CN108422086B - Integrated laser cleaning and welding integrated welding system and welding method thereof - Google Patents
Integrated laser cleaning and welding integrated welding system and welding method thereof Download PDFInfo
- Publication number
- CN108422086B CN108422086B CN201810216572.1A CN201810216572A CN108422086B CN 108422086 B CN108422086 B CN 108422086B CN 201810216572 A CN201810216572 A CN 201810216572A CN 108422086 B CN108422086 B CN 108422086B
- Authority
- CN
- China
- Prior art keywords
- laser cleaning
- welding
- distance
- laser
- cleaning head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
An integrated welding system integrating laser cleaning and welding and a welding method comprise a welding part, a laser cleaning part and a monitoring part, wherein the welding part comprises a welding gun, the laser cleaning part comprises a laser cleaning head, the laser cleaning part is connected with the welding part through a connecting part, the connecting part comprises a mechanical arm for clamping the welding gun, a rotating plate which is sleeved on the mechanical arm and can rotate around the mechanical arm, an angle turnover plate which is hinged with the side edge of the rotating plate through a hinge assembly, and a laser cleaning head fastening device which is connected to the angle turnover plate through a sliding assembly in a sliding manner; the monitoring part comprises a monitoring device for monitoring the cleaning condition in real time and a distance sensor for monitoring the distance between the laser cleaning head and a laser cleaning point on the weldment in real time; the integrated control part comprises a delay module and a cleaning control module; the safety protection part comprises an emergency stop triggering module. The welding system realizes the integrated control of laser cleaning and welding at the same time, and is beneficial to large-scale industrial application.
Description
Technical Field
The invention relates to an integrated welding system integrating laser cleaning and welding and a welding method thereof, belonging to the technical field of welding and laser cleaning.
Background
In the beginning of the century, along with the rapid development of high-speed trains, the train yield is greatly increased. According to the latest information, the total mileage of the Chinese high-speed rail reaches 2.3 kilometers and six super-global results by 2017. The aluminum alloy and the steel are used as main materials of a high-speed rail vehicle body, and the connection mode adopted when the aluminum alloy and the steel are applied to the high-speed rail is mainly welding.
In order to avoid weld defects and improve welding quality (particularly, due to the existence of an oxide film on the surface of the aluminum alloy, the weld has pore defects and potential safety hazards), the welding material is usually cleaned before welding. The more traditional method at present is a mechanical polishing method. The method mainly utilizes sand paper wheel sheets to polish the surface of the welding material so as to achieve the purpose of removing rust layers on the surface of the steel and oxide films on the surface of the aluminum alloy. However, the method has the defects of low efficiency, serious material consumption, large dust, surface damage and the like, and along with the rapid development of high-speed rails, the mechanical grinding method cannot meet the current production requirements at present when environmental protection regulations are more and more strict.
The laser cleaning utilizes the characteristics of high laser energy density, strong focusing property, good directionality and the like, focuses light beams through the lens combination, concentrates the light beams into a small area, and the laser beams cause a surface dirt layer to be heated and expanded, so that the adsorption force (covalent bonds, van der Waals force, hydrogen bonds, electrostatic force, capillary action and the like) of a substrate substance to dirt particles is overcome and the dirt particles are separated from the surface of the object; meanwhile, mechanical resonance phenomenon is generated on the surface of the solid, so that a surface dirt layer or condensate is cracked and falls off; in addition, the laser beam instantaneously vaporizes, thermally expands, vaporizes, or decomposes the fouling molecules. The laser cleaning technology utilizes the vibration of laser pulse, the photodecomposition or phase change of molecules or the combined action of particles of the laser pulse and the molecules to overcome the binding force between dirt and the surface of a substrate, so that the dirt is separated from the surface to achieve the purpose of cleaning. The laser cleaning is taken as a novel cleaning method with the most prospect in the 21 st century, and the defects of environmental pollution caused by a chemical reagent method, low efficiency of a mechanical polishing method, serious material consumption and the like are perfectly compensated by the characteristics of high efficiency, greenness, no pollution, no damage, non-contact cleaning and the like, so that the laser cleaning gradually replaces the traditional cleaning method and becomes a main cleaning mode in the future. At present, laser cleaning is gradually applied to removing the surface of a welding material before welding, but the welding efficiency is low after cleaning, and an oxide layer is easily formed on the surface of the welding material again at overlong time intervals, so that the improvement of the welding quality is not facilitated. In order to improve the production efficiency and the welding quality, related researches are carried out at home and abroad on the laser cleaning and the welding in tandem. The patent application laser welding device and method based on laser cleaning pretreatment applied by Shanghai laser technology research institute discloses a laser welding device and method based on laser cleaning pretreatment, the device divides laser cleaning and laser welding into two independent working areas, a conveyor belt is used for connecting the two areas, and the laser cleaning and the laser welding respectively adopt a mechanical arm, so that the equipment investment is large; and laser cleaning and laser welding are divided into two independent working areas, so that the operation is difficult, the device is complex, and the occupied area is wide.
Disclosure of Invention
The invention aims to provide integrated laser cleaning an integrated welding system and a welding method thereof. The welding system realizes the integrated control of laser cleaning and welding at the same time, so that the laser cleaning and the welding are accurately matched, the whole operation is simple, the cost is low, and the industrial large-scale application is facilitated.
The invention realizes the aim and firstly provides the technical scheme of the welding system:
the utility model provides an integrated laser washs and welded integration welding system, includes welding portion, laser cleaning portion and monitoring portion, the welding portion includes welder, and laser cleaning portion includes the laser cleaning head, and its structural feature is: the laser cleaning part is connected with the welding part through a connecting part, the connecting part comprises a mechanical arm for clamping a welding gun, a rotating plate which is sleeved on the mechanical arm and can rotate around the mechanical arm, an angle turnover plate which is hinged with the side edge of the rotating plate through a hinge assembly, and a laser cleaning head fastening device which is connected to the angle turnover plate through a sliding assembly in a sliding manner;
the sliding assembly comprises a sliding track arranged on the angle turnover plate, a sliding rod arranged on the laser cleaning head fastening device and matched with the sliding track, and a sliding driving assembly capable of driving the sliding rod to slide on the sliding track; the direction of the sliding track is parallel to the direction of laser emitted by the laser cleaning head;
the monitoring part comprises a monitoring device for monitoring the cleaning condition in real time and a distance sensor for monitoring the distance between the laser cleaning head and a laser cleaning point on the weldment in real time; the monitoring device and the distance sensor can be arranged on the laser cleaning head fastening device; in order to monitor the distance between the laser cleaning head and a laser cleaning point on a weldment in real time, the distance sensor and the laser cleaning head are on the same horizontal plane, and the measuring direction is parallel to the direction of a laser beam emitted by the laser cleaning head; meanwhile, in order to determine when the laser cleaning part stops working, the distance sensor measuring point and the laser cleaning point are ensured to reach the front edge of the weldment in the welding direction at the same time.
