position means that all first welding points of the first workpiece to be welded are correspondingly aligned or correspondingly aligned with second welding points of the second workpiece to be welded respectively. When the relative position is not matched with the preset relative position, the situation that the welding point between the first workpiece to be welded and the second workpiece to be welded is staggered is shown,
the deviation, i.e. the relative position, is determined from the relative position.
As an alternative embodiment, the step of determining the workpiece position adjustment parameter according to the deviation amount in step S30 includes:
determining at least two of a moving direction, a moving distance, a rotating direction and a rotating angle according to the deviation amount;
generating a workpiece position adjusting parameter according to at least two of the moving direction, the moving distance, the rotating direction and the rotating angle;
the step of controlling the workpiece grabbing component of the welding equipment to execute the position calibration process according to the workpiece position adjustment parameter in the step S30 includes:
and controlling the workpiece grabbing component to grab the target welding workpiece to move the moving distance according to the moving direction, and/or controlling the workpiece grabbing component to grab the target welding workpiece to rotate by the rotation angle according to the rotation direction, wherein the target welding workpiece comprises the first workpiece to be welded and/or the second workpiece to be welded.
It can be understood that, in an actual application process, when the welding points of the first workpiece to be welded and the second workpiece to be welded are misaligned, assuming that the first workpiece to be welded is fixed and the target welding workpiece is the second workpiece to be welded, the target welding workpiece can be grabbed only by controlling the workpiece grabbing component to move in a moving direction, such as at least one of the moving direction along the X-axis negative direction, the moving direction along the X-axis positive direction, the moving direction along the Y-axis negative direction, and the moving direction along the Y-axis positive direction, so as to align the welding points of the first workpiece to be welded and the second workpiece to be welded correspondingly only by adjusting the placement position of the target welding workpiece; the workpiece grabbing component can be controlled to grab the target welding workpiece and rotate by a rotation angle according to a rotation direction, such as a clockwise rotation direction or an anticlockwise rotation direction, so that the welding points of the first workpiece to be welded and the second workpiece to be welded are aligned correspondingly only by adjusting the placement angle of the target welding workpiece; and the workpiece grabbing component can be controlled to grab the target welding workpiece and rotate by a rotation angle according to the rotation direction while or after the target welding workpiece is grabbed by the workpiece grabbing component and moves by the movement distance according to the movement direction, so that the placing position of the target welding workpiece is adjusted, and meanwhile, the placing angle of the target welding workpiece is adjusted, so that the welding points of the first workpiece to be welded and the second workpiece to be welded are correspondingly aligned.
Illustratively, the relative position between the second weld point of the second workpiece to be welded and the first weld point of the first workpiece to be welded is (3, 0, - α 1+ α 2), indicating a deviation of (3, 0, - α 1+ α 2),
the workpiece position adjusting parameter is that the moving distance of the workpiece grabbing component moving along the positive direction of the X axis is controlled to be 3, the moving distance of the workpiece grabbing component moving along the positive direction of the Y axis is controlled to be 0, and based on the second welding point C as a fixed point, the rotating angle of the placing angle of the second workpiece to be welded rotating along the anticlockwise direction is controlled to be (alpha 2-alpha 1) so as to execute a position calibration process to correct the relative position. It can be understood that, when the second workpiece to be welded is aligned with the welding point of the first workpiece to be welded correspondingly, the moving distance moving along the positive direction of the X axis is 3, the moving distance moving along the positive direction of the y axis is 0, so that the first welding point a is aligned with the second welding point C correspondingly, and based on the second welding point C as a fixed point, the rotation angle of the placement angle of the second workpiece to be welded rotating along the counterclockwise direction is controlled to be (α 2- α 1), so that all the second welding points of the second workpiece to be welded are aligned with the first welding points of the first workpiece to be welded respectively.
