CN113399820A - Laser tailor-welding method and device for large-breadth plates - Google Patents

Laser tailor-welding method and device for large-breadth plates Download PDF

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Publication number
CN113399820A
CN113399820A CN202110771947.2A CN202110771947A CN113399820A CN 113399820 A CN113399820 A CN 113399820A CN 202110771947 A CN202110771947 A CN 202110771947A CN 113399820 A CN113399820 A CN 113399820A
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China
Prior art keywords
welding
laser
machine tool
laser head
axis
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CN202110771947.2A
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Chinese (zh)
Inventor
何秀丽
董斌鑫
虞钢
李少霞
田崇鑫
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Institute of Mechanics of CAS
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Institute of Mechanics of CAS
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Priority to CN202110771947.2A priority Critical patent/CN113399820A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/03Observing, e.g. monitoring, the workpiece
    • B23K26/032Observing, e.g. monitoring, the workpiece using optical means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/044Seam tracking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08Devices involving relative movement between laser beam and workpiece
    • B23K26/0869Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20Bonding
    • B23K26/21Bonding by welding
    • B23K26/22Spot welding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20Bonding
    • B23K26/21Bonding by welding
    • B23K26/24Seam welding
    • B23K26/26Seam welding of rectilinear seams
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/003Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to controlling of welding distortion
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/18Sheet panels
    • B23K2101/185Tailored blanks

Abstract

The invention belongs to the technical field of welding, and discloses a laser tailor-welding method and a laser tailor-welding device for large-width plates, aiming at the problem that the prior art does not have a welding method for the large-width plates, wherein the laser tailor-welding method and the laser tailor-welding device comprise the following steps: (1) determining a welding line along the X-axis direction or the Y-axis direction of the machine tool; (2) controlling a laser head to find a starting point of a welding seam to be welded through a demonstrator, and defining a movement direction; (3) selecting proper welding process parameters according to the thickness and the material of the plate to be welded; (4) running along the set movement direction, separating from the laser at intervals for spot welding, and executing the process parameters of spot welding; (5) controlling the arc starting and arc ending of the welding seam processing to be outside the plate; (6) and then, continuously running to the next welding starting point, and repeating the related steps until the set welding seam is welded. The invention mainly aims to the actual production, and provides a high-quality, high-efficiency and strong-compatibility plate tailor-welding method for laser tailor-welding processing of large-width plates.