The laser cleaning part, the welding part, the mechanical arm, the control end of the sliding driving assembly and the output end of the monitoring part are all connected with the integrated control part; the integrated control part comprises a time delay module for controlling time delay between the welding part and the laser cleaning part and a cleaning control module for controlling the laser cleaning part and the sliding driving component to work according to data obtained by the monitoring part;
the integrated welding system also comprises a safety protection part connected with the output end of the distance sensor and the control end of the integrated control part; the safety protection part comprises an emergency stop triggering module which triggers the integrated welding system to stop working when a dangerous condition occurs.
Compared with the prior art, the invention has the beneficial effects that:
1. the welding system has the advantages that the integration of laser cleaning and welding is realized through the connecting part, the laser cleaning and the welding can be simultaneously operated in tandem, and the cleaning before welding is realized.
2. Before welding, the position of a welding gun can be adjusted by adjusting a mechanical arm, and the position of a laser cleaning head relative to the welding gun and the deflection angle of laser cleaning are adjusted by adjusting the position of a rotating plate on the mechanical arm, the angle between an angle turnover plate and the rotating plate and the position of a laser cleaning head fastening device on the angle turnover plate.
3. The monitoring part can monitor the cleaning effect in real time, and the cleaning control module can adjust laser cleaning parameters according to data obtained by the monitoring part.
4. The adjustable laser cleaning head fastener of slip drive assembly adjusts the laser cleaning head position on the slip track of angle returning face plate to when laser cleaning, according to the feedback of monitoring portion, automatically regulated laser cleaning's out of focus volume.
5. The time delay module can control the time delay between the welding part and the laser cleaning part, so that the laser cleaning and the welding are changed into one trigger through association, the laser cleaning and the welding are matched more accurately, and the operation is simpler.
6. The safety protection part can ensure that if improper operation or programming is wrong in the working process, the emergency stop triggering module triggers the integrated welding system to stop working, and the safety of personnel and the laser cleaner are ensured not to be damaged.
Furthermore, the monitoring device of the system comprises a camera and an acoustic emission instrument which are aligned with the laser cleaning point.
But camera real-time supervision washing picture, acoustic emission appearance accessible sound echo signal judge the state and the cleaning performance of cleaning point, combine camera and acoustic emission appearance, can monitor the washing state comprehensively and accurately, judge the cleaning performance, provide reliable foundation for aspects such as the optimization of adjusting cleaning parameter, laser cleaning process parameter.
Furthermore, the sliding driving assembly comprises a threaded through hole which is arranged on the laser cleaning head fastening device and is parallel to the sliding direction, a sliding screw which is matched with the threaded through hole and is parallel to the sliding track, and a sliding motor which can drive the screw to rotate; the sliding screw rotates in a threaded manner through the threaded through hole, the sliding motor is arranged on the angle turnover plate, and an output shaft of the sliding motor is fixedly connected with the sliding screw; the control end of the sliding motor is connected with the integrated control part.
Further, the specific working mode of the delay module of the system of the invention is as follows: the delay module is preset with a delay time T between welding and laser cleaning; after the time delay T is elapsed after the laser cleaning is started, the time delay module controls a welding gun of the welding part to start working; after the laser cleaning is finished, the delay module controls a welding gun of the welding part to finish the work after the delay time T;
the preset delay time T between welding and laser cleaning in the delay module is determined according to the set distance a between the laser cleaning point and the welding speed v, and T = a/v.
Like this, through simple mode, realized through triggering simultaneous control laser cleaning and welding, made laser cleaning and welding cooperation more accurate, the operation is simpler.
Further, the specific working mode of the cleaning control module of the system of the invention is as follows: adjusting laser cleaning parameters and judging when the laser cleaning part stops working according to the cleaning condition monitored by the monitoring device in real time and the distance between the laser cleaning head and the laser cleaning point on the weldment measured by the distance sensor;
the adjusting of the laser cleaning parameters specifically comprises: adjusting the laser output power of the laser cleaning head; the laser cleaning head is driven to slide on the angle turnover plate through the sliding driving assembly, so that the defocusing amount of laser used for laser cleaning is adjusted;
the specific method for judging when the laser cleaning part stops working is as follows:
presetting a distance difference threshold d between the laser cleaning head and the laser cleaning point at different moments in the cleaning control module x And the time interval delta t of data acquisition of the distance sensor;
after the welding system is started, the distance between the laser cleaning head and the laser cleaning point on the weldment is monitored by the distance sensor in real time, and the distance d between the laser cleaning head and the laser cleaning point at the moment t measured by the distance sensor t The distance d between the laser cleaning head and the laser cleaning point at the time of t plus delta t t+△t The absolute value of the difference delta d is larger than a preset distance difference threshold value d between the laser cleaning head and the laser cleaning point at different moments x When the value is greater than or equal to d, i.e. delta d ≧ d x When the cleaning is completed, the laser cleaning unit stops operating.
Like this, not only can guarantee better cleaning performance according to the abluent various parameters of real-time adjustment laser of monitoring portion's feedback, accessible distance sensor measuring distance moreover, the endpoint of intelligent judgement laser cleaning course in makes welding system more intelligent.
Further, the system of the invention has the specific working mode that the emergency stop triggering module is as follows: the emergency stop triggering module is internally provided with a preset upper limit threshold d of the safety distance between the laser cleaning head and the laser cleaning point y+ Lower threshold d of safety distance y- (ii) a The dangerous condition is that the distance between the laser cleaning head and the laser cleaning point measured by the distance sensor is greater than the safety distanceThreshold limit value d y+ Or less than the lower limit threshold d of the safety distance y- (ii) a When the distance between the laser cleaning head and the laser cleaning point measured by the distance sensor is larger than the upper limit threshold d of the safe distance y+ Or less than the lower limit threshold d of the safety distance y- And when the welding system is in operation, the emergency stop triggering module triggers the integrated welding system to stop working.
Therefore, the safety of operators can be ensured, and the damage to the laser cleaner can be avoided; if improper operation or wrong programming exists in the working process, the laser is aligned to other objects, human bodies or is too close to the objects, and the emergency stop triggering module triggers the integrated welding system to stop working (the welding part and the laser cleaning part stop working).
