CN101480760A - Laser welding method of turbine disc and rotating shaft - Google Patents
Laser welding method of turbine disc and rotating shaft Download PDFInfo
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- CN101480760A CN101480760A CN 200810055876 CN200810055876A CN101480760A CN 101480760 A CN101480760 A CN 101480760A CN 200810055876 CN200810055876 CN 200810055876 CN 200810055876 A CN200810055876 A CN 200810055876A CN 101480760 A CN101480760 A CN 101480760A
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Abstract
The invention discloses a method for welding a turbine disc and a rotating shaft by laser, comprising the steps of processing a finial hole at the center of the non-welding end of the turbine disc; clamping the turbine disc and the rotating shaft on a rotating work platform of a welding system; controlling a robot to move to a position to be welded to enable a laser welding joint to deflect in a certain angle; carrying out spot welding for the turbine disc and the rotating shaft firstly for further fixing the turbine disc and the rotating shaft; then welding the turbine disc and the rotating shaft stably; increasing the welding speed or reducing the laser power in the phase-out period of welding; and finishing the welding of the rest part of the turbine disc and the rotating shaft. Due to the adoption of the method, the defects of poor welding effect, complicated process and strict process requirements of the prior manufacturing of the turbine disc and the rotating shaft are overcome, the manufacturing steps of the turbine disc and the rotating shaft are simplified, the shaping effect of the turbine disc and the rotating shaft is optimized and the welding process is easily controlled.
Description
Technical field
The present invention relates to the laser welding technology field, more specifically, the present invention relates to the method for a kind of laser weld turbine disk and rotating shaft.
Background technology
The mount of the turbine disk and rotating shaft is a critical process during turbocharger is produced, and product quality that improves turbocharger and the product cost that reduces turbocharger are played an important role.At present, generally adopt friction welding method the turbine disk to be fixed on the end of rotating shaft.Use friction welding method, the utilization rate of rotating shaft material approximately only is 35%; In addition, in friction welding process, the welding end surface center line velocity of rotating shaft is inconsistent usually, solution temperature inequality, mechanical strength inequality; And friction welding method need be done welding stress and handle, because the turbine disk and rotating shaft deviation are bigger, needs the reservation allowance of axle big, and machining allowance is big simultaneously, causes bigger machine to add stress, the stability of influence axle; Further, turbo blade is because welding stress causes the blade surface oxidation, and color changes, and need do secondary and dig the ball processing.Except friction welding method, can also use electro-beam welding method to carry out the welding of the turbine disk and rotating shaft, still, use electron beam welding need vacuum chamber environment and and needs generation x ray, commercial Application involves great expense, the technological requirement strictness.
Summary of the invention
The defective of, technological requirement strictness poor for the welding effect in the assembling that overcomes the existing turbine disk and rotating shaft the present invention proposes the method for a kind of laser weld turbine disk and rotating shaft.
According to an aspect of the present invention, the invention provides the method for a kind of laser weld turbine disk and rotating shaft, use to comprise that the laser welding system of robot body, laser welding system, rotary table and control device welds, described method comprises:
Step 10), at non-welding one end of turbine disk processing center hole, and with the turbine disk and rotating shaft clamping rotary table in described laser welding system;
Step 20), the laser welding system of control robot body and its load, and control described rotary table, the described turbine disk and rotating shaft are welded;
Step 30), welding enters the ending stage, improves the welding that speed of welding is finished the described turbine disk and rotating shaft remainder.
According to a further aspect in the invention, the invention provides the method for a kind of laser weld turbine disk and rotating shaft, wherein, described step 30) further comprise: welding enters the ending stage, reduce laser power when improving speed of welding, finish the welding of the described turbine disk and rotating shaft remainder.
Wherein, step 10) further comprises: the end face difference to be welded preprocessing in the described turbine disk and rotating shaft forms the hole, and hole depth is respectively 1-2mm, and the hole in the end face to be welded of the described turbine disk and rotating shaft is over against driving fit.
Wherein, step 10) also comprises: the anchor clamps of described rotating shaft by rotary table are folded on the rotary table, and make described rotating shaft core maintenance level, the top of described rotary table holds out against the turbine disk over against described center hole, with the rotating shaft driving fit, and keep the described turbine disk and rotating shaft center-aligned.