Description

Laser tailor-welding method and device for large-breadth plates
Technical Field
The invention belongs to the technical field of welding, and particularly relates to a laser tailor-welding method and device for large-width plates.
Background
At present, a lot of welding methods for plates are available, including welding material difference, welding process, welding track and the like, but the plates are large in thermal deformation and high in processing difficulty during tailor welding, and are generally welded in a superposition welding mode, wherein the welding mode has protruding edges and is not attractive; in addition, the structure is processed, so that the requirement of large-width plates is avoided, but for the purposes of light weight of the structure, cost reduction and structural integrity improvement, the tailor welding of the large-width plates has certain requirements, and a splice welding method aiming at the large-width plates is not provided;
in the invention of the plate welding process, many people pay attention to the exploration of process parameters and the test of welding performance, but almost do not research on improving the welding programming efficiency and the welding efficiency;
at present, a welding seam tracking technology is applied to laser welding mostly in auxiliary control in a welding process, deviation between an actual track and a welding seam is avoided, and the technology is integrated on a general robot but is not used for participating in overall processing technology compilation to reduce operation steps of workers, simplify process flow and improve production efficiency.
Disclosure of Invention
The invention aims to provide a laser tailor-welding method and a laser tailor-welding device for large-width plates, which are mainly used for the actual production and provide a high-quality, high-efficiency and high-compatibility plate tailor-welding method for the laser tailor-welding processing of the large-width plates.
The technical scheme adopted by the invention is as follows:
a laser tailor-welding method for large-breadth plates specifically comprises the following steps:
(1) fixing the plate on a workbench, and determining a welding seam starting point, a positioning point and a spot welding point of a welding seam along the X-axis direction or the Y-axis direction of a machine tool;
(2) the laser head is controlled by a hand wheel to find the starting point of a welding seam to be welded, and the movement direction is defined;
(3) selecting proper welding process parameters according to the thickness and the material of the plate to be welded;
(4) spot welding: the laser head is brought to the starting point position of each welding seam through an actuating mechanism, the laser head runs along the set movement direction, and spot welding is carried out at intervals in the movement path;
(5) full welding: after spot welding is finished, the two plates to be welded are connected, and at the moment, the laser head performs full welding;
(6) and (5) continuing to move to the next welding starting point, and repeating the step (4) and the step (5) until the set welding seam is welded.
Further, the movement path in the step (4) is adjusted through a welding seam tracking module according to an automatic welding seam tracking system, and finally, the movement path returns to the welding seam starting point when the welding seam is detected to be terminated.
Furthermore, the welding seam tracking module shoots a laser line on the surface of the added plate through a built-in laser, a contour line intersected with the surface of the plate is extracted through a built-in CCD element to obtain contour information, and the position deviation and the height deviation of an X-Y plane are obtained through an algorithm and fed back to a machine tool.
Further, the full welding in the step (5) comprises the following specific steps: and (3) when the laser head moves to the starting point set in the step (2), automatically moving the laser head in the opposite direction for a certain distance until the laser head is outside the plate, starting the laser at the moment, continuously moving the corresponding distance until the laser head is outside the plate, stopping the laser at the moment, and setting the arc starting point and the arc stopping point which respectively correspond to the arc starting point and the arc stopping point for controlling the welding seam processing outside the plate.
Further, the step (5) automatically moves in the reverse direction for 5mm until the laser head is outside the plate, at the moment, the laser starts arcing, then the step (5) continuously moves until the laser head is outside the plate, at the moment, the laser arcs are closed, and the movement path is adjusted according to the automatic welding seam tracking system.
Furthermore, adjacent spot welding points are communicated to form a welding bead, a red copper strip is laid under the welding bead, and the plate is controlled not to deform through heat conduction of the red copper strip.
Further, any one of laser welding, arc welding or laser composite welding is adopted for the large-width plate material after spot welding and full welding.
A laser tailor-welding device for large-breadth plates comprises a machine tool and a welding platform, wherein the machine tool comprises a machine tool X axis, a machine tool Y axis and a machine tool Z axis, the machine tool X axis and the machine tool Y axis are vertically arranged, and the machine tool Z axis is vertically arranged along a plane formed by the machine tool X axis and the machine tool Y axis; the welding platform is provided with a welding laser head, and the welding laser head moves relative to the welding platform along a machine tool X axis, a machine tool Y axis and a machine tool Z axis respectively.