The invention also provides a welding method of the integrated welding system integrating laser cleaning and welding, which comprises the following steps:
s1, setting parameters, including: welding parameters, initial laser output power of laser cleaning, an initial deflection angle and initial laser defocusing amount; a welding speed v; the distance a between the laser cleaning point and the welding point; the distance d between the laser cleaning head and the laser cleaning point; distance difference threshold d between different moments of laser cleaning head and laser cleaning point x (ii) a The time interval delta t of data acquisition of the distance sensor; the delay time T between welding and laser cleaning is T = a/v, and the set parameters are input into the integrated control part;
s2, adjusting the welding gun position of the welding part and the laser cleaning head position of the laser cleaning part according to a preset welding gun position and the parameters set in the step s1, specifically, adjusting the welding gun position through adjusting a mechanical arm, and adjusting the position of a rotating plate on the mechanical arm, the angle between an angle turnover plate and the rotating plate, and the position of a laser cleaning head fastening device on the angle turnover plate (adjusting the position of the laser cleaning head fastening device on the angle turnover plate through a sliding driving component), so as to adjust the position of the laser cleaning head and the deflection angle of laser cleaning;
and s3, the integrated control part inputs the parameters set in the step s1 into the welding part and the laser cleaning part, and starts the welding system: the laser cleaning head starts cleaning, and the mechanical arm drives the welding gun and the laser cleaning part to move along a set welding track according to a set welding speed v;
in the welding and laser cleaning processes, the time delay module of the integrated control part controls the time delay between the welding part and the laser cleaning part; the cleaning control module of the integrated control part controls the laser cleaning part and the sliding driving component to work according to the data obtained by the monitoring part; and an emergency stop triggering module of the safety protection part judges whether a dangerous condition exists and makes corresponding action according to the distance data monitored by the distance sensor in real time.
Further, the specific working mode of the delay module in step s3 of the method of the present invention is: the delay module is preset with a delay time T between welding and laser cleaning; after the time delay T is elapsed after the laser cleaning is started, the time delay module controls a welding gun of the welding part to start working; and after the laser cleaning is finished, the delay module controls the welding gun of the welding part to finish the work after the delay time T.
Further, the specific working mode of the cleaning control module in the step s3 of the method of the present invention is as follows: adjusting laser cleaning parameters and judging when the laser cleaning part stops working according to the cleaning condition monitored by the monitoring device in real time and the distance between the laser cleaning head and the laser cleaning point on the weldment measured by the distance sensor;
the adjusting of the laser cleaning parameters specifically comprises: adjusting the laser output power of the laser cleaning head; the laser cleaning head is driven to slide on the angle turnover plate through the sliding driving assembly, so that the defocusing amount of laser used for laser cleaning is adjusted;
the specific method for judging when the laser cleaning part stops working is as follows:
presetting a distance difference threshold d between the laser cleaning head and the laser cleaning point at different moments in the cleaning control module x And the time interval delta t of the data acquisition of the distance sensor;
after the welding system is started, the distance between the laser cleaning head and the laser cleaning point on the weldment is monitored by the distance sensor in real time, and the distance d between the laser cleaning head and the laser cleaning point at the moment t measured by the distance sensor t The distance d between the laser cleaning head and the laser cleaning point at the time of t plus delta t t+△t The absolute value of the difference delta d is larger than a preset distance difference threshold value d between the laser cleaning head and the laser cleaning point at different moments x When, i.e., | Δ d | > d ≧ d x When the cleaning operation is stopped, the laser cleaning unit stops operating.
Further, the method of the present invention, wherein the emergency stop triggering module of the safety protection part in step s3 judges whether a dangerous condition exists and performs a corresponding action according to the distance data monitored by the distance sensor in real time, specifically comprises: the emergency stop triggering module is preset with a safety distance upper limit threshold d between a laser cleaning head and a laser cleaning point y+ Lower threshold d of safety distance y- (ii) a The dangerous condition is that when the distance between the laser cleaning head and the laser cleaning point measured by the distance sensor is larger than the upper limit threshold d of the safe distance y+ Or less than the lower limit threshold d of the safety distance y- (ii) a When a dangerous condition exists, the emergency stop triggering module triggers the integrated welding system to stop working; if the distance between the laser cleaning head and the laser cleaning point measured by the distance sensor is within the upper limit threshold d of the safe distance y+ And a safety distance lower threshold value d y- And (4) judging that no dangerous condition exists, and stopping the emergency triggering module.
Drawings
Fig. 1 is a schematic view of an overall connection structure according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a connecting portion and a monitoring portion according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of positions of a welding point, a laser cleaning point and a distance sensor measuring point on a weldment according to the embodiment of the invention.
Fig. 4 is a schematic diagram illustrating the delay module controlling the welding gun of the welding portion to start working according to the embodiment of the invention.
FIG. 5 is a diagram illustrating a cleaning control module determining when a laser cleaning portion stops operating according to an embodiment of the present invention.
Detailed Description
Examples
Fig. 1 shows that one embodiment of the present invention is: the utility model provides an integrated laser washs and welded integration welding system, includes weld part 1.0, laser cleaning portion 2.0 and monitoring part 4.0, weld part 1.0 includes welder 1.1, and laser cleaning portion 2.0 includes laser cleaning head 2.1, and its structural feature is: the laser cleaning part 2.0 is connected with the welding part 1.0 through a connecting part 3.0, and fig. 2 is a schematic structural diagram of the connecting part and the monitoring part in the embodiment of the invention; the connecting part 3.0 comprises a mechanical arm 3.1 (the mechanical arm 3.1 is omitted in fig. 2) for clamping a welding gun 1.1, a rotating plate 3.2 sleeved on the mechanical arm 3.1 and capable of rotating around the mechanical arm 3.1 (the rotating plate 3.2 is sleeved on the mechanical arm 3.1 through a large circular hole 3.2a on the rotating plate 3.2 in fig. 2, the large circular hole on the rotating plate 3.2 can be modified according to the shapes of different mechanical arms under actual working conditions and is not limited to the circular shape in the figure), an angle overturning plate 3.4 hinged with the side edge of the rotating plate 3.2 through a hinge assembly 3.3, and a laser cleaning head fastening device 3.6 connected to the angle overturning plate 3.4 through a sliding assembly 3.5 in a sliding manner;
the sliding component 3.5 comprises a sliding track 3.5a arranged on the angle turnover plate 3.4, a sliding rod 3.5b arranged on the laser cleaning head fastening device 3.6 and matched with the sliding track 3.5a, and a sliding driving component 3.7 capable of driving the sliding rod 3.5b to slide on the sliding track 3.5 a; the 3.5a direction of the sliding rail is parallel to the laser emitting direction of the laser cleaning head 2.1;
the monitoring part 4.0 comprises a monitoring device 4.1 for monitoring the cleaning condition in real time and a distance sensor 4.2 for monitoring the distance between the laser cleaning head 2.1 and a laser cleaning point on the weldment in real time; in the embodiment, the distance sensor 4.2 and the laser cleaning head 2.1 are on the same horizontal plane, and the measuring direction is parallel to the direction of the laser beam emitted by the laser cleaning head 2.1; meanwhile, in order to determine when the laser cleaning part stops working, it is required to ensure that the measuring point of the distance sensor and the laser cleaning point reach the front edge of the weldment along the welding direction at the same time; in this example the front edge of the weldment in the welding direction is an oblique line which is not perpendicular to the direction of the weld seam, and the line between the measuring point of the distance sensor 4.2 on the weldment and the laser cleaning point is parallel to the front edge of the weldment in the welding direction. Fig. 3 is a schematic diagram of positions of a welding point, a laser cleaning point, and a distance sensor measuring point on a weldment according to the present embodiment, in the diagram, p is the laser cleaning point, q is the distance sensor measuring point, and o is the welding point.