As an alternative embodiment, please refer to fig. 7, fig. 7 is a flowchart illustrating a welding operation implemented in a first embodiment of a control method of a welding apparatus according to the present invention, and before step S10, the method further includes:
s40, when the end of the calibration process is detected or a welding instruction is received, acquiring an image corresponding to the welding working area;
after step S10, the method further includes:
and S50, controlling the welding assembly of the welding equipment to execute welding action when the relative position is matched with the preset relative position.
It should be noted that, in an embodiment, the end of the calibration process is detected to return to perform step S10 and/or subsequent steps S20 to S30 to determine the alignment condition of the welding points of the two workpieces to be welded after the calibration process is performed, and step S10 to step S30 form a loop, and continuously perform correction based on the alignment condition of the welding points of the two workpieces to be welded until the welding points of the two workpieces to be welded are aligned correspondingly, that is, when the relative position matches the preset relative position, the welding assembly is controlled to perform a welding action to weld the two workpieces to be welded.
In an embodiment, when the welding instruction is received, step S10 and/or subsequent steps S20 to S30 are/is executed, so that before two workpieces to be welded are welded, in order to meet the welding requirement, corresponding alignment of the welding points of the two workpieces to be welded is realized, and thus a welded workpiece with good quality is obtained.
Alternatively, the triggering of the welding instruction may be triggered by manually pressing a button corresponding to the welding instruction, or may be triggered when the workpieces to be welded, such as the first workpiece to be welded and the second workpiece to be welded, are detected to be placed in the welding work area, which is not limited to this step.
In the technical scheme disclosed in this embodiment, a relative position between a first welding point of a first workpiece to be welded and a second welding point of a second workpiece to be welded is determined according to an image corresponding to a welding work area, so as to determine whether the welding points of the two workpieces to be welded correspond to each other, when the relative position does not match with a preset relative position, it is indicated that the welding points of the two workpieces to be welded are misaligned, a deviation amount between the relative position and the preset relative position is further determined, so as to know a misalignment condition of the welding points of the two workpieces to be welded through the deviation amount, a workpiece position adjustment parameter is determined according to the deviation amount, a workpiece position adjustment parameter of the workpieces to be welded is determined based on the misalignment condition of the welding points of the two workpieces to be welded, and then a workpiece grabbing component execution position calibration process is controlled according to the workpiece position adjustment parameter, so as to correct the relative position, so that the welding points of the two workpieces to be welded correspond to each other or align to meet the welding requirements, and the automation degree is high.
In addition, compared with the method that when the welding points of the two workpieces to be welded are positioned or aligned manually, the workpieces to be welded are moved for multiple times after the two workpieces to be welded are attached, so that the welding points of the two workpieces to be welded are positioned or aligned, the method and the device only need to control the workpiece grabbing assembly to execute the position calibration process according to the workpiece position adjustment parameters to correct the relative position, the welding points of the two workpieces to be welded can be aligned or corresponding only by one-time adjustment, the operation is simple, and the welding efficiency is improved.
In a second embodiment based on the first embodiment, please refer to fig. 8, and fig. 8 is a flowchart illustrating a control method of a welding apparatus according to a second embodiment of the present invention. In this embodiment, the step of controlling the welding assembly to perform the welding action comprises:
s51, acquiring workpiece information of the first workpiece to be welded and/or the second workpiece to be welded;
step S52, welding parameters are determined according to the workpiece information;
and S53, controlling the welding assembly to execute a welding action according to the welding parameters.
The workpiece information includes a workpiece identification. The workpiece identifier is a unique identifier of the workpiece to be welded, and may be, for example, a name of the workpiece or a product code identifier of the workpiece to be welded. It is understood that the workpieces to be welded include the first workpiece to be welded and/or the second workpiece to be welded.
Optionally, the workpiece information further comprises at least one of a material and a size of a dimension of the workpiece to be welded. The material can be a metal material, an inorganic non-metal material and a high polymer material.