Furthermore, the welding laser head comprises a reversing joint, a laser head and a welding seam tracking module, the laser head is connected with the welding seam tracking module, the upper end of the laser head is connected with a Z-axis of the machine tool through the reversing joint, and side shaft protective gas is arranged on one side of the laser head; the position of the laser head corresponding to the motion path is set as a welding line, the laser head respectively carries out X-direction machining and Y-direction machining along the X axis of the machine tool and the Y axis of the machine tool, the laser head is rotated through a reversing joint on the upper portion of the laser head, and the positions of the welding line and the tracking module are controlled to be consistent in the motion direction.
Furthermore, the reversing joint is a rotatable shaft joint, the upper end surface and the lower end surface of the reversing joint are arranged at the upper end and the lower end respectively, the reversing joint is connected with the Z-axis of the machine tool through the upper end surface and is connected with the laser head through the lower end surface.
The invention has the beneficial effects that:
the automatic welding machine tool is used for welding large-breadth plates, the CNC numerical control system controls the high-precision transmission mechanism to drive the welding head to be machined, and compared with manual welding, the quality and efficiency are greatly improved;
by adopting the welding seam tracking module, the welding seam can be automatically identified only by positioning the starting point and the direction, the programming of a track is omitted, the traditional G code mode has higher requirements on plate clamping and positioning, the clamping difficulty and the complexity of a workbench are improved, the teaching mode has longer running track in the scene, the operation is time-consuming and labor-consuming, the operation of operators is simplified in the process, and the processing efficiency is improved;
the spot welding is firstly carried out and then the full welding is carried out, red copper heat dissipation is assisted, the thermal deformation of the plates is reduced, the gap between large-width plates is ensured, the laser tailor welding is possible, and the design that the arc striking and the arc stopping are outside the plates avoids that pits are punched on the plates when the arc striking and the arc stopping are carried out, so that the surface quality of a welding channel is improved.
Drawings
FIG. 1 is a schematic tailor-welded illustration according to the present invention;
FIG. 2 is a schematic diagram of important points in the present invention;
FIG. 3 is a schematic view of the overall structure of the present invention;
FIG. 4 is a schematic view of a bonding head according to the present invention.
Wherein, 1, X axis of the machine tool; 2. welding a laser head; 3. a machine tool Y axis; 4. a machine tool Z axis; 5. welding a platform; 6. welding seams; 7. a weld tracking module; 8. a reversing joint; 9. a laser head; 10. and the side shaft protects gas.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
As shown in fig. 1 and 2, a laser tailor-welding method for large-width plates specifically includes the following steps:
(1) fixing the plate on a workbench, and determining a welding seam starting point, a positioning point and a spot welding point of a welding seam 6 along the X axis 1 or the Y axis 3 direction of a machine tool;
(2) the laser head 9 is controlled by a hand wheel to find the starting point of the welding seam to be welded, the movement direction is defined, then a rough route is planned according to the starting point and the direction, and the welding seam tracking module 7 is used for adjusting the track to coincide with the welding seam 6 in real time;
(3) selecting proper welding process parameters according to the thickness and the material of the plate to be welded, wherein the parameters of spot welding and full welding are different, and the process parameters comprise welding speed, laser power, spot diameter, protective gas flow and the like;
(4) spot welding: the laser head 9 is brought to the starting point position of each welding seam through an actuating mechanism, the laser head runs along the set moving direction, spot welding is carried out at intervals in the moving path, and at the moment, spot welding technological parameters are used;
(5) full welding: after spot welding is finished, two plates to be welded are connected, at the moment, a full-welding process is carried out, in the process, when the laser head 9 moves to the starting point set in the step (2), the laser head 9 automatically moves a certain distance in the opposite direction until the laser head 9 is outside the plates, at the moment, laser arc striking is carried out, the laser head continues to move the corresponding distance until the laser head 9 is outside the plates, at the moment, the laser arc striking is carried out, and arc striking and arc stopping for controlling the welding seam 6 to be machined are both outside the plates;
(6) and then, continuously running to the next welding starting point, and repeating the step (4) and the step (5) until the set welding seam 6 is welded.
The spot welding process parameters and the welding process parameters are two sets of parameters, the spot welding does not require welding strength and only plays a role in connection, and the laser power density of the spot welding is smaller than the welding process parameters, so that the influence of arc starting and arc stopping on the plate is not required to be considered.