The laser cleaning part 2.0, the welding part 1.0, the mechanical arm 3.1, the control end of the sliding driving assembly 3.7 and the output end of the monitoring part 4.0 are all connected with the integrated control part 5.0; the integrated control part 5.0 comprises a time delay module for controlling the time delay between the welding part 1.0 and the laser cleaning part 2.0 and a cleaning control module for controlling the work of the laser cleaning part 2.0 and the sliding drive component 3.7 according to the data obtained by the monitoring part 4.0;
the integrated welding system also comprises a safety protection part 6.0 connected with the output end of the distance sensor 4.2 and the control end of the integrated control part 5.0; the safety protection part 6.0 comprises an emergency stop triggering module which triggers the integrated welding system to stop working when a dangerous condition occurs.
The monitoring device 4.1 in this example comprises a camera and an acoustic emission device aligned with the laser cleaning point.
As shown in fig. 2, the specific way of hinging the angle-flipping plate 3.4 with the rotating plate 3.2 through the hinge assembly 3.3 in this example is: the angle turnover plate 3.4 is rotationally fixed on the side edge of the rotary plate 3.2 through a rotary shaft.
In this embodiment, a rotation driving assembly is further provided for driving the rotation shaft to rotate so as to drive the angle turning plate 3.4 to rotate relative to the rotation plate 3.2, so as to achieve higher automation. In the embodiment, the rotary driving component comprises strip-shaped grooves formed in two symmetrical sides of the bottom surface of the rotary plate 3.2 (the two symmetrical sides are two sides perpendicular to the side edge of the rotary plate 3.2 with the shaft hole), telescopic rods b and stay rods a are arranged in the strip-shaped grooves, one ends of the stay rods a are rotatably fixed in the grooves, the other ends of the stay rods a are rotatably provided with sliders, slide rails corresponding to the sliders are arranged on the surface of the angle turnover plate 3.4 opposite to the bottom surface of the rotary plate 3.2, the sliders are slidably mounted in the slide rails, one ends of the telescopic rods b are rotatably fixed in the grooves close to the side edge of the rotary plate 3.2 with the shaft hole, and the other ends of the telescopic rods b are rotatably fixed on the stay rods a; the rotary driving component also comprises a controller which can control the telescopic rod b to stretch and retract. The controller controls the telescopic rod b to stretch, the telescopic rod b drives the support rod a to rotate upwards in the contraction process, the slide block is further driven to move upwards along the slide rail, and the angle turnover plate 3.4 rotates slowly under the pushing of the support rod a; the telescopic rod b drives the support rod a to rotate downwards in the extending process, so that the sliding block is driven to move downwards along the sliding rail, and the angle turnover plate 3.4 rotates slowly under the pushing of the support rod a.
As shown in fig. 2, in this embodiment, the angle turning plate 3.4 is a rectangular structure, the upper side of the angle turning plate 3.4 is hinged to the rotating plate 3.2, a raised rectangular frame structure is arranged on the angle turning plate 3.4, the sliding rail 3.5a is a through groove arranged on the left and right sides of the raised rectangular frame structure on the angle turning plate 3.4, the sliding rods 3.5b are arranged on the left and right opposite side surfaces of the laser cleaning head fastening device 3.6, the tail ends of the sliding rods 3.5b in this embodiment are expanded to be spherical, so that the position stability of the laser cleaning head fastening device 3.6 can be ensured, and friction during sliding can be reduced.
Fig. 2 shows that, in this example, the sliding drive assembly 3.7 includes a threaded through hole parallel to the sliding direction provided on the laser cleaning head fastening device 3.6, a sliding screw 3.7b parallel to the sliding rail 3.5a and engaged with the threaded through hole, and a sliding motor 3.7a for driving the screw to rotate; the sliding screw rod 3.7b is in threaded rotation and passes through the threaded through hole, the sliding motor is arranged on the angle turnover plate 3.4, and an output shaft of the sliding motor 3.7a is fixedly connected with the sliding screw rod 3.7 b; the control end of the sliding motor 3.7a is connected with the integrated control part 5.0.
Fig. 1 is a schematic view of the overall connection structure of the present embodiment, in which only the main parts of the welding system are shown, and details of the rotating shaft, the shaft hole, the threaded through hole, and the like are omitted.
The specific working mode of the delay module in this example is as follows: the delay module is preset with a delay time T between welding and laser cleaning; after the time delay T is elapsed after the laser cleaning is started, the time delay module controls a welding gun 1.1 of the welding part 1.0 to start working; after the laser cleaning is finished, the delay module controls a welding gun 1.1 of the welding part 1.0 to finish the work after the delay time T;
the preset delay time T between welding and laser cleaning in the delay module is determined according to the set distance a between the laser cleaning point and the welding speed v, and T = a/v. FIG. 4 is a schematic diagram illustrating the time delay module controlling the start of the welding gun of the welding portion according to the embodiment, wherein X in FIG. 4 represents a laser cleaningA cleaning beam, Y represents a welding torch (this figure is a schematic view showing a relative position between laser cleaning and welding, and does not represent a laser beam direction, a welding output direction, a welding type, and an actual torch shape), and t 0 At the moment when the laser cleaning is started, after the delay time T is elapsed after the laser cleaning is started, the welding gun just starts to align to the welding starting point of the weldment, and the delay module controls the welding gun 1.1 of the welding part 1.0 to start working.