Optionally, acquiring workpiece information of the first workpiece to be welded and/or the second workpiece to be welded, identifying a workpiece identifier of the workpiece to be welded based on the image, and further acquiring related information of the workpiece to be welded corresponding to the workpiece identifier, such as a material and a size of the workpiece to be welded; the information of the workpiece to be welded may also be obtained from the related information of the workpiece to be welded preset in the welding device, which is not limited in this embodiment.
It is readily understood that the welding parameters differ from one workpiece to be welded to another. And determining welding parameters according to the workpiece information to select the welding parameters suitable for the workpieces to be welded for welding, so that the welded workpieces formed after the workpieces to be welded are welded have better quality. Wherein the welding parameters comprise welding power and/or welding duration. Wherein, the welding power refers to the transmitting power for welding the welding assembly.
Alternatively, in step S70, the welding parameters are determined according to the workpiece information, a mapping relationship between the workpiece identifier and the welding parameters in the workpiece information may be preset, and based on the mapping relationship, the welding parameters corresponding to the workpiece information are obtained under the condition that the workpiece information is obtained. It should be noted that the welding parameters are empirical values of the welding parameters set to avoid damaging the to-be-welded workpieces based on the temperature sensitivity of the to-be-welded workpieces corresponding to the workpiece identifiers. The empirical value of the welding parameter is determined by statistical analysis and acquisition based on a large amount of test data of the qualification rate of the welded workpiece obtained after the welding parameter and the workpiece to be welded are welded according to the welding parameter in the welding process of the workpiece to be welded. Optionally, the empirical value of the welding parameter may be the welding parameter of the welded workpiece corresponding to the highest yield among the yields of the welded workpieces obtained by welding the workpieces to be welded.
After the welding parameters which are the information of the workpieces to be welded are obtained, the welding assembly is controlled to execute the welding action according to the welding parameters, so that the quality of the obtained welded workpieces is improved while the workpieces to be welded are welded.
As an alternative embodiment, step S70 includes:
acquiring reference welding data matched with the workpiece information in historical welding data;
acquiring use information of a welded workpiece corresponding to the reference welding data;
determining target welding parameters from the reference welding data according to the usage information;
and determining welding parameters according to the target welding parameters.
The historical welding data refers to welding parameters recorded by the welding equipment after the welding of the workpiece to be welded is completed to obtain the welded workpiece and the use data of the welded workpiece, and the use data is also use information. The historical weld data includes, but is not limited to, workpiece information for the workpieces to be welded, welding parameters, and usage information for the corresponding welded workpieces. Wherein the usage information comprises a length of usage and/or a usage score. The service life of the welded workpiece is defined as the service life, and the longer the service life is, the better the quality of the welded workpiece is. The usage score refers to the usage goodness of the user to the welded workpiece, wherein the higher the usage score is, the better the usage goodness of the welded workpiece is, which indicates the better the quality of the welded workpiece is, such as the welded workpiece has good performance.
Alternatively, the mapping relationship between the workpiece information of the workpieces to be welded, the corresponding welding parameters, and the usage information of the corresponding welded workpieces may be known based on the historical welding data. Exemplary workpiece information in the historical weld data includes, but is not limited to, such as workpiece identification, workpiece type, workpiece material, and workpiece size, and welding parameters include, but are not limited to, such as welding power and welding duration.
Alternatively, the usage information of the welded workpiece may be obtained based on a purchase platform of the welding device accessing the welded workpiece or a usage feedback system of the welded workpiece, or may be obtained based on the usage information of the welded workpiece obtained from the purchase platform of the welded workpiece or the usage feedback system of the welded workpiece, and the usage information of the welded workpiece is imported to the welding device in advance, which is not limited thereto.
It will be readily appreciated that the historical welding data includes reference welding data, corresponding to the historical welding data, including, but not limited to, workpiece information for the workpieces to be welded, welding parameters, and usage information for the corresponding welded workpieces.
It is understood that the reference welding data matching the workpiece information in the historical welding data may be one set or at least two sets.
