CN116727847A - Welding path generation method for laser welding device - Google Patents
Welding path generation method for laser welding device Download PDFInfo
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- CN116727847A CN116727847A CN202310202253.6A CN202310202253A CN116727847A CN 116727847 A CN116727847 A CN 116727847A CN 202310202253 A CN202310202253 A CN 202310202253A CN 116727847 A CN116727847 A CN 116727847A
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- 238000003466 welding Methods 0.000 title claims abstract description 450
- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000010425 computer drawing Methods 0.000 claims abstract description 14
- 238000004364 calculation method Methods 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 11
- 230000000977 initiatory effect Effects 0.000 description 3
- 238000011960 computer-aided design Methods 0.000 description 2
- 238000009795 derivation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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Abstract
A welding path generation method of a laser welding device specifically comprises the following steps: drawing a computer drawing of a welding contour line by using computer aided design software; establishing a coordinate system in a computer drawing; selecting an initial welding point and a plurality of calibration welding points in a computer drawing; calculating the length and the calibration angle of a welding calibration line of each calibration welding point by using computer aided design software; calculating the coordinates of each calibration welding point during welding by utilizing the coordinates of the rotation axis and the initial welding point and the length of the welding calibration line of each calibration welding point; and leading the length of a welding calibration line of each calibration welding point and coordinates during welding into an electronic cam system for controlling the driving rotating piece and the welding head to move so as to generate a welding path. According to the welding path generation method, the distance between the welding head and the welding point is kept constant, the welding head passes through the welding point at a constant speed, the welding quality is improved, and time and labor are saved when the welding piece is changed.
Description
Technical Field
The present invention relates to a welding path generating method, and more particularly, to a welding path generating method for a welding head of a laser welding apparatus.
Background
The existing laser welding device comprises a rotating member and a welding head, wherein the rotating member is used for fixing the welding member and rotates around a rotation axis, the welding head is arranged along a first direction perpendicular to the rotation axis and faces the welding member fixed on the rotating member, the welding head can move relative to the rotating member along a first direction and a second direction respectively, and the second direction is perpendicular to the rotation axis and the first direction. The welding path of the welding head is generated by using a teaching mode, the distance between the welding head and the welding point cannot be kept constant in the welding path generated by using the teaching mode, the speed of the welding head passing through the welding point is uneven, and a great amount of teaching and point position correction work is required when the welding piece is subjected to model change, which is labor-consuming.
Disclosure of Invention
The invention aims to provide a welding path generation method of a laser welding device, wherein the distance between a welding head and a welding point is kept constant, the welding head passes through the welding point at a constant speed, the welding quality is improved, and time and labor are saved when a welding piece is changed.
The invention provides a welding path generation method of a laser welding device, which comprises the following steps:
drawing a computer drawing of a welding contour line by utilizing computer aided design software according to the size of the welding contour;
establishing a coordinate system corresponding to the laser welding device in a computer drawing, wherein the longitudinal axis Yc of the coordinate system is parallel to a first direction, and the transverse axis Xc of the coordinate system is parallel to a second direction;
selecting an initial welding point and a plurality of calibration welding points on a welding piece contour line in a computer drawing, and respectively setting a rotation axis and the initial welding points to set coordinates;
connecting the rotation axis with the initial welding point to form a welding initial line, connecting the rotation axis with each calibration welding point to form a welding calibration line, recording the angle required to rotate when each welding calibration line rotates around the rotation axis along the same circumferential direction to be coincident with the welding initial line as a calibration angle, and calculating the length and the calibration angle of the welding calibration line of each calibration welding point by using computer aided design software;
calculating the coordinates of each calibration welding point during welding by utilizing the coordinates of the rotation axis and the initial welding point and the length of the welding calibration line of each calibration welding point;
the length of a welding calibration line of each calibration welding point and coordinates during welding are led into an electronic cam system for controlling the movement of a driving rotating piece and a welding head, and a welding path enabling the welding head to uniformly pass through the welding contour of the welding piece is generated by the electronic cam system.
According to the welding path generation method of the laser welding device, the welding path is obtained through calculation, the corresponding rotation speed is set for the rotating part according to the change of the welding path in the electronic cam system, compared with the welding path generated by adopting a teaching mode, the welding path generated by the welding path generation method provided by the invention has the advantages that the distance between the welding head and the welding point is kept constant, the welding head passes through the welding point at a constant speed, the welding quality is improved, and in addition, time and labor are saved during the welding part model changing.