The specific working mode of the cleaning control module in this example is as follows: according to the cleaning condition monitored by the monitoring device 4.1 in real time and the distance between the laser cleaning head 2.1 and the laser cleaning point on the weldment, which is measured by the distance sensor 4.2, the laser cleaning parameters are adjusted, and when the laser cleaning part 2.0 stops working is judged;
the adjusting of the laser cleaning parameters specifically comprises: adjusting the laser output power of the laser cleaning head 2.1; the laser cleaning head 2.1 is driven to slide on the angle turnover plate 3.4 through a sliding driving component 3.7, so that the defocusing amount of laser used for laser cleaning is adjusted;
the specific method for determining when the laser cleaning part 2.0 stops working is as follows:
presetting a distance difference threshold d between the laser cleaning head 2.1 and the laser cleaning point at different moments in a cleaning control module x And the time interval delta t of the data acquisition of the distance sensor;
after the welding system is started, the distance sensor 4.2 monitors the distance between the laser cleaning head 2.1 and the laser cleaning point on the weldment in real time, and the distance d between the laser cleaning head 2.1 and the laser cleaning point at the moment t measured by the distance sensor 4.2 t The distance d between the laser cleaning head 2.1 and the laser cleaning point at the time t +. DELTA.t t+△t The absolute value of the difference delta d is larger than a preset distance difference threshold value d between the laser cleaning head 2.1 and different time of the laser cleaning point x When the value is greater than or equal to d, i.e. delta d ≧ d x When the operation is stopped, the laser cleaning unit 2.0 stops. FIG. 5 is a schematic diagram of the cleaning control module determining when the laser cleaning unit stops working according to the embodiment of the present invention, in which X represents the laser cleaning beam and Y represents the welding gun (the diagram is only for illustrating the relative positions of laser cleaning and welding, and does not represent the laser beam)Beam direction, welding output direction, welding type and actual welding gun shape), the laser cleaning beam just aims at the welding end point of the weldment at the moment t, and the distance between the laser cleaning head 2.1 and the laser cleaning point measured by the distance sensor 4.2 is d t . At the moment of t plus delta t, the laser cleaning beam just leaves the weldment, and the distance between the laser cleaning head 2.1 and the laser cleaning point measured by the distance sensor 4.2 is d t+△t (ii) a Distance d t And a distance d t+△t Difference Δ d = d t+△t -d t Is greater than a preset threshold value d for the distance difference between the laser cleaning head 2.1 and the laser cleaning point at different times x The laser cleaning unit 2.0 stops operating. The smaller Δ t, the more accurate the determination. Deltat is related to the distance sensor 4.2 and the integrated control unit 5.0 actually used, d x The user can set the stopping conditions according to actual requirements, which are related to the stopping conditions (such as different thicknesses of the test piece) the user wants and the laser action range of the laser which is actually adopted. In the embodiment, the welding speed is 15mm/s, and the delta t is set to be 0.1s (the maximum error distance is 1.5mm through calculation); the thickness of a test piece to be welded is 10mm, and various factors such as the thickness dimension error and the measurement error of the test piece are considered, d x Set at 7mm.
The specific working mode of the sudden stop triggering module in the embodiment is as follows: the emergency stop trigger module is preset with a safety distance upper limit threshold d between a laser cleaning head (2.1) and a laser cleaning point y+ Lower threshold d of safety distance y- (ii) a The dangerous condition means that when the distance between the laser cleaning head 2.1 and the laser cleaning point measured by the distance sensor 4.2 is larger than the upper limit threshold d of the safe distance y+ Or less than the lower limit threshold d of the safety distance y- (ii) a When the distance between the laser cleaning head 2.1 and the laser cleaning point measured by the distance sensor 4.2 is larger than the upper limit threshold d of the safety distance y+ Or less than the lower limit threshold d of the safety distance y- And when the emergency stop trigger module triggers the integrated welding system to stop working. When the distance between the laser cleaning head 2.1 and the laser cleaning point measured by the distance sensor 4.2 is larger than the upper limit threshold d of the safety distance y+ Triggering the integrated welding system to stop working is to prevent improper operation in the working processOr the programming is wrong, and the laser is aligned with other objects or human bodies; when the distance between the laser cleaning head 2.1 and the laser cleaning point measured by the distance sensor 4.2 is less than the lower limit threshold d of the safety distance y- The integrated welding system is triggered to stop working, so that the object and the human body are prevented from being too close to the emergent laser, and the object, the human body and the laser mirror surface are prevented from being damaged.
The welding method of the integrated laser cleaning and welding system comprises the following steps:
s1, setting parameters, including: welding parameters, initial laser output power of laser cleaning, an initial deflection angle and an initial laser defocusing amount; a welding speed v; the distance a between the laser cleaning point and the welding point; the distance d between the laser cleaning head 2.1 and the laser cleaning point; threshold value d for the distance difference between laser cleaning head 2.1 and the laser cleaning point at different times x (ii) a The distance sensor 4.2 data acquisition time interval Δ t; the delay time T, T = a/v between welding and laser cleaning, and the set parameters are input to the integrated control section 5.0;
s2, adjusting the position of a welding gun 1.1 of the welding part 1.0 and the position of a laser cleaning head 2.1 of the laser cleaning part 2.0 according to a preset position of the welding gun 1.1 and parameters set in the step s1, wherein the method specifically comprises the steps of adjusting the position of the welding gun 1.1 by adjusting a mechanical arm 3.1, and adjusting the position of a rotating plate 3.2 on the mechanical arm 3.1, the angle between an angle turnover plate 3.4 and the rotating plate 3.2, and the position of a laser cleaning head fastening device 3.6 on the angle turnover plate 3.4 (adjusting the position of the laser cleaning head fastening device 3.6 on the angle turnover plate 3.4 by a sliding driving component 3.7) so as to adjust the position of the laser cleaning head 2.1 and the deflection angle of laser cleaning;
s3, the integrated control unit 5.0 inputs the parameters set in the step s1 into the welding part 1.0 and the laser cleaning part 2.0, and starts the welding system: the laser cleaning head 2.1 starts to clean, and the mechanical arm 3.1 drives the welding gun 1.1 and the laser cleaning part 2.0 to move along a set welding track according to a set welding speed v;
in the welding and laser cleaning processes, the time delay module of the integrated control part 5.0 controls the time delay between the welding part 1.0 and the laser cleaning part 2.0; the cleaning control module of the integrated control part 5.0 controls the laser cleaning part 2.0 and the sliding drive component 3.7 to work according to the data obtained by the monitoring part 4.0.
The specific working mode of the delay module in step s3 of the method is as follows: the delay module is preset with a delay time T between welding and laser cleaning; after the time delay T is elapsed after the laser cleaning is started, the time delay module controls a welding gun 1.1 of the welding part 1.0 to start working; after the laser cleaning is finished, the time delay module controls the welding gun 1.1 of the welding part 1.0 to finish the work after the time delay T.