Optionally, determining reference welding data in the historical welding data, which matches with the workpiece information, comparing first workpiece information in the historical welding data with the workpiece information, and determining the reference welding data from the historical welding data according to the comparison result, for example, determining target workpiece information in the first workpiece information, which is the same as the workpiece identifier in the workpiece information, by comparing the first workpiece information in the historical welding data with the workpiece information, and taking the historical welding data corresponding to the target workpiece information as the reference welding data; for another example, the matching degree of the first workpiece information and the workpiece information is obtained by comparing the first workpiece information and the workpiece information in the historical welding data, the target workpiece information with the matching degree larger than or equal to the preset matching degree is determined, and the historical welding data corresponding to the target workpiece information is used as the reference welding data. The greater the matching degree of the first workpiece information and the workpiece information is, the more the target workpiece information is obtained based on the matching degree is, and the more the historical welding data corresponding to the target workpiece information has the reference value.
Optionally, the matching degree of the first workpiece information and the workpiece information is obtained corresponding to the parameter items included in the workpiece information, but not limited to workpiece identification, workpiece type, workpiece material and workpiece size, the number of items of the same parameter items of the first workpiece information and the workpiece information can be determined, and the matching degree of the first workpiece information and the workpiece information is determined according to the number of items and the total number of the parameter items. Illustratively, the total number of items corresponding to the parameter items included in the workpiece information, such as the workpiece identifier, the workpiece type, the workpiece material, and the workpiece size, is 4 items, and if the parameter items of the first workpiece information are the same as or similar to the parameter items of the workpiece information, respectively, the workpiece identifier and the workpiece material indicate that the number of items of the similar or similar parameter items is 2 items, the matching degree of the first workpiece information with the workpiece information is 50%.
In the embodiment, reference welding data matched with workpiece information in historical welding data is obtained, welding data which can serve as a to-be-welded workpiece corresponding to the workpiece information is screened from the historical welding data recorded by a welding device for reference, use information of a welded workpiece corresponding to the reference welding data is further obtained, the to-be-welded workpiece is welded by using welding parameters in the reference welding data according to the use information, the obtained workpiece quality condition of the welded workpiece is obtained, target welding parameters are determined from the reference welding data according to the use information, the welding parameters are determined according to the target welding parameters, and the target welding parameters are determined from the reference welding data and serve as the welding parameters of the current to-be-welded workpiece based on the workpiece quality condition of the welded workpiece.
The usage information includes a length of usage and/or a usage score. Optionally, determining a target welding parameter from the reference welding data according to the use information, when the use information is the use time, obtaining a welding parameter of the welded workpiece corresponding to the longest use time from the reference welding data as the target welding parameter, and further determining a welding parameter of the current workpiece to be welded according to the target welding parameter, so that when the workpiece to be welded is welded by using the welding parameter, the service life of the obtained welded workpiece is longer; when the use information is the use score, the welding parameter of the welded workpiece corresponding to the highest use score can be obtained from the reference welding data and used as the target welding parameter, and the welding parameter of the current workpiece to be welded is determined according to the target welding parameter, so that when the workpiece to be welded is welded by adopting the welding parameter, the obtained welded workpiece has better use evaluation, and if the welded workpiece has better performance.
Optionally, the usage information includes a usage duration and a usage score, and the step of determining the target welding parameter from the reference welding data according to the usage information includes:
acquiring weighted values corresponding to the use duration and the use score respectively;
carrying out weighted summation according to the service duration, the weight value corresponding to the service duration, the service score and the weight value corresponding to the service score to obtain the service satisfaction;
and determining the target welding parameters according to the reference welding data of the welded workpiece corresponding to the highest use satisfaction in the use satisfaction.
In the embodiment, the target welding parameters are determined according to the use time length and the use satisfaction determined by the use evaluation, the reference welding data of the welding workpiece is determined, the welding parameters of the current workpiece to be welded are further determined according to the target welding parameters, and when the determined welding parameters are adopted to weld the workpiece to be welded, the obtained welded workpiece has a long service life and a high use evaluation, for example, the performance of the welded workpiece is good.