In one exemplary embodiment of the welding path generation method, the steps of: calculating the coordinates of each calibration welding point during welding by using the coordinates of the rotation axis and the initial welding point and the length of the welding calibration line of each calibration welding point, comprising:
calculating the length of a welding starting line by using the coordinates of the rotation axis and the starting welding point;
calculating the included angle between the welding starting line and the transverse axis Xc by using the coordinates of the rotation axis and the starting welding point, and recording the included angle as an initial angle;
calculating the variation of the coordinates of the initial welding point to the coordinates of each calibration welding point on the transverse axis Xc and the longitudinal axis Yc by using the length of the welding initial line, the initial angle and the length of the welding calibration line of each calibration welding point;
and calculating the coordinates of each calibration welding point during welding by using the coordinates of the initial welding point and the variation of the coordinates of the initial welding point to the coordinates of each calibration welding point on the horizontal axis Xc and the vertical axis Yc.
In one exemplary embodiment of the welding path generation method, the amount of change in the coordinates of the start welding point to the coordinates of each calibration welding point on the horizontal axis Xc and the vertical axis Yc is calculated using the following formula:
ΔX＝(R0-Rn)cosθ；
ΔY＝(R0-Rn)sinθ；
wherein, R0 represents the length of a welding starting line, rn represents the length of a welding calibration line, θ represents an initial angle, deltaX represents the variation of the coordinates of the starting welding point to the coordinates of the calibration welding point on a transverse axis Xc, deltaY represents the variation of the coordinates of the starting welding point to the coordinates of the calibration welding point on a transverse axis Yc.
In one exemplary embodiment of the welding path generation method, the steps of: the method for guiding the length of a welding calibration line of each calibration welding point and coordinates during welding into an electronic cam system for controlling the movement of a driving rotating piece and a welding head, generating a welding path for enabling the welding head to uniformly pass through a welding contour of the welding piece by using the electronic cam system, and comprises the following steps:
the length of a welding calibration line of each calibration welding point and the coordinates during welding are led into an electronic cam system;
the electronic cam system calculates the rotation speed proportion of the rotating piece when the welding head passes through each calibration welding point at a constant speed according to the length of the welding calibration line of each calibration welding point;
the electronic cam system creates a virtual main shaft, and generates a cam table according to the rotation speed proportion of the rotating piece when the welding head passes through each calibration welding point at a constant speed.
In an exemplary embodiment of the welding path generation method, the rotational speed ratio of the rotating member when the welding head passes through each calibration welding point at a constant speed is calculated using the following formula:
V＝W*Rn；
wherein V represents the linear velocity of the welding head passing through each calibration welding point, rn represents the length of the welding calibration line, and W represents the rotating speed of the rotating member.
In an exemplary embodiment of the welding path generation method, the welding path generation method further includes: and shooting a welding piece fixed on the rotating piece by using a machine vision system, and performing offset correction on the generated cam table according to the position of the initial welding point in the machine vision system.
In an exemplary embodiment of the welding path generation method, the welding path generation method further includes: after the length of the welding calibration line of each calibration welding point is calculated, eliminating the calibration welding point of which the difference value between the length of the welding calibration line and the welding starting line is smaller than a preset range, and not being used for calculation in the subsequent step.
In one exemplary embodiment of the welding path generation method, at the step of: and calculating the coordinates of each calibration welding point in the welding process by using the coordinates of the rotation axis and the initial welding point and the length of the welding calibration line of each calibration welding point, guiding the coordinates of the rotation axis and the initial welding point and the length of the welding calibration line of each calibration welding point into a programmable logic controller of an electronic cam system, and calculating the coordinates of each calibration welding point in the welding process by using the programmable logic controller.
In an exemplary embodiment of the welding path generation method, the axis of rotation is set to the origin of the coordinate system.
In one exemplary embodiment of the welding path generation method, at the step of: and selecting an initial welding point and a plurality of calibration welding points on the profile line of the welding piece in the computer drawing, respectively moving the rotation axis and the initial welding points to known coordinates, wherein the included angles of the welding calibration lines of every two adjacent calibration welding points are equal.