The specific working mode of the cleaning control module in the step s3 of the method is as follows: according to the cleaning condition monitored by the monitoring device 4.1 in real time and the distance between the laser cleaning head 2.1 and the laser cleaning point on the weldment, which is measured by the distance sensor 4.2, adjusting laser cleaning parameters and judging when the laser cleaning part 2.0 stops working;
the adjusting of the laser cleaning parameters specifically comprises: adjusting the laser output power of the laser cleaning head 2.1; the laser cleaning head 2.1 is driven to slide on the angle turnover plate 3.4 through a sliding driving component 3.7, so that the defocusing amount of laser used for laser cleaning is adjusted;
the specific method for determining when the laser cleaning part 2.0 stops working is as follows:
the distance difference threshold d between the laser cleaning head 2.1 and the laser cleaning point at different moments is preset in the cleaning control module x And the time interval delta t of data acquisition of the distance sensor 4.2;
after the welding system is started, the distance sensor 4.2 monitors the distance between the laser cleaning head 2.1 and the laser cleaning point on the weldment in real time, and the distance d between the laser cleaning head 2.1 and the laser cleaning point at the moment t measured by the distance sensor 4.2 t And t +. DELTA.t
The distance d between the laser cleaning head 2.1 and the laser cleaning point at any time t+△t The absolute value of the difference delta d is larger than a preset distance difference threshold value d between the laser cleaning head 2.1 and different time of the laser cleaning point x When the value is greater than or equal to d, i.e. delta d ≧ d x When the operation is stopped, the laser cleaning unit 2.0 stops.
Secured in said step s3 of the above methodThe specific method for judging whether a dangerous condition exists and making corresponding action by the emergency stop triggering module of the protection part 6.0 according to the distance data monitored by the distance sensor 4.2 in real time is as follows: the emergency stop trigger module is preset with a safety distance upper limit threshold d between the laser cleaning head 2.1 and the laser cleaning point y+ To a lower threshold d of a safety distance y- (ii) a The dangerous condition means that when the distance between the laser cleaning head 2.1 and the laser cleaning point measured by the distance sensor 4.2 is larger than the upper limit threshold d of the safe distance y+ Or less than the lower limit threshold d of the safety distance y- (ii) a When a dangerous condition exists, the emergency stop triggering module triggers the integrated welding system to stop working; if the distance between the laser cleaning head and the laser cleaning point measured by the distance sensor is within the upper limit threshold d of the safe distance y+ And a safety distance lower threshold value d y- And (4) judging that no dangerous condition exists, and stopping the emergency triggering module.
Claims (10)
1. The utility model provides an integrated laser washs and welded integration welding system, includes weld part (1.0), laser cleaning portion (2.0) and monitoring portion (4.0), weld part (1.0) includes welder (1.1), and laser cleaning portion (2.0) includes laser cleaning head (2.1), its characterized in that: the laser cleaning part (2.0) is connected with the welding part (1.0) through a connecting part (3.0), the connecting part (3.0) comprises a mechanical arm (3.1) for clamping a welding gun (1.1), a rotating plate (3.2) which is sleeved on the mechanical arm (3.1) and can rotate around the mechanical arm (3.1), an angle turnover plate (3.4) which is hinged with the side edge of the rotating plate (3.2) through a hinge assembly (3.3), and a laser cleaning head fastening device (3.6) which is connected to the angle turnover plate (3.4) through a sliding assembly (3.5) in a sliding manner;
the sliding assembly (3.5) comprises a sliding track (3.5 a) arranged on the angle turnover plate (3.4), a sliding rod (3.5 b) arranged on the laser cleaning head fastening device (3.6) and matched with the sliding track (3.5 a), and a sliding driving assembly (3.7) capable of driving the sliding rod (3.5 b) to slide on the sliding track (3.5 a); the direction of the sliding track (3.5 a) is parallel to the direction of the laser emitted by the laser cleaning head (2.1);
the monitoring part (4.0) comprises a monitoring device (4.1) for monitoring the cleaning condition in real time and a distance sensor (4.2) for monitoring the distance between the laser cleaning head (2.1) and a laser cleaning point on the weldment in real time;
the laser cleaning part (2.0), the welding part (1.0), the mechanical arm (3.1), the control end of the sliding driving assembly (3.7) and the output end of the monitoring part (4.0) are all connected with the integrated control part (5.0); the integrated control part (5.0) comprises a time delay module for controlling time delay between the welding part (1.0) and the laser cleaning part (2.0) and a cleaning control module for controlling the laser cleaning part (2.0) and the sliding drive component (3.7) to work according to data obtained by the monitoring part (4.0);
the integrated welding system also comprises a safety protection part (6.0) connected with the output end of the distance sensor (4.2) and the control end of the integrated control part (5.0); the safety protection part (6.0) comprises an emergency stop triggering module which triggers the integrated welding system to stop working when a dangerous condition occurs.
2. The integrated laser cleaning and welding system of claim 1, wherein: the monitoring device (4.1) comprises a camera and an acoustic emission instrument which are aligned with the laser cleaning point.
3. The integrated laser cleaning and welding system of claim 1, wherein: the sliding driving component (3.7) comprises a threaded through hole which is arranged on the laser cleaning head fastening device (3.6) and is parallel to the sliding direction, a sliding screw (3.7 b) which is matched with the threaded through hole and is parallel to the sliding track (3.5 a) and a sliding motor (3.7 a) which can drive the screw to rotate; the sliding screw (3.7 b) rotates in a threaded manner and passes through the threaded through hole, the sliding motor is arranged on the angle turnover plate (3.4), and the output shaft of the sliding motor (3.7 a) is fixedly connected with the sliding screw (3.7 b); the control end of the sliding motor (3.7 a) is connected with the integrated control part (5.0).
4. The integrated laser cleaning and welding system of claim 1, wherein: the specific working mode of the delay module is as follows: the delay time T between welding and laser cleaning is preset in the delay module; after the time delay T is elapsed after the laser cleaning is started, the time delay module controls a welding gun (1.1) of the welding part (1.0) to start working; after the laser cleaning is finished, the time delay module controls a welding gun (1.1) of the welding part (1.0) to finish the work after the time delay T;
the preset delay time T between welding and laser cleaning in the delay module is determined according to the set distance a between the laser cleaning point and the welding speed v, and T = a/v.