It should be noted that, the respective corresponding weight values of the usage duration and the usage score may be preset according to the user requirement. Illustratively, when the user demand is that the user demand tends to have a longer service life or tends to have a longer service life but can have a better service performance, the weight value of the service time length can be set to be greater than the weight value of the service score, and then the weight value corresponding to the service time length, the service score and the service score is weighted and summed to obtain the service satisfaction, the reference welding data of the welded workpiece corresponding to the highest service satisfaction in the service satisfaction is used to determine the target welding parameter, so that the welding parameter of the current workpiece to be welded is determined according to the target welding parameter, and when the welded workpiece is welded by adopting the determined welding parameter, the obtained welded workpiece has a longer service life and also has a better use evaluation.
Similarly, when the user demand is that the user demand tends to have better use evaluation or tends to have better use evaluation but can have longer service life, the weight value of the use duration can be set to be smaller than the weight value of the use score, then the weight values corresponding to the use duration and the use score, the use score and the weight value corresponding to the use score are subjected to weighted summation to obtain the use satisfaction, the reference welding data of the welded workpiece corresponding to the highest use satisfaction in the use satisfaction is used to determine the target welding parameter, so that the welding parameter of the current workpiece to be welded is determined according to the target welding parameter, and when the welded workpiece is welded by adopting the determined welding parameter, the obtained welded workpiece has better use evaluation and also has longer service life.
In the technical scheme disclosed in this embodiment, by acquiring workpiece information of a first workpiece to be welded or a second workpiece to be welded, determining a welding parameter according to the workpiece information, controlling a welding assembly to perform a welding action according to the welding parameter, so as to adapt to the workpiece information, such as a material, of the first workpiece to be welded or the second workpiece to be welded to determine a welding parameter, such as a welding duration and/or a welding power, and controlling the welding assembly to perform the welding action according to the welding parameter, so that a welded workpiece with higher quality is acquired.
The invention also proposes a welding device comprising: the control program of the welding equipment is stored in the memory and can run on the processor, and when being executed by the processor, the control program of the welding equipment realizes the steps of the control method of the welding equipment in any embodiment.
The present invention also proposes a storage medium having stored thereon a control program of a welding apparatus, which when executed by a processor, implements the steps of the control method of the welding apparatus as described in any of the above embodiments.
In the embodiments of the welding device and the storage medium provided by the present invention, all technical features of the embodiments of the control method of the welding device are included, and the contents of expansion and explanation of the specification are substantially the same as those of the embodiments of the control method of the welding device, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. 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 (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a mobile terminal (such as a mobile phone, a computer, a server, a controlled terminal, or a network device) to execute the method of each embodiment of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A control method of a welding apparatus, characterized by being applied to a welding apparatus, the control method of the welding apparatus comprising:
determining the relative position between a first welding point of a first workpiece to be welded and a second welding point of a second workpiece to be welded according to the image corresponding to the welding work area;
when the relative position is not matched with a preset relative position, determining a deviation value according to the relative position;
and determining a workpiece position adjusting parameter according to the deviation amount, and controlling a workpiece grabbing component of the welding equipment to execute a position calibration process according to the workpiece position adjusting parameter so as to correct the relative position.
2. The method of claim 1, wherein the step of determining a relative position between a first weld point of a first workpiece to be welded and a second weld point of a second workpiece to be welded based on images corresponding to the welding work area further comprises:
when the end of the calibration process is detected or a welding instruction is received, acquiring an image corresponding to the welding working area;
after the step of determining the relative position between the first welding point of the first workpiece to be welded and the second welding point of the second workpiece to be welded according to the image corresponding to the welding work area, the method further comprises the following steps:
and when the relative position is matched with the preset relative position, controlling a welding assembly of the welding equipment to perform a welding action.