In another embodiment of the present invention, in the step (4), the movement path is adjusted by the weld tracking module 7 according to an automatic weld tracking system 6, and finally, the weld starting point is returned when the weld 6 is detected to be terminated.
The welding seam tracking module 7 adopts a laser triangular optical principle, a laser line is shot to the surface of the added plate through a built-in laser, a contour line intersected with the surface of the plate is extracted through a built-in CCD element to obtain contour information, and the position deviation and the height deviation of an X-Y plane (only by adopting an algorithm in the prior art) are obtained through an algorithm and fed back to a machine tool.
In another embodiment of the invention, the arc starting point and the arc ending point respectively corresponding to the arc starting and the arc ending of the welding seam 6 are arranged on the outer side of the plate.
In another embodiment of the invention, the adjacent spot welding points are communicated to form a welding bead, a red copper strip is laid under the welding bead, and the plate is controlled not to deform through the heat conduction of the red copper strip. In consideration of the influence of heat accumulation in welding on processing, a red copper strip is laid under a welding track to conduct heat quickly and reduce the influence of thermal deformation of the plate.
In another embodiment of the invention, when processing in the X direction and the Y direction, the processing head is provided with a steering device which is provided with a reversing joint 8, and the position of the welding seam tracking module 7 is controlled to be consistent with the movement direction through the reversing joint 8.
The invention aims at the large-breadth plate to be firstly spot-welded and then fully welded, and adopts any one of laser welding, arc welding or laser composite welding.
The invention firstly spot welding and then full welding, different process parameters are used for spot welding and full welding, and the arcing and arc-ending positions are outside the plate during full welding; the welding seam 6 tracking system is used for avoiding programming operation, and complete breadth one-time processing can be realized.
In another embodiment of the present invention, as shown in fig. 3, a laser tailor-welding device for large-format plates includes a machine tool and a welding platform 5, wherein the machine tool includes a machine tool X-axis 1, a machine tool Y-axis 3, and a machine tool Z-axis 4, the machine tool X-axis 1 and the machine tool Y-axis 3 are vertically arranged, and the machine tool Z-axis 4 is vertically arranged along a plane formed by the machine tool X-axis 1 and the machine tool Y-axis 3; welding laser head 2 is arranged on welding platform 5, and welding laser head 2 moves relative to welding platform 5 along machine tool X axle 1, machine tool Y axle 3 and machine tool Z axle 4 respectively. The structure is simple, the cost is low, the precision is high, and theoretically, on the basis of not changing a key structure, the Z axis 4 of the machine tool and the X axis 1 of the machine tool can be lengthened or shortened according to requirements to meet different working condition requirements.
In another embodiment of the invention, as shown in fig. 4, a laser tailor-welding device for large-format plates, a welding laser head 2 comprises a reversing joint 8, a laser head 9 and a weld seam tracking module 7, the laser head 9 is connected with the weld seam tracking module 7, the upper end of the laser head 9 is connected with a Z-axis 4 of a machine tool through the reversing joint 8, and a side shaft shielding gas 10 is arranged on one side of the laser head 9; the position of the laser head 9 corresponding to the motion path is set as a welding line 6, the laser head 9 respectively carries out X-direction machining and Y-direction machining along the X-axis 1 of the machine tool and the Y-axis 3 of the machine tool, the laser head 9 is rotated through a reversing joint 8 on the upper portion of the laser head 9, and the positions of the welding line 6 and the tracking module are controlled to be consistent in the motion direction. The structure adopts the laser welding head of the side shaft shielding gas 10 to be matched with the front welding seam tracking module 7, the welding seam 6 is identified in advance, the machining track is adjusted in real time, the welding track is ensured to be consistent with the welding seam 6, and the welding defect caused by welding deviation is avoided.
The reversing joint 8 is a rotatable shaft joint, the upper end and the lower end of the reversing joint are respectively arranged as an upper end face and a lower end face, the reversing joint is connected with the Z shaft 4 of the machine tool through the upper end face and connected with the laser head 9 through the lower end face, the reversing joint 8 is additionally arranged, and the reversing joint is adjusted according to welding seams 6 in different directions, so that the welding seams 6 are in the visual field of the welding seam tracking module 7 and the welding seam tracking module 7 is in front of the welding laser head 2, and the structure can enable the process method to meet different processing requirements.
The above description is not meant to be limiting, it being noted that: it will be apparent to those skilled in the art that various changes, modifications, additions and substitutions can be made without departing from the true scope of the invention, and these improvements and modifications should also be construed as within the scope of the invention.

Claims (10)

1. A laser tailor-welding method for large-breadth plates is characterized by comprising the following steps:
(1) fixing the plate on a workbench, and determining a welding seam starting point, a positioning point and a spot welding point of a welding seam along the X-axis direction or the Y-axis direction of a machine tool;
(2) the laser head is controlled by a hand wheel to find the starting point of a welding seam to be welded, and the movement direction is defined;
(3) selecting proper welding process parameters according to the thickness and the material of the plate to be welded;
(4) spot welding: the laser head is brought to the starting point position of each welding seam through an actuating mechanism, the laser head runs along the set movement direction, and spot welding is carried out at intervals in the movement path;
(5) full welding: after spot welding is finished, the two plates to be welded are connected, and at the moment, the laser head performs full welding;
(6) and (5) continuing to move to the next welding starting point, and repeating the step (4) and the step (5) until the set welding seam is welded.
2. The laser tailor-welding method according to claim 1, wherein the movement path in step (4) is adjusted by the seam tracking module according to an automatic seam tracking system, and finally the seam is returned to the seam start point when the seam is detected to be terminated.
3. The laser tailor-welding method according to claim 2, wherein the seam tracking module shoots a laser line on the surface of the added plate by a built-in laser, and the contour line intersecting the surface of the added plate is extracted by a built-in CCD element to obtain contour information, and the position deviation and height deviation of the X-Y plane are calculated by an algorithm and fed back to the machine tool.
4. The laser tailor welding method for large-breadth plates according to claim 1, wherein the full welding in the step (5) comprises the following specific steps: and (3) when the laser head moves to the starting point set in the step (2), automatically moving the laser head in the opposite direction for a certain distance until the laser head is outside the plate, starting the laser at the moment, continuously moving the corresponding distance until the laser head is outside the plate, stopping the laser at the moment, and setting the arc starting point and the arc stopping point which respectively correspond to the arc starting point and the arc stopping point for controlling the welding seam processing outside the plate.
5. The laser tailor-welding method according to claim 1, wherein in step (5), the laser head automatically moves in a reverse direction for 5mm until the laser head is outside the sheet, at which time the laser arc is started, and then moves for 5mm until the laser head is outside the sheet, at which time the laser arc is closed, and the movement path is adjusted according to an automatic tracking system of the welding seam.
6. The laser tailor welding method according to claim 1, wherein adjacent spot welding points are connected to form a welding bead, and a red copper bar is laid under the welding bead, so that the plate is not deformed by heat conduction of the red copper bar.
7. The laser tailor welding method according to claim 1, wherein any one of laser welding, arc welding or laser composite welding is adopted for the large-width plate after spot welding and full welding.
8. The laser tailor-welding device for the large-width plates according to claim 1, based on the laser tailor-welding method for the large-width plates according to any one of claims 1 to 7, characterized by comprising a machine tool and a welding platform, wherein the machine tool comprises a machine tool X-axis, a machine tool Y-axis and a machine tool Z-axis, the machine tool X-axis and the machine tool Y-axis are vertically arranged, and the machine tool Z-axis is vertically arranged along a plane formed by the machine tool X-axis and the machine tool Y-axis; the welding platform is provided with a welding laser head, and the welding laser head moves relative to the welding platform along a machine tool X axis, a machine tool Y axis and a machine tool Z axis respectively.
9. The laser tailor-welding device for large-format plates according to claim 8, wherein the welding laser head comprises a reversing joint, a laser head and a weld tracking module, the laser head is connected with the weld tracking module, the upper end of the laser head is connected with a Z-axis of a machine tool through the reversing joint, and a side shaft shielding gas is arranged on one side of the laser head; the position of the laser head corresponding to the motion path is set as a welding line, the laser head respectively carries out X-direction machining and Y-direction machining along the X axis of the machine tool and the Y axis of the machine tool, the laser head is rotated through a reversing joint on the upper portion of the laser head, and the positions of the welding line and the tracking module are controlled to be consistent in the motion direction.
10. The laser tailor-welding apparatus according to claim 9, wherein the reversing joint is a rotatable shaft joint, and the upper end and the lower end of the reversing joint are respectively an upper end surface and a lower end surface, and are connected to the Z-axis of the machine tool through the upper end surface and the laser head through the lower end surface.
CN202110771947.2A 2021-07-08 2021-07-08 Laser tailor-welding method and device for large-breadth plates Pending CN113399820A (en)

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CN116372374A (en) * 2023-05-24 2023-07-04 中国科学院力学研究所 Double-station laser welding machine and laser welding method for coated sheet

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CN105458503A (en) * 2015-12-11 2016-04-06 中国电子科技集团公司第四十八研究所 Laser seal welding technology of composite aluminum alloy shell
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CN107363405A (en) * 2017-06-21 2017-11-21 上海交通大学 High-strength steel construction piece sheet laser tailor-welding system
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CN115194308A (en) * 2022-04-18 2022-10-18 上海寰宇物流科技有限公司 Container top plate welding control method and system, storage medium and intelligent terminal
CN115194308B (en) * 2022-04-18 2024-01-26 上海寰宇物流科技有限公司 Container roof welding control method, system, storage medium and intelligent terminal
CN116372374A (en) * 2023-05-24 2023-07-04 中国科学院力学研究所 Double-station laser welding machine and laser welding method for coated sheet
CN116372374B (en) * 2023-05-24 2023-09-15 中国科学院力学研究所 Double-station laser welding machine and laser welding method for coated sheet

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