CN108747023A - The semiautomatic plant of laser welding repairing is carried out using manual filler - Google Patents
The semiautomatic plant of laser welding repairing is carried out using manual filler Download PDFInfo
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- CN108747023A CN108747023A CN201810557705.1A CN201810557705A CN108747023A CN 108747023 A CN108747023 A CN 108747023A CN 201810557705 A CN201810557705 A CN 201810557705A CN 108747023 A CN108747023 A CN 108747023A
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- dimensional curve
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/34—Laser welding for purposes other than joining
- B23K26/342—Build-up welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The present invention relates to laser overlaying welding technology, the device and method for carrying out repairing irregular shape especially with laser overlaying welding technology.Including the imaging system being installed on three axis movable stands, the control system for controlling three axis movable stands, further includes motion control card, it is characterised in that the motion control card can be executed to issue orders：The positioning of repair piece irregular shape defect is treated by imaging system, is acquired n point, is calculated to form first three-dimensional curve to match with dribbleware defect shape to be repaired by software, automatically to be stored in motion control card；Signal generator is moved by the motion control card three axis movable stands of transmittable order control along stored three-dimensional curve；On this basis, implement line displacement along first three-dimensional curve and form Article 2 three-dimensional curve, signal generator is moved by the motion control card three axis movable stands of transmittable order control along Article 2 three-dimensional curve.Thus, which working efficiency is greatly reduced, the quality of welding is difficult to ensure.
Description
Technical field
The present invention relates to laser overlaying welding technologies, and the device of repairing irregular shape is carried out especially with laser overlaying welding technology
And method.
Background technology
Existing laser welding can be generally divided into automatic welding and manual welding.Automatic welding is suitable for batch production.Such as
In interior of mobile phone, a primary screw is welded on sheet metal, as long as metal molten can ensure primary screw and sheet metal
In conjunction with just there is no problem.Such case welding need not add such as welding rod, welding wire, powder material.
And the welding of the processing error of mold scuffing and impression and component of machine is repaiied using laser overlaying welding technology
It mends, first has to the shape for restoring defect, secondly for the bond strength of welding, the quality requirements such as compactness are very high, so needing
Welding rod or the materials such as welding wire or powder are added, automatic welding is not applicable in this case, and reason is automatic welding on the way
It cannot stop, can not carrying out the adjustment of speed, the luminous point very little of laser only has, and solder is slightly offset, fusing 0. several millimeters
Out of order, it easy tos produce stomata or even solder is non-fusible.Furthermore according to it is to be welded repairing defect shape, solder into
All it is real-time indicators to angle, feed speed, amount of feeding etc., welder needs to be adjusted immediately according to actual conditions, to meet repairing
Requirement.
For these reasons, it is typically all to be carried out using Manual laser welding to the repairing at workpiece, defect.Swash manually
When miniature workpiece is repaired in photocoagulation, workpiece can be put a hand rotating machinery handwheel on the table, control the side X of workbench
To Y-direction, Z-direction, to realize the three-dimensional motion of workpiece on workbench, but this three-dimensional motion can only be respective direction
Independently moving, cannot link, moreover the movement that can only take the air line, the repair by welding of complicated shape is extremely difficult, slightly for shape
A little in place of the damage of complicated workpiece, it is just difficult to carry out high quality, rapid welding repairing.The large-scale work of Manual laser welding repairing
When part, a kind of ancillary equipment (although being called 3D holders, Z axis and X, Y-axis cannot link) being called 3D holders can only be utilized,
By pulling rocking bar, X-axis is seen on surface, Y-axis is movement at the same time, and practical upper rocking bar is the rocking bar in the respective directions Y by X
The size of swing angle, same time are individually controlled X-axis and Y-axis, to realize the movement of curve.This operation is very tired
Difficulty, the actual direction of motion and the direction for wanting movement are difficult to coincide.Also, can barely realize the movement of curve only
Only it is that two-dimensional, three-dimensional curvilinear motion cannot achieve at all.That is the repair by welding of irregular shape is extremely difficult.With
When existing welding method welding curve or curved surface, curve can only be divided into several straightways, be welded in the form of broken line
It connects.Thus, which working efficiency is greatly reduced, the quality of welding is difficult to ensure.