Drawings
The following drawings are only illustrative of the invention and do not limit the scope of the invention.
Fig. 1 is a flow diagram of an exemplary embodiment of a welding path generation method based on a laser welding apparatus.
Fig. 2 is a schematic diagram of an embodiment of a welding path generation method by a laser welding apparatus.
Fig. 3 is a schematic diagram of another embodiment of a welding path generation method by a laser welding apparatus.
Fig. 4 is a partial flow diagram of a welding path generation method based on a laser welding apparatus.
Fig. 5 is a partial flow diagram of a welding path generation method based on a laser welding apparatus.
Fig. 6 is a flow diagram of another exemplary embodiment of a welding path generation method based on a laser welding apparatus.
Description of the reference numerals
10 welding head
S welding contour line
0 axis of rotation
S0 initial welding point
Sn calibration welding point
R0 welding initiation line
Rn welding calibration line
θ initial angle
θn calibration angle
Y first direction
X second direction
Detailed Description
For a clearer understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described with reference to the drawings, in which like reference numerals refer to identical or structurally similar but functionally identical components throughout the separate views.
In this document, "schematic" means "serving as an example, instance, or illustration," and any illustrations, embodiments described herein as "schematic" should not be construed as a more preferred or advantageous solution.
Herein, "first", "second", etc. do not indicate the degree of importance or order thereof, etc., but merely indicate distinction from each other to facilitate description of documents.
Fig. 1 is a flow diagram of an exemplary embodiment of a welding path generation method based on a laser welding apparatus. Fig. 2 and 3 are schematic diagrams of an implementation of a welding path generation method by a laser welding apparatus. The laser welding device comprises a rotating member for fixing the welding member and rotating about a rotation axis O, and a welding head 10 arranged in a first direction Y perpendicular to the rotation axis O and facing the welding member fixed to the rotating member, the welding head 10 being movable relative to the rotating member in a first direction Y and a second direction X perpendicular to the rotation axis O and the first direction Y, respectively. By driving the rotating member to rotate and associating the movement of the welding head 10 in the first direction Y and the second direction X, the welding head 10 can continuously weld the welding member fixed to the rotating member. The welding path generation method comprises the following steps:
step S10: computer drawings of the welding profile lines S are drawn using computer aided design (Computer Aided Design, CAD) software, depending on the size of the welding profile. Referring to fig. 2, computer aided design software facilitates accurate mapping of the welding profile S and enables the derivation of data for points on the welding profile S.
Step S20: and establishing a coordinate system corresponding to the laser welding device in the computer drawing, wherein the vertical axis Yc of the coordinate system is parallel to the first direction Y, and the horizontal axis Xc of the coordinate system is parallel to the second direction X.
Step S30: an initial welding point S0 and a plurality of calibration welding points Sn are selected on the profile line of the welding piece in the computer drawing, and the rotation axis O and the initial welding point S0 are respectively set to set coordinates. In the illustrative embodiment, the axis of rotation O is set to the origin of the coordinate system for facilitating subsequent calculations.
Step S40: the rotation axis O and the initial welding point S0 are connected to form a welding initial line R0, the rotation axis O and each calibration welding point Sn are connected to form a welding calibration line Rn, the angle required to rotate when each welding calibration line Rn rotates around the rotation axis O along the same circumferential direction to be overlapped with the welding initial line R0 is recorded as a calibration angle θn, and the length and the calibration angle θn of the welding calibration line Rn of each calibration welding point Sn are calculated by utilizing computer-aided design software. In the exemplary embodiment, the angles of the weld calibration lines Rn of each adjacent two calibration welds Sn are equal, and the angles are all set to 0.1 degrees, so that a total of 3600 weld calibration lines Rn, only one calibration weld Sn and one weld calibration line Rn are schematically depicted in fig. 2 for clarity of illustration. Referring to fig. 3, after the welding profile line S rotates by a calibration angle θn corresponding to the calibration welding point Sn about the rotation axis O, the calibration welding point Sn is located on the welding start line R0 or an extension line of the welding start line R0.