5. The integrated laser cleaning and welding system of claim 1, wherein: the specific working mode of the cleaning control module is as follows: according to the cleaning condition monitored by the monitoring device (4.1) in real time and the distance between the laser cleaning head (2.1) and the laser cleaning point on the weldment, which is measured by the distance sensor (4.2), adjusting laser cleaning parameters and judging when the laser cleaning part (2.0) stops working;
the adjusting of the laser cleaning parameters specifically comprises: adjusting the laser output power of the laser cleaning head (2.1); the laser cleaning head (2.1) is driven to slide on the angle turnover plate (3.4) through the sliding driving component (3.7), so that the defocusing amount of laser used for laser cleaning is adjusted;
the specific method for judging when the laser cleaning part (2.0) stops working is as follows:
the distance difference threshold d between the laser cleaning head (2.1) and the laser cleaning point at different moments is preset in the cleaning control module x And the time interval delta t of data acquisition of the distance sensor;
after the welding system is started, the distance sensor (4.2) monitors the distance between the laser cleaning head (2.1) and the laser cleaning point on the weldment in real time, and the distance d between the laser cleaning head (2.1) and the laser cleaning point at the moment t measured by the distance sensor t The distance d between the laser cleaning head (2.1) and the laser cleaning point at the time t plus delta t t+△t The absolute value of the difference delta d is larger than a preset distance difference threshold value d between the laser cleaning head (2.1) and the laser cleaning point at different moments x When, i.e., | Δ d | > d ≧ d x When the laser cleaning unit (2.0) is in operation, the laser cleaning unit stops.
6. The integrated laser cleaning and welding system of claim 1, wherein: the specific working mode of the emergency stop triggering module is as follows: the emergency stop trigger module is preset with a safety distance upper limit threshold d between a laser cleaning head (2.1) and a laser cleaning point y+ Lower threshold d of safety distance y- (ii) a The dangerous condition refers to the situation that when the distance between the laser cleaning head (2.1) and the laser cleaning point measured by the distance sensor (4.2) is larger than the upper limit threshold d of the safe distance y+ Or less than the lower limit threshold d of the safety distance y- (ii) a When the distance between the laser cleaning head (2.1) and the laser cleaning point measured by the distance sensor (4.2) is larger than the upper limit threshold d of the safe distance y+ Or less than the lower limit threshold d of the safety distance y- And when the welding system is in operation, the emergency stop triggering module triggers the integrated welding system to stop working.
7. A welding method for an integrated laser cleaning and welding system as defined in claim 1, comprising the steps of:
s1, setting parameters, including: welding parameters, initial laser output power of laser cleaning, an initial deflection angle and an initial laser defocusing amount; a welding speed v; the distance a between the laser cleaning point and the welding point; the distance d between the laser cleaning head (2.1) and the laser cleaning point; a threshold value d for the distance difference between the laser cleaning head (2.1) and the laser cleaning point at different times x (ii) a The time interval delta t of data acquisition of the distance sensor; (ii) a The delay time T, T = a/v between welding and laser cleaning, and the set parameters are input into an integrated control part (5.0);
s2, adjusting the position of a welding gun (1.1) of the welding part (1.0) and the position of a laser cleaning head (2.1) of the laser cleaning part (2.0) according to the preset position of the welding gun (1.1) and the set parameters of the step s1, specifically comprising adjusting the position of the welding gun (1.1) by adjusting a mechanical arm (3.1), and adjusting the position of a rotating plate (3.2) on the mechanical arm (3.1), the angle between an angle turnover plate (3.4) and the rotating plate (3.2) and the position of a laser cleaning head fastening device (3.6) on the angle turnover plate (3.4) so as to adjust the position of the laser cleaning head (2.1) and the deflection angle of laser cleaning;
s3, the integrated control part (5.0) inputs the parameters set in the step s1 into the welding part (1.0) and the laser cleaning part (2.0), and starts the welding system: the laser cleaning head (2.1) starts to clean, and the mechanical arm (3.1) drives the welding gun (1.1) and the laser cleaning part (2.0) to move along a set welding track according to a set welding speed v;
in the welding and laser cleaning processes, a time delay module of the integrated control part (5.0) controls the time delay between the welding part (1.0) and the laser cleaning part (2.0); a cleaning control module of the integrated control part (5.0) controls the laser cleaning part (2.0) and the sliding driving component (3.7) to work according to the data obtained by the monitoring part (4.0); an emergency stop triggering module of the safety protection part (6.0) judges whether a dangerous condition exists and makes corresponding action according to the distance data monitored by the distance sensor (4.2) in real time.
8. The welding method of the integrated laser cleaning and welding system of claim 7, wherein: the specific working mode of the delay module in the step s3 is as follows: the delay module is preset with a delay time T between welding and laser cleaning; after the time delay T is elapsed after the laser cleaning is started, the time delay module controls a welding gun (1.1) of the welding part (1.0) to start working; after the laser cleaning is finished, the time delay module controls a welding gun (1.1) of the welding part (1.0) to finish the work after the time delay T.
9. The welding method of the integrated laser cleaning and welding system according to claim 7 or 8, wherein: the specific working mode of the cleaning control module in the step s3 is as follows: according to the cleaning condition monitored by the monitoring device (4.1) in real time and the distance between the laser cleaning head (2.1) and a laser cleaning point on the weldment, which is measured by the distance sensor (4.2), adjusting laser cleaning parameters and judging when the laser cleaning part (2.0) stops working;
the adjusting of the laser cleaning parameters specifically comprises: adjusting the laser output power of the laser cleaning head (2.1); the laser cleaning head (2.1) is driven to slide on the angle turnover plate (3.4) through a sliding driving component (3.7), so that the defocusing amount of laser used for laser cleaning is adjusted;
the specific method for judging when the laser cleaning part (2.0) stops working is as follows:
the distance difference threshold d between the laser cleaning head (2.1) and the laser cleaning point at different moments is preset in the cleaning control module x And the time interval delta t of data acquisition of the distance sensor;
after the welding system is started, the distance between the laser cleaning head (2.1) and the laser cleaning point on the weldment is monitored by the distance sensor in real time, and the distance d between the laser cleaning head (2.1) and the laser cleaning point at the moment t measured by the distance sensor t The distance d between the laser cleaning head (2.1) and the laser cleaning point at the time t plus delta t t+△t The absolute value of the difference delta d is larger than a preset distance difference threshold d between the laser cleaning head (2.1) and the laser cleaning point at different moments x When the value is greater than or equal to d, i.e. delta d ≧ d x When the laser cleaning unit (2.0) is in operation, the laser cleaning unit stops.