3. The method of claim 1, wherein said step of determining a workpiece position adjustment parameter based on said deviation comprises:
determining at least two of a moving direction, a moving distance, a rotating direction and a rotating angle according to the deviation amount;
generating a workpiece position adjusting parameter according to at least two of the moving direction, the moving distance, the rotating direction and the rotating angle;
the step of controlling a workpiece grabbing component of the welding equipment to execute a position calibration process according to the workpiece position adjustment parameter comprises the following steps:
and controlling the workpiece grabbing component to grab the target welding workpiece to move the moving distance according to the moving direction, and/or controlling the workpiece grabbing component to grab the target welding workpiece to rotate by the rotation angle according to the rotation direction, wherein the target welding workpiece comprises the first workpiece to be welded and/or the second workpiece to be welded.
4. The method of claim 1, wherein the step of determining a relative position between a first weld point of a first workpiece to be welded and a second weld point of a second workpiece to be welded based on images corresponding to a weld work area comprises:
determining a first coordinate corresponding to a first welding point of the first workpiece to be welded and a second coordinate corresponding to a second welding point of the second workpiece to be welded based on the image;
comparing the first coordinate with the second coordinate;
and generating the relative position between the first welding point of the first workpiece to be welded and the second welding point of the second workpiece to be welded according to the comparison result.
5. The method of claim 1, wherein the method further comprises:
and controlling a pressing device in the welding equipment to move to a preset position so that the first workpiece to be welded is attached to the second workpiece to be welded, and executing the step of determining the relative position between the first welding point of the first workpiece to be welded and the second welding point of the second workpiece to be welded according to the image corresponding to the welding work area.
6. The method of claim 2, wherein the step of controlling the welding assembly of the welding device to perform the welding action comprises:
acquiring workpiece information of the first workpiece to be welded and/or the second workpiece to be welded, wherein the workpiece information comprises a workpiece mark and a material;
determining welding parameters according to the workpiece information, wherein the welding parameters comprise welding power and/or welding time;
and controlling the welding assembly to execute the welding action according to the welding parameters.
7. The method of claim 6, wherein the step of determining welding parameters from the workpiece information comprises:
acquiring reference welding data matched with the workpiece information in historical welding data;
acquiring use information of a welded workpiece corresponding to the reference welding data;
determining target welding parameters from the reference welding data according to the usage information;
and determining the welding parameters according to the target welding parameters.
8. The method of claim 7, wherein the usage information includes a length of usage and a usage score, and wherein determining the target welding parameter from the reference welding data based on the usage information comprises:
acquiring weighted values corresponding to the use duration and the use score respectively;
carrying out weighted summation according to the use duration, the weight value corresponding to the use duration, the use score and the weight value corresponding to the use score to obtain use satisfaction;
and determining the target welding parameters according to the reference welding data of the welded workpiece corresponding to the highest use satisfaction in the use satisfaction.
9. A welding apparatus, characterized in that the welding apparatus comprises: memory, a processor and a control program of a welding device stored in the memory and executable on the processor, the control program of the welding device when executed by the processor implementing the steps of the method of controlling a welding device according to any of the claims 1-8.
10. A storage medium, characterized in that the storage medium stores a control program of a welding apparatus, which when executed by a processor implements the steps of the control method of the welding apparatus according to any one of claims 1 to 8.
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| CN112157657A (en) * | 2020-09-23 | 2021-01-01 | 创新奇智(上海)科技有限公司 | Mechanical arm positioning method and device, electronic equipment and storage medium |
| CN112775975A (en) * | 2021-02-01 | 2021-05-11 | 重庆皮克索自动化科技有限公司 | Vision-guided multi-station robot welding deviation correcting device and method |
| CN115019025A (en) * | 2022-04-29 | 2022-09-06 | 深圳市青虹激光科技有限公司 | Cutting calibration method, device and computer readable storage medium |
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