Step S50: and calculating the coordinates of each calibration welding point Sn during welding by using the coordinates of the rotation axis O and the starting welding point S0 and the length of the welding calibration line Rn of each calibration welding point Sn. Fig. 4 is a partial flow diagram of a welding path generation method based on a laser welding apparatus. Referring to fig. 4 in combination with fig. 2 and 3, in an exemplary embodiment step S50 specifically includes:
step S51: the length of the weld initiation line R0 is calculated using the coordinates of the rotation axis O and the initiation weld point S0. Referring to FIG. 2, the axis of rotation OThe position is the origin (0, 0) of the coordinate system, the coordinates (X0, Y0) of the initial welding point S0 are the known set coordinates, so the length of the welding initial line R0 can be calculated by the formulaAnd (5) calculating to obtain the product.
Step S52: the angle between the welding start line R0 and the transverse axis Xc is calculated by using the coordinates of the rotation axis O and the start welding point S0, and is recorded as an initial angle θ. Specific initial angle θ passesAnd (5) calculating to obtain the product.
Step S53: and calculating the variation of the coordinates of the starting welding point S0 to the coordinates of each calibration welding point Sn on the horizontal axis Xc and the vertical axis Yc by using the length of the welding starting line R0, the initial angle theta and the length of the welding calibration line Rn of each calibration welding point Sn. Specifically, the method is calculated by the following formula:
ΔX＝(R0-Rn)cosθ。
ΔY＝(R0-Rn)sinθ。
wherein, R0 represents the length of a welding starting line R0, rn represents the length of a welding calibration line Rn, θ represents an initial angle, deltaX represents the variation of the coordinates of the starting welding point S0 to the coordinates of the calibration welding point Sn on a transverse axis Xc, namely Xn-X0, deltaY represents the variation of the coordinates of the starting welding point S0 to the coordinates of the calibration welding point Sn on a transverse axis Yc, namely Yn-Y0.
Step S54: and calculating the coordinates of each calibration welding point Sn during welding by using the coordinates of the initial welding point S0 and the variation of the coordinates of the initial welding point S0 to the coordinates of each calibration welding point Sn on the horizontal axis Xc and the vertical axis Yc. From the coordinates (X0, Y0), Δx, and Δy of the start welding point S0, it is possible to find (x0+Δx, y0+Δy) as the coordinates (Xn, yn) of each calibration welding point Sn.
In the illustrated embodiment, the length of the weld calibration line Rn, which is obtained in step 40 to calibrate the weld point Sn, and the coordinates of the axis of rotation O and the starting weld point S0 are imported by a PLC web function into a programmable logic controller of the electronic cam system, and the data is read into the PLC DB block array by instructions. The coordinates of each calibration welding point Sn during welding are calculated by using the programmable logic controller, so that the labor cost is saved, the accurate calculation result can be obtained, and the calculation result can be conveniently called by an electronic cam system.
Step S60: the length of the welding calibration line Rn of each calibration welding point Sn and the coordinates at the time of welding are introduced into an electronic cam system for controlling the movement of the driving rotary member and the welding head 10, and a welding path enabling the welding head 10 to pass through the welding profile of the welding member at a uniform speed is generated by the electronic cam system. Fig. 5 is a partial flow diagram of a welding path generation method based on a laser welding apparatus. Referring to fig. 5, step S60 specifically includes in the exemplary embodiment:
step S61: the length of the weld calibration line Rn of each calibration weld point Sn and the coordinates at the time of welding are imported into a programmable logic controller of the electronic cam system.
Step S62: the electronic cam system calculates the rotation speed proportion of the rotating piece when the welding head 10 passes through each calibration welding point Sn at a constant speed according to the length of the welding calibration line Rn of each calibration welding point Sn. Specifically, the method is calculated by the following formula:
V＝W*Rn。
where V denotes the linear velocity of the weld head 10 passing through each calibration weld point Sn, rn denotes the length of the weld calibration line Rn, and W denotes the rotational speed of the rotating member. Since the linear velocity of the welding head 10 passing through each calibration welding point Sn is kept consistent, the length of the welding calibration line Rn is inversely proportional to the rotational speed of the rotating member, thereby obtaining the rotational speed proportional relationship data of the rotating member when the welding head 10 passes through each calibration welding point Sn at a uniform speed.
