CN114406456A - Protection method for actively regulating and controlling laser welding small hole and molten pool based on blade-shaped airflow - Google Patents
Protection method for actively regulating and controlling laser welding small hole and molten pool based on blade-shaped airflow Download PDFInfo
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- 230000001681 protective effect Effects 0.000 claims abstract description 37
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- 239000007788 liquid Substances 0.000 claims abstract description 4
- 230000008018 melting Effects 0.000 claims abstract description 4
- 239000007789 gas Substances 0.000 claims description 38
- 230000000694 effects Effects 0.000 claims description 14
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 claims description 8
- 230000015572 biosynthetic process Effects 0.000 claims description 6
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- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 4
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- 229910052734 helium Inorganic materials 0.000 claims description 2
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 claims description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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- 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
- B23K26/12—Working by laser beam, e.g. welding, cutting or boring in a special atmosphere, e.g. in an enclosure
- B23K26/123—Working by laser beam, e.g. welding, cutting or boring in a special atmosphere, e.g. in an enclosure in an atmosphere of particular gases
Abstract
The invention relates to a protection method for actively regulating and controlling a laser welding small hole and a molten pool based on blade-shaped airflow, which is characterized by comprising the following steps of: the protective airflow with the shape of a knife edge splits steam flow sprayed at high speed in the small hole and acts on the deep melting small hole opening to inhibit the plume to obstruct the light beam transmission and protect the molten pool; simultaneously, a raised liquid column in a molten pool is pressed, and splashing and humping are inhibited; the protective airflow can expand the orifice, which is beneficial to the escape of vapor in the orifice and reduces the porosity in the welding seam. The thickness of the protective airflow of the blade shape is between 0.1mm and 3mm, the blade length (the length vertical to the axial direction of the airflow) is between 1mm and 20mm, and the flow speed is between 1m/s and 300 m/s; the included angle between the axial direction of the blade-shaped protective airflow and the axial direction of the light beam is between 1 and 90 degrees. The projection width of the blade-shaped protective airflow on the plate surface is equal to the thickness of the airflow, and the included angle between the projection and the welding direction is 0°～180°. The invention canObtaining larger penetration and better weld surface forming quality, and obviously reducing the porosity in the weld.
Description
Technical Field
The invention relates to a protection method for actively regulating and controlling a laser welding pinhole and a molten pool based on blade-shaped airflow, belonging to a method for actively regulating and controlling a laser deep melting welding pinhole and a molten pool by using special-shaped protection airflow.
Background
In the laser welding process, the laser welding mode is divided into deep fusion welding and thermal conduction welding according to the condition that the absorption rate of the material to laser has a sudden change. Among them, deep fusion welding is widely studied and applied due to its good welding quality. In laser deep welding, a laser beam is irradiated on the front wall of a small hole to generate laser-induced high-temperature and high-pressure steam. The eruption of the steam acts on the rear wall of the small hole, which can cause huge fluctuation of a molten pool on the rear wall, influence the formation of a welding seam, simultaneously blow off some large particles on the rear wall from the small hole to form a splash defect or a hump, and the steam can blow some air to the molten metal on the rear wall to form a pore. The three defects are the most typical defects encountered in the field of laser welding at present, and the root cause of the defects is laser-induced vapor which is sprayed along the normal direction of the surface of the front wall of the small hole, so that the defects can be improved by effectively controlling the gas.
The molten pool and the small hole are a phenomenon which is inevitably generated by the influence of thermal effect and mechanical effect in the process of laser deep melting and welding metal materials. The metal vapor and particles are ejected from the small holes under the action of the recoil pressure, and the transmission of laser beams is blocked, so that the stability of laser welding is seriously influenced, the shapes and cooling forming of a molten pool and the small holes are further influenced, and finally the forming quality of a welding seam is seriously influenced. By means of the effective regulation and control of the plume, the molten pool and the small hole by the external force, the aims of reducing welding defects and improving welding quality can be achieved. What form and great force are used for the research becomes a difficult point and an important point for the research.
The method is based on the knife edge-shaped protective airflow to split the high-speed erupted steam flow (plume) in the small hole and act on the deep-melting small hole opening, and has the effects of inhibiting the high-speed erupted plume in the hole from obstructing the light beam transmission and disturbing the molten pool protection; meanwhile, the convex liquid column in the molten pool is pressed, and the formation of splashing and hump is inhibited. Firstly, the protective airflow with the shape of the knife edge splits the plume sprayed in the small hole to act on the molten pool, and reduces the plume and the particles in the plume to enter the laser beam, thereby reducing the negative influence of the plume on the welding process and improving the protective effect of the molten pool. Secondly, the "knife edge" protective gas flow acting on the surface of the molten pool acts on the molten pool (edge of the small orifice), and has the effect of suppressing the projection of the molten pool to form splash or hump, so that the splash and hump are inhibited from forming. Thirdly, the blade-shaped protective airflow acts on the small hole opening to increase the diameter of the small hole opening, so that the steam in the hole can escape more easily, and the effect of reducing the porosity of the welding seam is achieved.
Disclosure of Invention
The invention aims to provide a protection method for actively regulating and controlling a laser welding small hole and a molten pool based on blade-shaped protection airflow, which is suitable for the field of metal material processing and relates to the fields of laser welding, laser-arc hybrid welding, arc welding and the like. The blade-shaped protective airflow splits the high-speed sprayed steam flow (plume) in the small hole and acts on the deep-melting small hole opening, so that the effects of inhibiting the high-speed sprayed plume in the hole from obstructing light beam transmission and disturbing molten pool protection are achieved; meanwhile, a raised liquid column in the molten pool is pressed, so that splashing and hump formation are inhibited; in addition, the diameter of the small hole opening can be enlarged by the protective gas flow, so that steam in the hole can escape conveniently, and the porosity in a welding seam is reduced. By changing the flow rate or the size of the blade-shaped airflow, the negative effect of the plume steam can be effectively inhibited, the molten pool can be better protected, and meanwhile, the effects of inhibiting humps, splashing and pores in the welding seam are achieved.
The high-speed airflow passes through a narrow slit to generate a blade-shaped airflow, the width of the blade-shaped airflow is 3-7mm, the thickness of the blade-shaped airflow is only 0.01-0.05mm, the stiffness of the blade-shaped airflow is high, the blade-shaped airflow sprayed from the slit is blown within 20mm, and the thickness of the blade-shaped airflow is basically unchanged.
The protection method for actively regulating and controlling the laser welding small hole and the molten pool based on the 'knife-edge-shaped' airflow is characterized in that: knife edge shapeThe thickness of the protective airflow is between 0.1mm and 3mm, the blade length (the length vertical to the axial direction of the airflow) is between 1mm and 20mm, and the flow speed is between 1m/s and 300 m/s; the included angle between the axial direction of the blade-shaped protective airflow and the axial direction of the light beam is between 1 and 90 degrees. The projection width of the blade-shaped protective airflow on the welding plate surface is equal to the thickness of the airflow, and the included angle between the projection and the welding direction is 0°～180°。
The protection method for actively regulating and controlling the laser welding small hole and the molten pool based on the knife edge-shaped airflow has the protection principle that: the special nozzle generates a protective gas flow in a special form, the protective gas flow is sprayed out from the knife edge type nozzle and interacts with sprayed metal steam, and plume is blown away to the maximum extent, so that the aim of protecting a molten pool and small holes is fulfilled.
The protection method for actively regulating and controlling the laser welding small hole and the molten pool based on the blade-shaped airflow is characterized in that: the shielding gas can be argon, helium, nitrogen and the like or a mixed gas composed of the gases.
The following provides a protective device for actively regulating the laser weld keyhole and weld pool, but is by no means limited to a device that generates a "knife-edge" flow of gas from a high velocity gas stream through a very narrow slit.
The protection device is a double-layer protection nozzle consisting of an outer pipe and an inner pipe; introducing inert gas into an outer pipe of the double-layer protection nozzle to protect a laser welding pool, and generating a blade-shaped protection gas flow by an inner pipe to act on a small orifice;
the method comprises the following steps: the nozzle comprises a nozzle, a nozzle head sleeve (2), a nozzle barrel inner core (3), a nozzle barrel outer sleeve (4) and a nozzle tail part (5); the tail part (5) of the nozzle is arranged in the inner core (3) of the nozzle barrel and fixed, the outer sleeve (4) of the nozzle barrel is sleeved on the inner core (3) of the nozzle barrel, the nozzle head (1) is arranged at the front end of the inner core (3) of the nozzle barrel, and the outer sleeve (4) of the nozzle barrel is sleeved on the nozzle (1); clamping the whole nozzle system by using a clamp, placing the whole nozzle system above the surface of a welding material, and respectively flowing gas led out from two protective gas bottles into a nozzle cylinder outer sleeve (4) and a nozzle tail part (5) through a transmission pipe, wherein the gas is an outer nozzle of a double-layer protective nozzle, and the gas is an inner nozzle of the double-layer protective nozzle;
the cross section of the port of the nozzle is rectangular, the length of the rectangle is between 2mm and 7mm, and the width of the rectangle is between 0.01mm and 1 mm.
2. In the adopted device, the size of the nozzle slit is 5mm in length and 0.02mm in width.
3. The inner diameter of the outer pipe of the double-layer nozzle is 5 mm-50 mm; the air injection direction of the double-layer protection nozzle is consistent with or opposite to the welding direction; the included angle between the axial direction of the double-layer protection nozzle and the laser beam is set to be 5-85 degrees; the height of the protection device from the surface of the welding plate is 0.5mm-5 mm.
4. The protection device for actively regulating and controlling the laser welding pinhole and the molten pool as claimed in claim 3, wherein: the diameter of the outer pipe is 20 mm; the included angle between the axis of the nozzle and the laser beam is 45 degrees, and the bottom of the nozzle head is 1mm away from the plate.
5. The adopted device is characterized in that a nozzle structure is machined on a solid cylinder, a concentric circular table is hollowed out firstly, the radius of the section of the hollowed circular table is gradually reduced from the left side, and a cylinder with a smaller area is hollowed out after the radius of the section of the hollowed circular table is reduced to a preset radius; the circular hollowed shape is a circular truncated cone, and aims to accelerate airflow flow and fix the circular hollowed shape by matching with the shape of the front end of the lower drawing nozzle inner core, wherein the radius of the hollowed cylinder is consistent with the size of an air outlet at the front end of the lower drawing nozzle inner core; then hollowing out a cuboid shape behind the hollowed-out cylinder, wherein the cuboid shape is used for generating blade-shaped airflow, and the size is described below; the generation mechanism is that the input air flow passes through a cuboid or a slit with extremely small width, wherein h is the slit width and can be set to be 0.01mm-1mm, L is the slit length and is set to be 2-7mm, g is the slit depth and can be set to be 2-3mm, and the output air flow passes through the slit and outputs the blade-shaped air flow.
6. The nozzle head cap is composed of a hollow cylinder and a hollow circular table, and the nozzle head cap is screwed on an outer layer pipe of the nozzle and is used for enabling outer layer airflow to flow out in a circular state to play a role in assisting in protecting a molten pool.
7. The adopted device is characterized in that a nozzle inner core structure consists of a hollowed cylindrical barrel, a convex part and an inner core front end part; the convex part plays a role in fixing in the process of combining the inner pipe and the outer pipe, and the inner pipe is ensured to be positioned at a fixed position after being sleeved into the outer pipe; the bulge part is provided with an air outlet channel to ensure that the outer layer airflow passes through; the front end of the bulge starts, the diameter of the bulge gradually becomes smaller, and the front end of the bulge is connected with the nozzle and used for inputting airflow to the nozzle.
8. The device is characterized in that a boss is arranged outside the outer sleeve of the nozzle barrel and provided with a hole thread, and the boss is connected with an air nozzle valve and used for inputting protective gas.
9. The tail part of the nozzle is positioned at the tail end of the whole nozzle structure, and is connected with an inner pipe and a protective gas cylinder for supplying gas to the inner pipe.
Compared with the prior art, the invention has the following beneficial effects: by changing the flow rate or the size of the blade-shaped airflow, the negative effect of the plume steam can be effectively inhibited, the molten pool can be better protected, and meanwhile, the effects of inhibiting humps, splashing and pores in the welding seam are achieved. The weld pool and the small hole are effectively protected, and the weld joint can be protected and beautified. The method is applied to the fields of automobile processing, aerospace manufacturing, ship manufacturing and the like, and protection of molten pools and small holes in the fields of laser welding, laser-arc hybrid welding and electric arc welding.
Drawings
FIG. 1 is a schematic view of a nozzle;
FIG. 2 is a schematic view of a nozzle head cover;
FIG. 3 is a schematic view of the nozzle core;
FIG. 4a is a schematic view of a nozzle housing;
FIG. 4b is a schematic half-section view of the outer sleeve of the nozzle barrel;
FIG. 5 is a schematic view of a trailing portion of a nozzle;
FIG. 6 is a schematic view of the overall structure of the nozzle;
FIGS. 7 and 8 are graphs showing actual observation results;
FIG. 9 is a view of the air flow pattern generated by the nozzle observed using a schlieren instrument;
fig. 10 is a schematic view of a welding process.
FIG. 11 is a schematic view of shield gas flow during welding
FIG. 12 is a schematic top view of the gas flow
FIG. 13, longitudinal sectional view of a knife-edge type gas flow
FIG. 14, longitudinal sectional view of a circular air flow
FIG. 15, surface profiling of knife-edged gas flow welds
FIG. 16, shaping of the surface of a radiused gas flow weld
FIG. 17, results of knife-edged airflow cross-section
FIG. 18, results of adding circular gas flow cross section
FIG. 19 is a nozzle core;
fig. 20 is a partial view of the nozzle core.
Detailed Description
The results obtained in this example are plotted for the protective weld pool and keyhole during laser welding.
In fig. 11: 1. laser beam, 2, plume, 3, small hole, 4, molten pool, 5, plate, 6, and "knife edge-shaped" shielding gas flow.
Fig. 11 is a schematic view showing protection of a weld pool and a weld bead during laser welding by a knife-edge type gas flow generated by a knife-edge type nozzle, and when a laser beam is irradiated on a welded plate material, the plate material absorbs laser energy and rapidly increases in temperature. When the boiling point is reached, the vapor is rapidly vaporized to form hot plume vapor. The molten metal sags downward under the recoil pressure to form small holes. In this process, welding defects such as spatters, humps, and blowholes are generated. Suppressing or purposefully improving the fluctuation amplitude and fluctuation characteristics of the weld pool will greatly improve the weld quality and the aesthetics of the weld. Based on the theoretical basis, the protective gas form is researched and invented and is specially used for actively regulating and controlling a molten pool and a small hole.
In this embodiment, the welded plate is made of mild steel, the laser used in the experiment is a YLS-6000 fiber laser with a wavelength of 1.07 μm, and the shielding gas is argon. The welding process parameters are as follows: the laser power is 2kW, the protective gas flow is 3L/min, the welding speed is 2m/min, the defocusing amount is 0mm, the focal length is 300mm, and the number of high-speed camera shooting frames is 10000 frames/second. The welding direction is consistent with the air injection direction, and the axial direction of the blade-shaped airflow forms an included angle of 45 degrees with the laser beam. And after the experiment is finished, the sample is subjected to cutting, grinding, polishing and other treatments. It can be seen from the figure that the longitudinal section of the welding seam with the 'knife edge-shaped' airflow has less air holes than that without the airflow, the welding seam has obviously narrower and deeper penetration, and the welding seam has greatly improved formation. Therefore, the blade-shaped protective airflow has obvious regulation and control effects on a molten pool and small holes, greatly inhibits splashing, humps and air holes, and improves weld penetration and weld surface forming quality.
As shown in fig. 1-10, it is mainly the structure of the parts of the protection device. The protective device is composed of the five parts, the inner layer is divided into an inner layer structure and an outer layer structure, the air flow of the inner layer flows through the nozzle to generate blade-shaped air flow, the outer space is arranged between the inner core and the outer sleeve, and the blade-shaped air flow flows out through the nozzle head sleeve to play an auxiliary role. The overall structure is shown in fig. 7.
The following laser welding experiments were designed for effect comparison: and (2) carrying out scanning welding on the low-carbon steel plate by using fiber laser, setting the laser power to be 6kw, the welding speed to be 2m/min and the defocusing amount to be 0, arranging a nozzle at a position 1-2mm away from the surface of the welding material, forming an included angle of 45 degrees with the laser beam, wherein the blowing direction is opposite to the welding direction, and connecting protective gas with argon. After the welding was completed, the sample was cut longitudinally and transversely, and the air holes, surface formation and penetration were observed.
The invention has the advantages that the blade-shaped airflow with different stiffness and different airflow velocity can be freely realized by using the device for experiments, and further, the molten pool and the small hole are actively regulated and controlled, so that the purpose of forming a good welding seam is achieved.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention disclosed herein should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
As shown in fig. 1, which is a three-dimensional perspective view of a nozzle, is a core component of the device of the present invention, and is used for generating a blade-type air flow, which is actually a bundle of air flows with extremely high stiffness.
The nozzle structure is characterized in that machining is carried out on a solid cylinder, firstly, a concentric circular truncated cone is hollowed, as shown in the figure, the radius of the cross section of the hollowed circular truncated cone is gradually reduced from the left side, and a cylinder with a smaller area is hollowed after the radius of the cross section of the hollowed circular truncated cone is reduced to a preset radius. The round hollowed part is in the shape of a circular truncated cone, and aims to accelerate air flow and fix the round hollowed part in a shape matched with the shape of the front end of the lower drawing nozzle inner core, wherein the radius of the hollowed cylinder is consistent with the size of an air outlet at the front end of the lower drawing nozzle inner core. And then hollowed out in the shape of a rectangular parallelepiped, after the hollowed-out cylinder, with dimensions such as those described below, for generating a knife-edge shaped air flow. The mechanism of generation is that the incoming air flow passes through a cuboid (slit) of very small width, as noted above: wherein h is the slit width which can be set to be 0.01mm-1mm, L is the slit length which can be set to be 2mm-7mm, g is the slit depth which can be set to be 2-3mm, and the output airflow can output ideal 'knife edge type' airflow through the slit.
A three-dimensional perspective view of the nozzle head cover is shown in fig. 2. The device consists of a hollowed cylinder and a hollowed circular truncated cone, wherein the hollowed structure is as shown in figure 2, the left side and the right side are cylinders, and the middle part is a connection area. The cylinder is reduced to accelerate the flow velocity of the gas stream. The mounting position of the nozzle is screwed on an outer layer pipe of the nozzle, and the outer layer airflow flows out in a circular state to play a role of assisting in protecting the molten pool.
The nozzle core structure is shown in fig. 3a and b and is composed of a hollowed cylindrical barrel, a convex part and a core front end part. The total length is 16cm, the diameter of the outer pipe of the cylindrical barrel part is 6mm, and the diameter of the inner pipe is 4 mm. The structure of the convex part is as shown in the above figure, and the convex part is longitudinally cut on the solid formed by a cylinder clamped between two round tables to form the shape of the cross section as shown in figure 3. b. The convex part has two functions, namely, the convex part plays a role in fixing in the process of combining the inner pipe and the outer pipe and ensures that the inner pipe is in a fixed position after being sleeved into the outer pipe; and the other is that an air outlet channel is reserved to ensure that the outer layer airflow passes through. Protruding front end begins, and the diameter diminishes gradually, and gradual change length 2cm, outer tube diameter are 4cm from 6mm gradual change, and the inner tube diameter gradually becomes 3cm, is favorable to improving the velocity of flow, connects the nozzle at this position for to nozzle input air current, and then produce the extremely high air current of deflection.
FIG. 4a is a nozzle casing and FIG. 4b is a schematic half-section view of the nozzle cartridge casing; the nozzle barrel is sleeved outside to generate circular auxiliary protective air flow, the protruding part is a cylinder cut with a knife, hole threads are arranged on the cut surface, and the protruding part is connected with an air nozzle valve and used for inputting protective air. The total length is 125mm, the outer diameter is 12mm, and the inner diameter is 8 mm.
Fig. 5 is a nozzle tail portion at the end of the entire nozzle structure, connecting the inner tube and a shielding gas cylinder for supplying gas to the inner tube. The structure is shown in fig. 5.
The welding process is schematically shown in fig. 10, where 7 represents a nozzle, the direction indicated by the large arrow is the welding direction, the gas injection direction is first 45 ° from the horizontal, i.e., θ is 45 °, and the other direction is the gas injection direction opposite to the welding direction, i.e., the direction indicated by the arrow at the nozzle head. b represents the distance between the nozzle and the plate, and can be set to 0.5mm-5 mm.
Claims (4)
1. A protection method for actively regulating and controlling laser welding small holes and a molten pool based on blade-shaped airflow is characterized in that:
the generation of the protective airflow in the shape of a knife edge is to open a gap on the laser nozzle, the gap is a slit when viewed from the side view, and the width h of the slit is 0.01mm-0.05 mm;
the blade-shaped protective airflow splits the steam flow sprayed in the small hole and acts on the deep melting small hole opening, so that the effects of inhibiting the spray plume in the hole from obstructing the light beam transmission and disturbing the molten pool protection are achieved; meanwhile, a raised liquid column in the molten pool is pressed, so that splashing and hump formation are inhibited; by changing the flow rate or the action position of the blade-shaped air flow, the negative effect of the plume steam is inhibited.
2. The protection method for actively regulating and controlling the laser welding small hole and the molten pool based on the blade-shaped airflow is characterized in that:
the thickness of the protective airflow is between 0.1mm and 3mm, the blade length, namely the length vertical to the axial direction of the airflow, is between 1mm and 20mm, and the flow speed is between 1m/s and 300 m/s; the included angle between the axial direction of the blade-shaped protective airflow and the axial direction of the light beam is between 1 and 90 degrees; the projection width of the blade-shaped protective airflow on the plate surface is equal to the thickness of the airflow, and the included angle between the projection and the welding direction is 0-180 degrees.
3. The protection method for actively regulating and controlling the laser welding small hole and the molten pool based on the blade-shaped airflow is characterized in that: the protective gas is argon, helium, nitrogen or a mixed gas of the gases.
4. The protection method for actively regulating and controlling the laser welding small hole and the molten pool based on the blade-shaped airflow is characterized in that: the wavelength of the laser used for welding is between 0.1 and 15 mu m.
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| JPH05200571A (en) * | 1992-01-28 | 1993-08-10 | Amada Co Ltd | Laser beam welding machine |
| JPH06170578A (en) * | 1992-12-04 | 1994-06-21 | Yasuyuki Moriyama | Nozzle for laser cutting |
| JP2009166080A (en) * | 2008-01-16 | 2009-07-30 | Hitachi Ltd | Laser beam welding method |
| JP2012091198A (en) * | 2010-10-26 | 2012-05-17 | Toshiba Corp | Laser processing apparatus and laser processing method |
| JP2014226706A (en) * | 2013-05-24 | 2014-12-08 | パナソニック株式会社 | Laser cutting device and laser cutting method |
| CN107350653A (en) * | 2017-08-31 | 2017-11-17 | 北京工业大学 | Laser welding plumage brightness controls and molten bath guard method and device |
| CN114083118A (en) * | 2021-08-02 | 2022-02-25 | 北京工业大学 | Protection device for actively regulating and controlling laser welding small hole and molten pool |
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