Invention content
The purpose of the present invention is to provide semiautomatic plants and the dress that laser welding repairing is carried out using manual filler
The application method set makes curve or curved surface to solve the problems, such as to be difficult to carry out Three dimensions control during curve or surface fix
Repairing is carried out along the track manual control being pre-designed, to improve repairing efficiency and repairing quality.
Technical solution of the present invention：The semiautomatic plant of laser welding repairing is carried out using manual filler, including is installed on three
Imaging system on axis movable stand, the control system for controlling three axis movable stands, which includes for sending static state
The control panel of order and signal generator for sending dynamic command, further include motion control card, it is characterised in that the fortune
Dynamic control card can be executed to issue orders：The positioning of repair piece irregular shape defect, acquisition n are treated by imaging system
Point is calculated to form first three-dimensional curve to match with dribbleware defect shape to be repaired by software, automatically to be stored in fortune
In dynamic control card；Signal generator is by the motion control card three axis movable stands of transmittable order control, along stored three
Dimension curve moves；On this basis, implement offset along first three-dimensional curve and form Article 2 three-dimensional curve, signal generator is logical
The motion control card three axis movable stands of transmittable order control are crossed, are moved along Article 2 three-dimensional curve, it is in this way, different
N three-dimensional curve of position constitutes a curved surface；Welding material is added to each three-dimensional curve pair by way of manually giving
The fault location for the dribbleware to be repaired answered；The signal generator three axis movable stands of transmittable order control are along each three-dimensional curve
Advance, retreat, the midway of any time stops, and the speed to move forward and backward.
The above-mentioned semiautomatic plant that laser welding repairing is carried out using manual filler, imaging system include that laser focuses
Device, microscope and CCD camera device, the imaging system are used to observe and determine the relative position of dribbleware fault location to be repaired.
The above-mentioned semiautomatic plant that laser welding repairing is carried out using manual filler, it is characterised in that the three-dimensional curve
Including straightway, curved section, circular arc, elliptic arc, parabolic arc, hyperbolic arc and above-mentioned arbitrary two or more line segment institutes structure
At curve.
The above-mentioned semiautomatic plant that laser welding repairing is carried out using manual filler, it is characterised in that motion control card institute
The goodness of fit of first three-dimensional curve and the dribbleware defect to be repaired that generate can be by the increase of point, the deletion of point, the movement of point into
Row adjustment is to improve first three-dimensional curve.
The above-mentioned semiautomatic plant that laser welding repairing is carried out using manual filler, it is characterised in that pass through first three
The multirow welding of dimension curve, Article 2 three-dimensional curve or even the N articles three-dimensional curve, realizes the welding of curved surface；On this basis,
It is welded by multiple three-dimension curved surface, realizes the repair by welding of stereo defects.
The above-mentioned semiautomatic plant that laser welding repairing is carried out using manual filler, it is characterised in that the signal occurs
Device includes electric pulse handwheel, control rocking bar, button switch, floor push, toggle switch, rotary switch, or combinations thereof；It is described
Signal generator is implemented offset by motion control card three axis movable stands of transmittable order control, along first three-dimensional curve and is formed
The offset of Article 2 three-dimensional curve or even the N articles three-dimensional curve.
The above-mentioned semiautomatic plant that laser welding repairing is carried out using manual filler, it is characterised in that the signal occurs
Device includes the first signal generator, second signal generator, third signal generator；First signal generator controls track
Movement, the offset of second signal generator control track, third signal generator control other dimensions of track
Offset；Can line displacement be arbitrarily being clicked through at any time, and adjust direction and the offset distance of course deviation.The second signal occurs
Device, third signal generator can also be realized by way of switching the first signal generator gear.
A method of using claim 1 described device, it is characterised in that：
Step 1：Using imaging system along dribbleware defect shape to be repaired, signal generator is moved respectively by control system
Dynamic X-axis, Y-axis, Z axis position, and acquire n point；
Step 2：Make the n point that preset software is acquired according to step 1 by control panel, automatically generates first three
Dimension curve track；
Step 3：First three-dimensional curve track of generation and dribbleware defect shape to be repaired are subjected to goodness of fit comparison, if
There is deviation can be by being once again set up increase a little, the deletion of point, the movement of point makes first three-dimensional curve track and dribbleware to be repaired
Defect shape fits like a glove；
Step 4：It opens laser welder and the movement of laser is controlled by signal generator 1, make the laser of injection along the
One three-dimensional curve track is advanced, and is retreated, and is stopped；It advances, the speed of retrogressing by signal generator send out semaphore number
It adjusts at any time；
Step 5：By second signal generator, third signal generator sends out shift value instruction to motion control card；
Make first three-dimensional curve that can be deviated to any direction with any distance；It can be achieved along three-dimension curved surface after repeatedly deviating
Movement.On this basis, it is welded by multiple three-dimension curved surface, realizes the repair by welding of stereo defects.
Step 6：Advanced along each three-dimensional curve track according to laser, the speed of retrogressing, real-time progress filler angle,
The how many adjustment of amount of filler.
The above-mentioned semiautomatic plant that laser welding repairing is carried out using manual filler using the present invention, will need real-time control
Path of welding change into and carry out real-time control along preset curvilinear path or curved surface track, laser is welding when solving manual welding
Broken line is walked when connecing curve or curved surface, multiple rotary workpiece angle, multiple calibrating position is needed to avoid because of multiple welding pause institute
The quality problems of caused weld seam joining place, substantially increase welding efficiency and welding quality.
Description of the drawings
Fig. 1 show the semiautomatic plant schematic diagram that the present invention carries out laser welding repairing using manual filler.
Fig. 2 show the present invention for mold and the schematic diagram of component of machine dribbleware irregular shape defect to be repaired.
Fig. 3 show broken line schematic diagram used by the traditional welding method of the embodiment of the present invention.
Fig. 4 show curve synoptic diagram used by the semiautomatic welding method of the embodiment of the present invention.
Fig. 5 show sampling site forming curves track schematic diagram of the embodiment of the present invention.
Fig. 6 show dimension of embodiment of the present invention Y offset schematic diagrames.
Fig. 7 show dimension of embodiment of the present invention Z offset schematic diagrames.
Fig. 8 show first weld seam schematic diagram of first layer of the embodiment of the present invention.
Fig. 9 show the first layer Article 2 weld seam schematic diagram of the embodiment of the present invention.
Figure 10 show the N bars weld seam schematic diagram of first layer of the embodiment of the present invention.
Figure 11 show the N bars weld seam schematic diagram of the second layer of the embodiment of the present invention.
Figure 12 show M the N bars weld seam schematic diagram of layer of the embodiment of the present invention.
Specific implementation mode
With reference to embodiment, the present invention is described in further detail.
Carry out the embodiment of the semiautomatic plant of laser welding repairing using manual filler for the present invention as shown in Figure 1.Packet
Three axis with X-axis driver 10, X-axis motor 17, Y-axis driver 8, y-axis motor 18, Z axis driver 9, Z axis motor 19 are included to move
Laser focusing head 14, microscope 11, CCD camera 12 on moving frame X, Y, Z, the imaging systems such as display screen 13, for controlling three
The control system of axis movable stand X, Y, Z, the control system include control panel 4 for sending static command and dynamic for sending
The signal generator 1 of state order, 6,7, further include motion control card 5, which can execute, handle, it is following to send out
Order：Repair piece irregular shape defect location is treated by imaging system, then acquires n point, then calculate by software 4 '
First three-dimensional curve to match with dribbleware defect shape to be repaired is formed, automatically to be stored in motion control card 5, later
The offset of any amount is carried out further according to actual conditions, is generated Article 2 three-dimensional curve or even the N articles three-dimensional curve, is so passed through
The a plurality of three-dimensional curve for running different positions just constitutes a curved surface；The transmittable order of the motion control card 5, passes through the driving of each axis
Device, motor control three axis movable stand X, Y, Z and are moved according to the track of the three-dimensional curve stored；Solder is every by being manually fed to
The fault location of dribbleware to be repaired corresponding to one three-dimensional curve；Three axis of transmittable order control of the signal generator 1,6,7 move
Moving frame X, Y, Z advance along the track of each three-dimensional curve, retreat or midway stops, and the speed to move forward and backward；It is described
Motion control card 5 can be entered realizes the movement of a plurality of three-dimensional curve with sending deviation order, controllable three axis movable stands.Institute
It can be electric pulse handwheel to state signal generator 1,6,7, control rocking bar, button switch, floor push, toggle switch, and knob is opened
Close etc., can control the movement of laser, each three-dimensional curve track that it is generated along motion control card 5 is made to advance, retrogressing or
Midway stops, the speed that laser moves forward or back by signal generator send out semaphore number at any time adjust.By described
First signal generator 1, the 6th signal generator 6, the second signal generator 2 other than the 7th signal generator 7, third signal
Generator 3 can adjust the size of course deviation at any time.
Shown in Fig. 2 is the schematic diagram of 20 irregular shape edge defect 21 of workpiece, 20 ' of workpiece be workpiece 20 on regard
It " is the front view of workpiece 20,21 " be workpiece that figure, 21 ', which are the top view of 20 irregular shape edge defect 21 of workpiece, workpiece 20,
The front view of 20 irregular shape edge defects 21.
22 ' and 23 ' shown in Fig. 3 are the close-up schematic view of broken line 22 and 23 used by traditional welding method.It is logical
This welding method is crossed, the joining place quality of weld seam cannot ensure, in addition, welding a plurality of weld seam or even multilayer weld, rotate work
Part and a large amount of time is needed from new definition, processing quality and working efficiency all cannot be guaranteed.
24 ' and 25 ' shown in Fig. 4 are the partial enlargement of continuously smooth curve 24 and 25 used by the welding method of the present invention
Schematic diagram.By this welding method, weld seam is coherent without being connected, and welds a plurality of weld seam or even multilayer weld, does not need
Rotational workpieces need not reposition, and processing quality and working efficiency increase substantially.
X-axis, Y are moved in the positioning that repair piece irregular shape defect is treated by imaging system by control system respectively
Axis, Z axis pinpoint, and arbitrarily choose the point of several different locations, then so that 4 ' of preset software is automatically generated by control panel 4
First three-dimensional curve track as shown in Figure 5；The top views of 26 three-dimensional curve tracks thus, 27 three-dimensional curve tracks thus
Front view, 28 thus the isometric of three-dimensional curve track attempt.By first three-dimensional curve track of generation and dribbleware defect to be repaired
Shape carries out goodness of fit comparison, if there is deviation can be by the movement of set-point, the increase of point, the deletion of point makes first three-dimensional
Curvilinear path fits like a glove with dribbleware defect shape to be repaired.
Laser welder is opened, shown in Fig. 1, one hand of welder controls the movement of laser, laser by signal generator 1,6,7
By focus lamp 16, laser is made to focus at focus 15, the laser of injection is moved forward or back along first track, advance or
The speed of retrogressing by signal generator 1,6,7 amount of sending out number adjust at any time, another hand-held solder of welder is according to swashing
Light can adjust the angle of solder, the speed of filler along the real-time process of first track forward or backward speed.
Then as shown in the curve top view of Fig. 6, signal generator 2 sends out the offset of Y dimensions by motion control card
Signal；Offset can take normal direction that can also take parallel offset, and first curve 26 is offset to 26 ' of Article 2 curve, third
Curve 26 ", so repeatedly obtain N three-dimensional curve track；The N three-dimensional curve track is the first of dribbleware defect to be repaired
Layer curved surface.
Then as shown in the curve front view of Fig. 7, signal generator 3 sends out the offset of Z-dimension by motion control card
First layer curved surface 27 is offset to second layer curved surface 27 ', third layer curved surface 27 by signal ", so repeatedly offset can be obtained M layers
The repairing of stereo defects may be implemented by the welding of M layers of three-dimension curved surface in three-dimension curved surface.
Shown in Fig. 8 29 be first weld seam of first layer of the embodiment of the present invention, and shown in Fig. 9 30 be first layer Article 2
Weld seam, shown in Fig. 10 31 are formed by first layer curved surface for N weld seam of first layer.Shown in Figure 11 32 be the second layer N
Weld seam is formed by second layer curved surface.33 are formed by M layers of curved surface for M layers of N articles of weld seam shown in Figure 12, that is,
Ultimately form three-dimensional weldering meat.
What has been described above is only a preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art
For, without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the present invention
Protection domain.
Claims (9)
1. carrying out the semiautomatic plant of laser welding repairing using manual filler, including the imaging system being installed on three axis movable stands
System, the control system for controlling three axis movable stands, which includes the control panel and use for sending static command
In send dynamic command signal generator, further include motion control card, it is characterised in that the motion control card can execute with
It issues orders：The positioning of repair piece irregular shape defect is treated by imaging system, is acquired n point, is calculated to be formed by software
One first three-dimensional curve to match with dribbleware defect shape to be repaired, automatically to be stored in motion control card；Signal occurs
Device is moved by the motion control card three axis movable stands of transmittable order control along stored three-dimensional curve；It is basic herein
On, implement line displacement along first three-dimensional curve and form Article 2 three-dimensional curve, signal generator can by the motion control card
Order three axis movable stands of control are sent, are moved along Article 2 three-dimensional curve, in this way, N three-dimensional curve of different positions
Constitute a curved surface；Welding material is added to lacking for the corresponding dribbleware to be repaired of each three-dimensional curve by way of manually giving
Fall into place；The signal generator three axis movable stands of transmittable order control advance along each three-dimensional curve, retreat, appoint
The midway at meaning moment stops, and the speed to move forward and backward.
2. the semiautomatic plant according to claim 1 for carrying out laser welding repairing using manual filler, imaging system
Including laser focusing device, microscope and CCD camera device, the imaging system is for observing and determining dribbleware fault location to be repaired
Relative position.
3. the semiautomatic plant according to claim 1 or 2 for being carried out laser welding repairing using manual filler, feature are existed
In the three-dimensional curve include straightway, curved section, circular arc, elliptic arc, parabolic arc, hyperbolic arc and above-mentioned arbitrary two
Kind or more the curve that is constituted of line segment.
4. the semiautomatic plant according to claim 3 for carrying out laser welding repairing using manual filler, it is characterised in that
First three-dimensional curve that motion control card is generated and the goodness of fit of dribbleware defect to be repaired can be deleted by the increase of point, point
It removes, the movement of point is adjusted to improve first three-dimensional curve.
5. the semiautomatic plant that laser welding repairing is carried out using manual filler according to claim 1 or claim 3,
It is characterized in that by first three-dimensional curve, a plurality of welding of Article 2 three-dimensional curve or even the N articles three-dimensional curve is realized
The welding of curved surface；On this basis, it is welded by multiple three-dimension curved surface, realizes the repair by welding of stereo defects.
6. the semiautomatic plant that laser welding repairing is carried out using manual filler according to claim 1 or claim 2,
It is characterized in that the signal generator includes electric pulse handwheel, and control rocking bar, button switch, floor push, toggle switch,
Rotary switch, or combinations thereof；The signal generator is by motion control card three axis movable stands of transmittable order control, along first
Three-dimensional curve implements the offset that offset forms Article 2 three-dimensional curve or even the N articles three-dimensional curve.
7. the semiautomatic plant according to claim 3 for carrying out laser welding repairing using manual filler, it is characterised in that
The signal generator includes electric pulse handwheel, control rocking bar, button switch, floor push, toggle switch, rotary switch,
Or combinations thereof；The signal generator is three-dimensional bent along first by motion control card three axis movable stands of transmittable order control
Line implements the offset that offset forms Article 2 three-dimensional curve or even the N articles three-dimensional curve.
8. the semiautomatic plant according to claim 5 for carrying out laser welding repairing using manual filler, it is characterised in that
The signal generator includes the first signal generator, second signal generator, third signal generator；The first signal hair
The movement of raw device control track, the offset of second signal generator control track, the third signal generator control rail
The offset of other dimensions of mark；Can line displacement be arbitrarily being clicked through at any time, and adjust direction and the offset distance of course deviation；It is described
Second signal generator, third signal generator can also be realized by way of switching the first signal generator gear.
9. a kind of method using claim 1 described device, it is characterised in that：
Step 1：Using imaging system along dribbleware defect shape to be repaired, signal generator moves X respectively by control system
Axis, Y-axis, Z axis position, and acquire n point；
Step 2：Make the n point that preset software is acquired according to step 1 by control panel, automatically generates first three-dimensional song
Line tracking；
Step 3：First three-dimensional curve track of generation and dribbleware defect shape to be repaired are subjected to goodness of fit comparison, if having partially
Difference can be by being once again set up increase a little, the deletion of point, and the movement of point makes first three-dimensional curve track and dribbleware defect to be repaired
Shape fits like a glove；
Step 4：It opens laser welder and the movement of laser is controlled by the first signal generator, make the laser of injection along the
One three-dimensional curve track is advanced, and is retreated, and is stopped；It advances, the speed of retrogressing by signal generator send out semaphore number
It adjusts at any time；
Step 5：By second signal generator, third signal generator sends out shift value instruction to motion control card；Make
One three-dimensional curve can be deviated to any direction with any distance；The movement along three-dimension curved surface can be achieved after repeatedly deviating.
On this basis, it is welded by multiple three-dimension curved surface, realizes the repair by welding of stereo defects.
Step 6：Advanced along each three-dimensional curve track according to laser, the speed of retrogressing carries out filler angle, filler in real time
Measure how many adjustment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810557705.1A CN108747023A (en) | 2018-06-01 | 2018-06-01 | The semiautomatic plant of laser welding repairing is carried out using manual filler |
| PCT/CN2019/088681 WO2019228313A1 (en) | 2018-06-01 | 2019-05-28 | Semi-automatic apparatus for performing laser welding repair using manual filling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810557705.1A CN108747023A (en) | 2018-06-01 | 2018-06-01 | The semiautomatic plant of laser welding repairing is carried out using manual filler |
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|---|---|
| CN108747023A true CN108747023A (en) | 2018-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810557705.1A Pending CN108747023A (en) | 2018-06-01 | 2018-06-01 | The semiautomatic plant of laser welding repairing is carried out using manual filler |
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| Country | Link |
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| CN (1) | CN108747023A (en) |
| WO (1) | WO2019228313A1 (en) |
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| CN110026676A (en) * | 2019-04-12 | 2019-07-19 | 大族激光科技产业集团股份有限公司 | Laser process equipment and method |
| CN110280864A (en) * | 2019-06-24 | 2019-09-27 | 大连理工大学 | A kind of band effectively controls and the automatic soldering device of vision positioning |
| WO2019228313A1 (en) * | 2018-06-01 | 2019-12-05 | Liu Wensi | Semi-automatic apparatus for performing laser welding repair using manual filling |
| CN112989544A (en) * | 2019-12-12 | 2021-06-18 | 江苏瑞米克金属技术有限公司 | Curved surface overlaying method, system, computer storage medium and electronic device |
| CN114080291A (en) * | 2019-06-28 | 2022-02-22 | 松下知识产权经营株式会社 | Repair welding system, repair welding method, inspection device, and robot control device |
| CN114310196A (en) * | 2022-01-21 | 2022-04-12 | 深圳市沙漠狼科技有限公司 | Production process of special-shaped metal vacuum cup |
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| WO2019228313A1 (en) * | 2018-06-01 | 2019-12-05 | Liu Wensi | Semi-automatic apparatus for performing laser welding repair using manual filling |
| CN110026676A (en) * | 2019-04-12 | 2019-07-19 | 大族激光科技产业集团股份有限公司 | Laser process equipment and method |
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| CN114080291B (en) * | 2019-06-28 | 2024-05-03 | 松下知识产权经营株式会社 | Repair welding system, repair welding method, inspection device, and robot control device |
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| CN114310196A (en) * | 2022-01-21 | 2022-04-12 | 深圳市沙漠狼科技有限公司 | Production process of special-shaped metal vacuum cup |
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| WO2019228313A1 (en) | 2019-12-05 |
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