Wherein, step 20) further comprise: in the welding process, described rotary table drives described anchor clamps rotation, for the described turbine disk and rotating shaft provide the clockwise or counterclockwise motion that horizontally rotates.
Wherein, described robot body is a 5DOF frame-type robot.
Wherein, described robot can the along continuous straight runs move left and right, also can vertically move up and down, and described robot has the mechanical arm that rotates around horizontal direction and vertical direction.
Wherein, step 20) also comprise: described robot body drives the position that described laser welding system moves to the welding beginning.
Wherein, when described laser welding system moved to the position of welding beginning, described laser welding system deflection certain angle prevented the obstruction of turbo blade to light beam.
Wherein, step 20) also comprise: described rotary table drives the described turbine disk and rotating shaft is rotated, reach at the uniform velocity after, laser is penetrated in described laser welding system.
Wherein, step 20) comprise that also after described mechanical arm rotation reached at the uniform velocity, laser was penetrated in described laser welding system.
Wherein, step 20) also comprises: before continuous welding is carried out in the described turbine disk and rotating shaft, the described turbine disk and rotating shaft are carried out spot welding, further fix the described turbine disk and rotating shaft.
Wherein, step 30) in, the moment of improving speed of welding can be to enter with the closed curve center of gravity to be the center of circle, to be the arbitrary moment after the scopes of positive and negative 30 degree from the closure place of closed curve weld seam angle.
Wherein, step 30) in, determine the numerical value that speed of welding improves according to the attribute and the weld penetration of the described turbine disk and rotating shaft, usually, speed of welding improves more than 1 times.
Wherein, step 10) further comprises:, before the rotary table at welding system the described turbine disk and rotating shaft welding end surface are cleaned at the turbine disk and rotating shaft clamping, remove greasy dirt and metal rusty stain.
Wherein, described reduction laser power comprises that unexpected reduction laser power arrives a certain fixed value to a certain fixed value or linear reduction laser power.
Wherein, determine described fixed value according to the attribute of the described turbine disk and rotating shaft and the weld penetration of described closed curve, generally, described fixed value is below 2/3 of former laser power.
By using the present invention, overcome that the existing turbine disk is poor with the welding effect in the rotating shaft manufacturing, the defective of complex procedures, technological requirement strictness, simplified the assembly process of the turbine disk and rotating shaft, optimized the molding effect of the turbine disk and rotating shaft, welding process is easy to control.
Description of drawings
Fig. 1 forms structure chart according to laser welding system of the present invention;
Fig. 2 is the structural representation of a kind of turbine disk and rotating shaft;
Fig. 3 is the method flow diagram according to the laser weld turbine disk of the present invention and rotating shaft;
Fig. 4 is according to the laser weld turbine disk in the embodiments of the invention 1 and the schematic diagram of rotating shaft.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the method for a kind of laser weld turbine disk provided by the invention and rotating shaft is described further.
The mount of the turbine disk and rotating shaft is the critical process during turbocharger is produced, and product quality and the reduction product cost that improves turbocharger played an important role.In the prior art, adopt friction welding method and electro-beam welding method usually, still, use the friction welding method welding effect poor, need after-treatment; Use electron beam welding to need the environment and the generation x ray of vacuum chamber, commercial Application involves great expense, the technological requirement strictness.
And advantage such as laser weld has focal beam spot power density height, hot input quantity is low, weld seam is narrow, the heat affected area is little, welding deformation is little, speed is fast, and do not need vacuum chamber and produce the x ray, can well be applied in the welding assembling process of the turbine disk and rotating shaft.
In an embodiment according to the present invention, Fig. 1 illustrates the laser welding system that is used to weld the turbine disk and rotating shaft, comprising: robot body 1, laser welding system 2, rotary table 3, robot switch board 4, control device 5, laser instrument 6, laser cooling device 7.Wherein, laser welding system forms light path with laser instrument and is connected, and laser is transferred to laser welding system by laser instrument, welds from laser welding system output; Robot body has motor, and robot body is used to carry described laser welding system; Rotary table comprises anchor clamps, top and motor, can rotatablely move with providing by clamping part to be welded; Control device is coordinated control laser instrument, robot body and rotary table.The driven by motor of robot by robot body can the along continuous straight runs move left and right, vertically move up and down, and robot has the mechanical arm that rotates around horizontal direction and vertical direction.The anchor clamps of rotary table are used for the clamping rotating shaft, anchor clamps are fixed rotating shaft and make rotating shaft weld line maintenance level, top on the rotary table is used for the turbine disk held out against with rotating shaft and is connected, the motor of anchor clamps and rotary table links to each other, the motor of rotary table drives the anchor clamps rotation under the control of control device, for welding provides the clockwise or counterclockwise motion that horizontally rotates.
Fig. 2 is the structural representation of a kind of turbine disk and rotating shaft, as shown in the figure, two parts to be welded are the turbine disk 8 and rotating shaft 12, before the welding, at first form hole 10 in turbine disk welding end surface centre, corresponding with it, the centre of rotating shaft welding end surface also forms corresponding hole 11, hole 10 is consistent with hole 11 sizes, and over against driving fit, the degree of depth in two holes all is 1-2mm; The turbine disk 8 and rotating shaft 12 link together by weld seam 13; Before the welding, need be used for the fixing of the turbine disk in addition at center hole 9 of the non-welding one end processing of the turbine disk.
Fig. 3 is the method flow diagram of the laser weld turbine disk and rotating shaft according to an embodiment of the invention, as shown in the figure, at first the end face to be welded to the turbine disk 8 and rotating shaft 12 blanks carries out preprocessing, form hole 10 and 11, two holes can be over against driving fit, hole depth is respectively 1-2mm, and end face processing to be welded is smooth, at center hole of non-welding one end processing of the turbine disk.
Then, the welding turbine disk 8 and rotating shaft 12 are cleaned, turbine disk material is K418, and rotating shaft material is 42CrMo, the saturated aqueous slkali of NaOH is put in the turbine disk 8 and rotating shaft 12 respectively carried out alkali cleaning, 15 minutes time, removes the greasy dirt of piece surface to be welded; After alkali cleaning is finished, rinse, the turbine disk 8 and rotating shaft 12 are carried out pickling with clear water, the pickle proportioning is: hydrofluoric acid 2～4%, nitric acid 13～16% and water, 15 minutes pickling time, remove and treat the metal rusty stain on weldment surface, rinse and dry with clear water after the pickling.Cleaning is not the necessary step of the method for welding present embodiment, but the turbine disk and rotating shaft through cleaning, and effects such as welding smoothness will obviously be better than the unwashed turbine disk and rotating shaft.
After preweld cleaning work is finished, anchor clamps 15 geometrical clamps of rotating shaft 12 by rotary table 3 are placed on the rotary table, and make rotating shaft core maintenance level, top 14 of rotary table 3 holds out against the turbine disk 8 over against center hole 9, with the rotating shaft driving fit, and the maintenance turbine disk 8 and rotating shaft 12 center-aligned, as shown in Figure 4, label is that 13 heavy line is the weld seam of the turbine disk 8 to be welded and rotating shaft 12 junctions among Fig. 4, the welding track diameter is 40mm, the degree of depth is 5mm, and laser Machining head 2 places on the weld seam 13 to be welded.
Begin welding, open recirculated water, air valve, laser power supply, robot power supply and the rotary table power supply of welding system successively, equipment such as fieldbus in the system and controller are carried out initialization, robot is resetted; And then welding system diagnosed, judge that by each equipment feedack system's each several part whether can operate as normal, if system is undesired, then report an error, return.The normal back operation welding control of affirmation system, the priority or the synchronization action of control laser instrument, robot and rotary table are finished welding processing.
After spot welding finishes, motor in the control device 5 control rotary tables rotates, motor links to each other with anchor clamps 15 on the rotary table 3, drive rotating shaft and turbine disk rotation by anchor clamps 15, the feedback speed arriving signal was given control device 5 after rotation reached at the uniform velocity, and control device 5 control laser instruments 6 start and begin laser.Control device 5 sends the corresponding sports order by the feedback information of reception rotary table 3 and laser instrument 6 and to the two; coordinating control rotary table 3 and laser instrument 6 processes; adjust suitable welding condition; comprise speed of welding; laser power; the protection throughput; defocusing amount; after the welding beginning; rotary table rotates with the speed drive rotating shaft and the turbine disk of 8mm/s; laser instrument penetrates laser simultaneously; laser power is 3000W; rotary table forwards the ending stage to, and (with the closed curve center of gravity is the center of circle; from the closure place of closed curve weld seam angle is the scope of positive and negative 30 degree) time; the change speed of welding is 20mm/s; laser power is 1200W, finishes the welding of remainder.The numerical value that speed improves is determined according to the attribute of welding material and the attribute of welding curve, rule of thumb be worth, if the thermal conductivity height of welding material, then speed can improve higher, weld penetration is darker, and then the speed raising is smaller, generally speaking, speed of welding need be enhanced about more than once, and the duration is for playing the welding end constantly from improving speed of welding.Improve the moment of speed of welding, can be in arbitrary moment in welding ending stage, preferably, not entering from the closed place of weld seam curve angle is moment within the positive and negative 2 degree scopes, but when the diameter of welding material is very big, then angular range can get that to enter from the closed place of weld seam curve angle be within the positive and negative 2 degree scopes.After finishing welding, stop rotary table and close laser instrument.
In addition, when laser weld enters ending after the stage, also can be when improving speed of welding, reducing laser power is a certain fixed value, rule of thumb be worth, described fixed value is relevant with the attribute and the weld penetration of welding material, the thermal conductivity height of welding material, under powered height is more, and weld penetration is big, it is few that power improves, generally speaking, need reduce to below 2/3 of former power, perhaps can be when improving speed of welding, linear reduction laser power, the slope of linear reduction power is by being starting point with former bonding power, the fixed value of setting is that the straightway of terminal point is determined.Adopt the method that reduces laser power when improving speed of welding, compare with the method that only improves speed of welding, the speed that is improved can be less relatively, and is easier in the realization, and welding effect is more good, and the welding curve is more level and smooth.
It should be noted that at last, above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit, and on using, can extend to other modification, variation, application and embodiment, think that simultaneously all such modifications, variation, application, embodiment are within the spirit and scope of the present invention.
Claims (17)
1, the method for a kind of laser weld turbine disk and rotating shaft is used to comprise that the laser welding system of robot body, laser welding system, rotary table and control device welds, and described method comprises:
Step 10), at non-welding one end of turbine disk processing center hole, and with the turbine disk and rotating shaft clamping rotary table in described laser welding system;
Step 20), the laser welding system of control robot body and its load, and control described rotary table, the described turbine disk and rotating shaft are welded;
Step 30), welding enters the ending stage, improves the welding that speed of welding is finished the described turbine disk and rotating shaft remainder.
2, the process of claim 1 wherein step 30) further comprise: welding enters the ending stage, reduces laser power when improving speed of welding, finishes the welding of the described turbine disk and rotating shaft remainder.
3, claim 1 or 2 method, wherein, step 10) further comprises: the end face to be welded of the described turbine disk and rotating shaft respectively preprocessing form the hole, hole depth is respectively 1-2mm, the hole in the end face to be welded of the described turbine disk and rotating shaft is over against driving fit.
4, claim 1 or 2 method, wherein, step 10) also comprises: the anchor clamps of described rotating shaft by rotary table are folded on the rotary table, and make described rotating shaft core maintenance level, the top of described rotary table holds out against the turbine disk over against described center hole, with the rotating shaft driving fit, and keep the described turbine disk and rotating shaft center-aligned.
5, claim 1 or 2 method, wherein, step 20) further comprise: in the welding process, described rotary table drives described anchor clamps rotation, for the described turbine disk and rotating shaft provide the clockwise or counterclockwise motion that horizontally rotates.
The process of claim 1 wherein that 6, described robot body is a 5DOF frame-type robot.
7, the method for claim 6, wherein, described robot can the along continuous straight runs move left and right, also can vertically move up and down, and described robot has the mechanical arm that rotates around horizontal direction and vertical direction.
8, claim 1 or 2 method, wherein, step 20) also comprise: described robot body drives the position that described laser welding system moves to the welding beginning.
9, the method for claim 8, wherein, when described laser welding system moved to the position of welding beginning, described laser welding system deflection certain angle prevented the obstruction of turbo blade to light beam.
10, claim 1 or 2 method, wherein, step 20) also comprise: described rotary table drives the described turbine disk and rotating shaft is rotated, reach at the uniform velocity after, laser is penetrated in described laser welding system.
11, the method for claim 7, wherein, step 20) comprise that also after described mechanical arm rotation reached at the uniform velocity, laser was penetrated in described laser welding system.
12, claim 1 or 2 method, wherein, step 20) also comprise: before continuous welding is carried out in the described turbine disk and rotating shaft, the described turbine disk and rotating shaft are carried out spot welding, further fix the described turbine disk and rotating shaft.
13, claim 1 or 2 method, wherein, step 30), the moment of improving speed of welding can be to enter with the closed curve center of gravity to be the center of circle, to be the arbitrary moment after the scopes of positive and negative 30 degree from the closure place of closed curve weld seam angle.
14, claim 1 or 2 method, wherein, step 30) in, determine the numerical value that speed of welding improves according to the attribute and the weld penetration of the described turbine disk and rotating shaft, usually, speed of welding improves more than 1 times.
The process of claim 1 wherein that 15, step 10) further comprises:, before the rotary table at welding system the described turbine disk and rotating shaft welding end surface are cleaned at the turbine disk and rotating shaft clamping, remove greasy dirt and metal rusty stain.
16, the method for claim 2, wherein, described reduction laser power comprises that unexpected reduction laser power arrives a certain fixed value to a certain fixed value or linear reduction laser power.
17, the method for claim 16 wherein, is determined described fixed value according to the attribute of the described turbine disk and rotating shaft and the weld penetration of described closed curve, and generally, described fixed value is below 2/3 of former laser power.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810055876 CN101480760A (en) | 2008-01-10 | 2008-01-10 | Laser welding method of turbine disc and rotating shaft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810055876 CN101480760A (en) | 2008-01-10 | 2008-01-10 | Laser welding method of turbine disc and rotating shaft |
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Cited By (14)
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| CN102000920A (en) * | 2011-01-06 | 2011-04-06 | 格特拉克（江西）传动系统有限公司 | Laser welding ending process |
| CN102033511A (en) * | 2009-09-28 | 2011-04-27 | 三菱电机株式会社 | Processing-control device, laser processing device and laser processing system |
| CN103358022A (en) * | 2012-03-26 | 2013-10-23 | 沈阳新松机器人自动化股份有限公司 | Laser welding method for turbocharger shell |
| US20150159487A1 (en) * | 2013-12-05 | 2015-06-11 | Honeywell International Inc. | Welded shaft and turbine wheel assembly |
| US20160074963A1 (en) * | 2014-09-16 | 2016-03-17 | Honeywell International Inc. | Turbocharger shaft and wheel assembly |
| US20160074964A1 (en) * | 2014-09-16 | 2016-03-17 | Honeywell International Inc. | Turbocharger shaft and wheel assembly |
| CN105556093A (en) * | 2014-01-15 | 2016-05-04 | 株式会社Ihi | Method for welding shaft and impeller in turbine shaft, turbine shaft, and welding device |
| CN105728941A (en) * | 2014-11-14 | 2016-07-06 | 财团法人工业技术研究院 | Laser welding apparatus and method thereof |
| CN106001923A (en) * | 2016-06-15 | 2016-10-12 | 湖南天雁机械有限责任公司 | Laser combined machining method for turbine rotor of turbo-driven supercharger |
| CN106181040A (en) * | 2016-08-24 | 2016-12-07 | 浙江朗德电子科技有限公司 | A kind of periphery automatic soldering device |
| US10024166B2 (en) | 2014-09-16 | 2018-07-17 | Honeywell International Inc. | Turbocharger shaft and wheel assembly |
| US10041351B2 (en) | 2014-09-16 | 2018-08-07 | Honeywell International Inc. | Turbocharger shaft and wheel assembly |
| CN108422086A (en) * | 2018-03-16 | 2018-08-21 | 西南交通大学 | Integrated laser cleans the integrated welding welding system and its welding method with welding |
| CN111032272A (en) * | 2017-08-24 | 2020-04-17 | 株式会社Ihi检查计测 | Tack welding method and tack welding device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102033511A (en) * | 2009-09-28 | 2011-04-27 | 三菱电机株式会社 | Processing-control device, laser processing device and laser processing system |
| CN102033511B (en) * | 2009-09-28 | 2013-06-26 | 三菱电机株式会社 | Processing-control device, laser processing device and laser processing system |
| CN102000920A (en) * | 2011-01-06 | 2011-04-06 | 格特拉克（江西）传动系统有限公司 | Laser welding ending process |
| CN103358022A (en) * | 2012-03-26 | 2013-10-23 | 沈阳新松机器人自动化股份有限公司 | Laser welding method for turbocharger shell |
| US20150159487A1 (en) * | 2013-12-05 | 2015-06-11 | Honeywell International Inc. | Welded shaft and turbine wheel assembly |
| US10047607B2 (en) * | 2013-12-05 | 2018-08-14 | Honeywell International Inc. | Welded shaft and turbine wheel assembly |
| CN105556093A (en) * | 2014-01-15 | 2016-05-04 | 株式会社Ihi | Method for welding shaft and impeller in turbine shaft, turbine shaft, and welding device |
| US10421154B2 (en) | 2014-01-15 | 2019-09-24 | Ihi Corporation | Method of welding shaft and wheel in turbine shaft, turbine shaft, and welding device |
| CN105556093B (en) * | 2014-01-15 | 2018-01-09 | 株式会社Ihi | Welding method, turbine wheel shaft and the welder of rotating shaft and impeller in turbine wheel shaft |
| EP2998504A1 (en) * | 2014-09-16 | 2016-03-23 | Honeywell International Inc. | Turbocharger shaft and wheel assembly |
| US10024166B2 (en) | 2014-09-16 | 2018-07-17 | Honeywell International Inc. | Turbocharger shaft and wheel assembly |
| US20160074963A1 (en) * | 2014-09-16 | 2016-03-17 | Honeywell International Inc. | Turbocharger shaft and wheel assembly |
| EP2998505A3 (en) * | 2014-09-16 | 2016-07-06 | Honeywell International Inc. | Method for welding a shaft and wheel assembly of a turbocharger |
| CN105604682B (en) * | 2014-09-16 | 2020-07-03 | 盖瑞特交通一公司 | Turbocharger shaft and impeller assembly |
| CN105604682A (en) * | 2014-09-16 | 2016-05-25 | 霍尼韦尔国际公司 | Turbocharger shaft and wheel assembly |
| US9821410B2 (en) | 2014-09-16 | 2017-11-21 | Honeywell International Inc. | Turbocharger shaft and wheel assembly |
| US9827631B2 (en) | 2014-09-16 | 2017-11-28 | Honeywell International Inc. | Turbocharger shaft and wheel assembly |
| CN105414777A (en) * | 2014-09-16 | 2016-03-23 | 霍尼韦尔国际公司 | Turbocharger shaft and wheel assembly |
| US20160074964A1 (en) * | 2014-09-16 | 2016-03-17 | Honeywell International Inc. | Turbocharger shaft and wheel assembly |
| CN105414777B (en) * | 2014-09-16 | 2020-02-21 | 盖瑞特交通一公司 | Turbocharger shaft and impeller assembly |
| US10041351B2 (en) | 2014-09-16 | 2018-08-07 | Honeywell International Inc. | Turbocharger shaft and wheel assembly |
| CN105728941A (en) * | 2014-11-14 | 2016-07-06 | 财团法人工业技术研究院 | Laser welding apparatus and method thereof |
| CN106001923B (en) * | 2016-06-15 | 2018-06-29 | 湖南天雁机械有限责任公司 | A kind of turbine rotor laser composite processing method of turbocharger |
| CN106001923A (en) * | 2016-06-15 | 2016-10-12 | 湖南天雁机械有限责任公司 | Laser combined machining method for turbine rotor of turbo-driven supercharger |
| CN106181040A (en) * | 2016-08-24 | 2016-12-07 | 浙江朗德电子科技有限公司 | A kind of periphery automatic soldering device |
| CN111032272A (en) * | 2017-08-24 | 2020-04-17 | 株式会社Ihi检查计测 | Tack welding method and tack welding device |
| CN108422086A (en) * | 2018-03-16 | 2018-08-21 | 西南交通大学 | Integrated laser cleans the integrated welding welding system and its welding method with welding |
| CN108422086B (en) * | 2018-03-16 | 2023-04-18 | 西南交通大学 | Integrated laser cleaning and welding integrated welding system and welding method thereof |
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