Step S63: the electronic cam system creates a virtual spindle and generates a cam table according to the rotation speed ratio of the rotating member when the welding head 10 passes through each calibration welding point Sn at a constant speed. According to the known linear speed of the welding head 10 passing through each calibration welding point Sn, the rotating speed of the virtual main shaft is defined, and a cam table is generated according to the rotating speed proportion relation data of the rotating piece. The electronic cam system can call the cam meter to control the relative movement of the rotating piece and the welding head 10, so that the distance between the welding head 10 and the welding point is kept constant, and the welding head 10 passes through the welding point at a constant speed.
According to the welding path generation method of the laser welding device, the welding path is obtained through calculation, the corresponding rotation speed is set for the rotating piece according to the change of the welding path in the electronic cam system, compared with the welding path generated by adopting a teaching mode, the welding path generated by the welding path generation method provided by the invention has the advantages that the distance between the welding head 10 and the welding point is kept constant, the welding head 10 uniformly passes through the welding point, the welding quality is improved, and in addition, time and labor are saved during the replacement of the welding piece.
Fig. 6 is a flow diagram of another exemplary embodiment of a welding path generation method based on a laser welding apparatus. Referring to fig. 6, the welding path generation method further includes:
step 70: after the length of the welding calibration line Rn of each calibration welding point Sn is calculated, the calibration welding points Sn with the difference value between the length of the welding calibration line Rn and the welding starting line R0 smaller than a preset range are removed, and the calculation is not used in the subsequent steps. In the conventional laser welding device, the movement accuracy of the rotating member and the welding head 10 can be mostly kept within a certain range, and the welding range of the welding head 10 can cover fine errors, so that the welding quality is ensured. When the difference between the length of the welding calibration line Rn and the welding start line R0 is smaller than a preset range, the change of the length of the welding calibration line Rn cannot affect the welding quality, and the calculation of the welding point can be ignored because the length of the welding calibration line Rn is unchanged, so that the calculation can be reduced while the welding quality is not affected.
Referring to fig. 6, the welding path generation method further includes:
step 80: and shooting a welding piece fixed on the rotating piece by using a machine vision system, and performing offset correction on the generated cam table according to the position of the initial welding point S0 in the machine vision system. The cam table can be automatically corrected at the beginning of welding by means of a machine vision system, so that the welding quality is prevented from being influenced by slight position deviation when the welding piece is installed.
It should be understood that although the present disclosure has been described in terms of various embodiments, not every embodiment is provided with a separate technical solution, and this description is for clarity only, and those skilled in the art should consider the disclosure as a whole, and the technical solutions in the various embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical examples of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications, such as combinations, divisions or repetitions of features, without departing from the technical spirit of the present invention are included in the scope of the present invention.
Claims (10)
1. A welding path generation method of a laser welding apparatus including a rotating member for fixing a welding member and rotating about a rotation axis, and a welding head disposed in a first direction perpendicular to the rotation axis and facing the welding member fixed to the rotating member, the welding head being movable relative to the rotating member in the first direction and a second direction perpendicular to the rotation axis and the first direction, respectively, characterized by comprising the steps of:
drawing a computer drawing of a welding contour line by utilizing computer aided design software according to the size of the welding contour;
establishing a coordinate system corresponding to the laser welding device in the computer drawing, wherein a longitudinal axis Yc of the coordinate system is parallel to the first direction, and a transverse axis Xc of the coordinate system is parallel to the second direction;
selecting an initial welding point and a plurality of calibration welding points on a welding piece contour line in the computer drawing, and respectively setting the rotation axis and the initial welding points to set coordinates;
connecting the rotation axis with the initial welding point to form a welding initial line, connecting the rotation axis with each calibration welding point to form a welding calibration line, recording an angle required to be rotated when each welding calibration line rotates around the rotation axis along the same circumferential direction to be overlapped with the welding initial line as a calibration angle, and calculating the length of the welding calibration line and the calibration angle of each calibration welding point by using computer-aided design software;
calculating the coordinates of each calibration welding point during welding by utilizing the coordinates of the rotation axis and the initial welding point and the length of the welding calibration line of each calibration welding point; and
and leading the length of the welding calibration line of each calibration welding point and the coordinates during welding into an electronic cam system for controlling and driving the rotating piece and the welding head to move, and generating a welding path enabling the welding head to uniformly pass through the welding profile of the welding piece by using the electronic cam system.
2. The welding path generation method according to claim 1, characterized by the steps of: calculating the coordinates of each calibration welding point in welding by using the coordinates of the rotation axis and the initial welding point and the length of the welding calibration line of each calibration welding point, including:
calculating the length of the welding starting line by using the coordinates of the rotation axis and the starting welding point;
calculating the included angle between the welding starting line and the transverse axis Xc by utilizing the coordinates of the rotating axis and the starting welding point, and recording the included angle as an initial angle;
calculating the variation of the coordinates of the initial welding point to the coordinates of each calibration welding point on a horizontal axis Xc and a vertical axis Yc by using the length of the welding initial line, the initial angle and the length of the welding calibration line of each calibration welding point; and
and calculating the coordinates of each calibration welding point during welding by using the coordinates of the initial welding point and the variation of the coordinates of the initial welding point to the coordinates of each calibration welding point on the horizontal axis Xc and the vertical axis Yc.
3. The welding path generation method according to claim 2, wherein the amount of change in the coordinates of the start welding point to the coordinates of each of the calibration welding points on the horizontal axis Xc and the vertical axis Yc is calculated using the following formula:
ΔX＝(R0-Rn)cosθ；
ΔY＝(R0-Rn)sinθ；
wherein, R0 represents the length of a welding starting line, rn represents the length of a welding calibration line, θ represents an initial angle, deltaX represents the variation of the coordinates of the starting welding point to the coordinates of the calibration welding point on a transverse axis Xc, deltaY represents the variation of the coordinates of the starting welding point to the coordinates of the calibration welding point on a transverse axis Yc.
4. The welding path generation method according to claim 1, characterized by the steps of: introducing the length of the welding calibration line of each calibration welding point and the coordinates during welding into an electronic cam system for controlling and driving the rotating piece and the welding head to move, and generating a welding path for enabling the welding head to uniformly pass through the welding profile of the welding piece by using the electronic cam system, wherein the welding path comprises the following steps:
the length of the welding calibration line of each calibration welding point and the coordinates during welding are led into the electronic cam system;
the electronic cam system calculates the rotation speed proportion of the rotating piece when the welding head passes through each calibration welding point at a constant speed according to the length of the welding calibration line of each calibration welding point; and
and the electronic cam system creates a virtual main shaft, and generates a cam table according to the rotation speed proportion of the rotating piece when the welding head passes through each calibration welding point at a constant speed.
5. The welding path generation method of claim 4, wherein a rotation speed ratio of the rotating member when the welding head passes through each of the calibration welding points at a constant speed is calculated using the following formula:
V＝W*Rn；
wherein V represents the linear velocity of the welding head passing through each calibration welding point, rn represents the length of the welding calibration line, and W represents the rotating speed of the rotating member.
6. The welding path generation method of claim 4, wherein the welding path generation method further comprises: and shooting a welding piece fixed on the rotating piece by using a machine vision system, and performing offset correction on the generated cam table according to the position of the initial welding point in the machine vision system.
7. The welding path generation method of claim 1, wherein the welding path generation method further comprises: after the length of the welding calibration line of each calibration welding point is calculated, eliminating the calibration welding points, of which the difference value between the length of the welding calibration line and the welding starting line is smaller than a preset range, and not being used for calculation in the subsequent steps.
8. The welding path generation method according to claim 1, wherein, in the step of: and calculating the coordinates of each calibration welding point in welding by using the coordinates of the rotation axis and the initial welding point and the length of the welding calibration line of each calibration welding point, and guiding the coordinates of the rotation axis and the initial welding point and the length of the welding calibration line of each calibration welding point into a programmable logic controller of the electronic cam system, wherein the coordinates of each calibration welding point in welding are calculated by using the programmable logic controller.
9. The welding path generation method according to claim 1, wherein the rotation axis is set to an origin of a coordinate system.
10. The welding path generation method according to claim 1, wherein, in the step of: and selecting an initial welding point and a plurality of calibration welding points on the profile line of the welding piece in the computer drawing, respectively moving the rotation axis and the initial welding points to known coordinates, wherein the included angles of the welding calibration lines of every two adjacent calibration welding points are equal.
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| CN202310202253.6A CN116727847A (en) | 2023-03-02 | 2023-03-02 | Welding path generation method for laser welding device |
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| CN202310202253.6A CN116727847A (en) | 2023-03-02 | 2023-03-02 | Welding path generation method for laser welding device |
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