10. The welding method of the integrated laser cleaning and welding system of claim 7, wherein: the specific method for judging whether a dangerous condition exists and making corresponding action by the emergency stop triggering module of the safety protection part (6.0) in the step s3 according to the distance data monitored by the distance sensor (4.2) in real time is as follows: the emergency stop trigger module is internally provided with a safety distance upper limit threshold d between a preset laser cleaning head (2.1) and a laser cleaning point y+ Lower threshold d of safety distance y- (ii) a The dangerous condition refers to the condition that when the distance between the laser cleaning head (2.1) and the laser cleaning point measured by the distance sensor (4.2) is larger than the upper limit threshold d of the safe distance y+ Or less than the lower limit threshold d of the safety distance y- (ii) a When a dangerous condition exists, the emergency stop triggering module triggers the integrated welding system to stop working; if the distance between the laser cleaning head and the laser cleaning point measured by the distance sensor is within the upper limit threshold d of the safe distance y+ And a safety distance lower limit threshold d y- And (3) judging that no dangerous condition exists, and stopping the trigger module to not work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810216572.1A CN108422086B (en) | 2018-03-16 | 2018-03-16 | Integrated laser cleaning and welding integrated welding system and welding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810216572.1A CN108422086B (en) | 2018-03-16 | 2018-03-16 | Integrated laser cleaning and welding integrated welding system and welding method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108422086A CN108422086A (en) | 2018-08-21 |
| CN108422086B true CN108422086B (en) | 2023-04-18 |
Family
ID=63158267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810216572.1A Active CN108422086B (en) | 2018-03-16 | 2018-03-16 | Integrated laser cleaning and welding integrated welding system and welding method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108422086B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110102897B (en) * | 2019-05-24 | 2021-11-30 | 南京航空航天大学 | Laser cleaning and laser welding integrated equipment and method for curved surface thin-wall structure |
| CN110434502A (en) * | 2019-07-18 | 2019-11-12 | 南京中车浦镇城轨车辆有限责任公司 | A kind of 6 line aluminium alloy profile welders and method based on laser cleaning |
| CN110653491A (en) * | 2019-10-15 | 2020-01-07 | 大族激光科技产业集团股份有限公司 | Laser processing apparatus and method |
| CN111496430A (en) * | 2020-04-24 | 2020-08-07 | 山东省科学院激光研究所 | High-voltage switch aluminum alloy shell welding method and device based on laser cleaning |
| CN111843217A (en) * | 2020-09-11 | 2020-10-30 | 沈阳工业大学 | Laser cleaning and welding device capable of self-adaptively processing surface and using method |
| CN112548115B (en) * | 2020-11-26 | 2023-03-31 | 西安交通大学 | Device and method for printing large titanium alloy part through laser coaxial fuse wire |
| CN113070572B (en) * | 2021-04-06 | 2022-03-29 | 华中科技大学 | Underwater welding device and method |
| CN113210361B (en) * | 2021-05-27 | 2022-02-22 | 中国工程物理研究院激光聚变研究中心 | Automatic focusing laser cleaning output device and output method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101480760A (en) * | 2008-01-10 | 2009-07-15 | 中国科学院力学研究所 | Laser welding method of turbine disc and rotating shaft |
| WO2010071729A1 (en) * | 2008-12-18 | 2010-06-24 | The Gillette Company | Battery manufacturing |
| CN102280812A (en) * | 2011-06-30 | 2011-12-14 | 武汉凌云光电科技有限责任公司 | Side-pumped high-power laser device |
| CN105750743A (en) * | 2016-05-20 | 2016-07-13 | 上海市激光技术研究所 | Laser welding device and method based on laser cleaning pretreatment |
| CN105965161A (en) * | 2016-06-23 | 2016-09-28 | 深圳市联赢激光股份有限公司 | Lithium battery injection opening automatic seal welding device |
-
2018
- 2018-03-16 CN CN201810216572.1A patent/CN108422086B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101480760A (en) * | 2008-01-10 | 2009-07-15 | 中国科学院力学研究所 | Laser welding method of turbine disc and rotating shaft |
| WO2010071729A1 (en) * | 2008-12-18 | 2010-06-24 | The Gillette Company | Battery manufacturing |
| CN102280812A (en) * | 2011-06-30 | 2011-12-14 | 武汉凌云光电科技有限责任公司 | Side-pumped high-power laser device |
| CN105750743A (en) * | 2016-05-20 | 2016-07-13 | 上海市激光技术研究所 | Laser welding device and method based on laser cleaning pretreatment |
| CN105965161A (en) * | 2016-06-23 | 2016-09-28 | 深圳市联赢激光股份有限公司 | Lithium battery injection opening automatic seal welding device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108422086A (en) | 2018-08-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108422086B (en) | Integrated laser cleaning and welding integrated welding system and welding method thereof | |
| CN108326484B (en) | Integrated welding system capable of realizing laser cleaning before welding and welding method thereof | |
| KR102304107B1 (en) | Crawling welding robot and its control method | |
| CN106826453B (en) | The intelligent polishing system of laser welded seam polishing | |
| CN110976438A (en) | Aluminum alloy automobile body section bar welds preceding, welds back laser equipment of polishing | |
| CN110976437A (en) | Laser automatic pretreatment equipment for to-be-welded area of aluminum alloy part | |
| CN111347329B (en) | Grinding and polishing method of grinding and polishing robot for weld joints at pipe ends of spiral steel pipes | |
| CN110961768B (en) | 3D welding seam detection integrated intelligent welding system | |
| CN111451641A (en) | Automatic laser cleaning device and method for large shaft parts | |
| CN113145346A (en) | Aluminum alloy door and window surface spraying equipment and working method thereof | |
| CN114800171B (en) | Equipment and method for automatically polishing welding seam of car body side wall skin by robot | |
| CN118023922A (en) | Machine tool with workpiece detection function | |
| JP2004358451A (en) | Spray type washing robot which recognizes profile automatically | |
| JP2004243393A (en) | Laser welding system | |
| CN116817833A (en) | Coaxiality detection device for nozzle ring production | |
| CN108747107B (en) | Automatic but change mill of remote monitoring | |
| CN208262076U (en) | A kind of integrated welding welding system of integrated laser cleaning and welding | |
| CN214489623U (en) | Auto parts turning device | |
| CN115780409A (en) | Tank laser cleaning equipment and method | |
| CN108406801A (en) | Robotic laser welds grinding device | |
| JP2003117668A (en) | Friction stirring and welding device | |
| CN113977396A (en) | Automatic polishing and cleaning system and method for metal construction forming | |
| CN208262850U (en) | Robotic laser welds grinding device | |
| CN115213173A (en) | Laser cleaning system and working method thereof | |
| CN220610912U (en) | Paint spraying device for manufacturing automobile parts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |