CN117161591A - Test platform for developing laser-electric arc composite welding process - Google Patents
Test platform for developing laser-electric arc composite welding process Download PDFInfo
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- CN117161591A CN117161591A CN202311283767.5A CN202311283767A CN117161591A CN 117161591 A CN117161591 A CN 117161591A CN 202311283767 A CN202311283767 A CN 202311283767A CN 117161591 A CN117161591 A CN 117161591A
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- 238000003466 welding Methods 0.000 title claims abstract description 224
- 238000012360 testing method Methods 0.000 title claims abstract description 29
- 239000002131 composite material Substances 0.000 title claims abstract description 27
- 238000010891 electric arc Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title abstract description 18
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- 230000007246 mechanism Effects 0.000 claims description 100
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- 238000002360 preparation method Methods 0.000 abstract description 3
- 229910000831 Steel Inorganic materials 0.000 description 5
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- 239000000463 material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
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Abstract
The invention relates to the technical field of welding, in particular to a testing platform for developing a laser-electric arc composite welding process, which comprises a base platform, a double-shaft positioner, a welding platform and a laser-electric arc composite welding trolley, wherein the double-shaft positioner is arranged at the upper end of the base platform, the welding platform is connected with the double-shaft positioner, the double-shaft positioner is used for driving the welding platform to turn up and down along the front-back and left-right directions, the laser-electric arc composite welding trolley is arranged at the upper part of the welding platform, and a flat welding workpiece is detachably arranged at the upper part of the welding platform corresponding to the side position of the laser-electric arc composite welding trolley. The advantages are that: the method is suitable for developing technical conditions of an all-position welding process of a pipeline under plain construction working conditions, further has the functional attribute of developing an all-position laser-electric arc composite welding process under heavy-gradient working conditions, effectively simplifies the preparation of a groove before welding, prepares a pipe orifice assembly for peer-to-peer welding, improves the welding test efficiency, and gives multiple ring safety measures to improve the test safety.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a testing platform for developing a laser-electric arc composite welding process.
Background
Traditional arc automatic welding of oil and gas pipelines is gradually popularized from the initial plain to the mountain hills and other large-gradient areas with more complex working conditions. The oil gas pipeline laser-arc hybrid welding is used as a construction forefront storage technology, and engineering adaptability of a steel pipe inclined at a certain angle working condition (less than or equal to 30 DEG) is also required to be considered. For the pipeline laser-arc composite welding technology which is still in the research stage of a laboratory, besides the back forming control technology of the overhead welding position, the technology reserve under the inclined working condition of the steel pipe is required to be laid out in advance.
At present, under laboratory conditions, a pipeline inner butt joint device assembly is adopted for assembling steel pipes, a pipe end installation rail laser-electric arc composite welding special machine is used for performing all-position welding test, for large-caliber steel pipes, the required pipe end sections and supporting facilities of assembly are heavy, the occupied area is large, the function of simulating the working condition of a large slope section is not achieved, and the safety cannot be guaranteed.
Based on the method, in order to effectively reduce the preparation work before laser-arc hybrid welding of the large-caliber steel pipe in the research and development stage of a laboratory, improve the working efficiency of stations, establish a laser-arc hybrid welding test platform by means of the function of simulating working conditions of various welding positions of a double-shaft positioner, and develop the butt welding of a plurality of fixed welding position test plates in stages, so as to assist in developing the all-position laser-arc hybrid welding technology of the pipeline.
Disclosure of Invention
The invention aims to provide a test platform for developing a laser-electric arc composite welding process, and effectively overcomes the defects of the prior art.
The technical scheme for solving the technical problems is as follows:
the utility model provides a test platform for laser-electric arc composite welding process development, including base platform, biax shift ware, welding platform and laser-electric arc composite welding dolly, above-mentioned biax shift ware is adorned in above-mentioned base platform upper end, above-mentioned welding platform is connected with above-mentioned biax shift ware, above-mentioned biax shift ware is used for driving above-mentioned welding platform and overturns about along the fore-and-aft, the left and right directions, above-mentioned laser-electric arc composite welding dolly is adorned in above-mentioned welding platform upper portion, above-mentioned welding platform upper portion corresponds the detachable flat welding work piece that is equipped with in position of above-mentioned laser-electric arc composite welding dolly side, above-mentioned laser-electric arc composite welding dolly is used for along the welding seam removal of above-mentioned flat welding work piece and carries out laser-electric arc composite welding.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the biaxial positioner includes a first rotating mechanism mounted on the upper end of the base platform, and a second rotating mechanism having a driving end connected to a support arm, the second rotating mechanism being mounted on the support arm, one end of the welding platform being connected to the driving end of the second rotating mechanism, a rotation axis of the first rotating mechanism being in a front-rear direction, and a rotation axis of the second rotating mechanism being in a left-right direction.
Further, the first rotating mechanism and the second rotating mechanism are one of a servo motor, a hydraulic motor and a stepping motor and are connected with the first controller.
Further, the support arm is an L-shaped member, one end of which is connected to the first rotating mechanism, the second rotating mechanism is attached to the other end of the support arm, and the welding platform is provided on the female corner side of both ends of the support arm.
Further, the laser-arc hybrid welding carriage includes a frame, a forward and backward moving mechanism, a lifting mechanism, a left and right moving mechanism, a mounting bracket, a laser welding head and an arc welding torch, wherein the forward and backward moving mechanism is mounted on the upper portion of the welding platform and is connected with the frame for driving the frame to translate along the welding line direction of the flat welding workpiece, the lifting mechanism is mounted on the frame and is connected with a carrier bracket for adjusting the height of the carrier bracket relative to the welding line, the left and right moving mechanism is mounted on the carrier bracket, the driving end of the left and right moving mechanism is connected with the mounting bracket for driving the carrier bracket to move along the direction perpendicular to the welding line, the laser welding head and the arc welding torch are respectively mounted on the mounting bracket, the positions of the laser welding head and the arc welding torch on the mounting bracket are adjustable, and the welding positions of the laser welding head and the arc welding torch are both pointed at the welding line of the flat welding workpiece.
Further, the front-back moving mechanism, the lifting mechanism and the left-right moving mechanism are all electric guide rails and are connected with a second controller, and the mounting bracket is provided with a laser vision tracking sensor connected with the second controller.
Further, a fixing plate perpendicular to the welding platform is arranged at one end of the welding platform, and the fixing plate is connected with the driving end of the second rotating mechanism.
Further, slope display devices are respectively arranged on the supporting arms.
Further, the flat welding workpiece is pressed on the upper part of the welding platform through a quick clamping tool.
Further, a traveling mechanism is arranged at the lower end of the base platform.
The beneficial effects of the invention are as follows: the full-position welding device is simple and reasonable in structural design, suitable for developing technical conditions of full-position welding processes of pipelines under plain construction working conditions, further has the functional attribute of developing full-position laser-electric arc composite welding processes under heavy-gradient working conditions, effectively simplifies groove manufacturing before welding, and pipe orifice assembly and peer-to-peer pre-welding preparation work, improves welding test efficiency, and gives multiple-ring safety measures to improve test safety.
Drawings
FIG. 1 is a structural elevation view of a test platform for laser-arc hybrid welding process development of the present invention;
FIG. 2 is a structural top view of a test platform for laser-arc hybrid welding process development of the present invention;
fig. 3 is a schematic structural view of a welding carriage in a test platform for laser-arc hybrid welding process development of the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. a base platform; 2. a first rotation mechanism; 3. a second rotation mechanism; 4. a welding platform; 5. laser-arc composite welding trolley; 6. a support arm; 7. a slope display; 8. quick clamping tool; 51. a frame; 52. a forward and backward movement mechanism; 53. a lifting mechanism; 54. a left-right moving mechanism; 55. a mounting bracket; 56. a laser welding head; 57. an arc welding torch; 58. a laser vision tracking sensor.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Examples: as shown in fig. 1 and 2, the test platform for developing a laser-arc hybrid welding process of the present embodiment includes a base platform 1, a biaxial positioner, a welding platform 4 and a laser-arc hybrid welding carriage 5, wherein the biaxial positioner is mounted at an upper end of the base platform 1, the welding platform 4 is connected to the biaxial positioner, the biaxial positioner is used for driving the welding platform 4 to turn up and down in a front-back and left-right direction, the laser-arc hybrid welding carriage 5 is mounted at an upper portion of the welding platform 4, a plate welding workpiece a is detachably mounted at a position corresponding to a side of the laser-arc hybrid welding carriage 5 at an upper portion of the welding platform 4, and the laser-arc hybrid welding carriage 5 is used for moving along a welding seam of the plate welding workpiece and performing laser-arc hybrid welding on the welding seam.
In this embodiment, the center of forward and backward tilting of the soldering land 4 is located at the center of one side thereof, that is, the new axis of forward and backward tilting thereof is in the same plane as the soldering land 4. The actual use process is as follows:
the double-shaft positioner is utilized to drive a laser-arc composite welding trolley 5 and a welding workpiece on a welding platform 4 to turn left and right, the gradient of the welding platform 4 is adjusted (less than or equal to 30 degrees), meanwhile, the double-shaft positioner is utilized to drive the welding platform 4 to turn back and forth, so that the welding platform 4 can finish 180-degree rotation (turning) in a front-back vertical plane, the welding platform simulates a pipeline overhead welding position, the welding platform 4 can rotate and stay at any clock point position, the simulation pipeline is horizontally placed and welded at all positions of 0-12 o' clock, and a large-gradient (welding) working condition inclined by a certain angle is simulated along with the front-back turning of the double-shaft positioner. Therefore, the working end of the welding platform 4 can simulate all welding positions under plain working conditions and any gradient working conditions. The whole device has simple and reasonable structural design, is suitable for developing technical conditions of all-position welding processes of pipelines under plain construction working conditions, has the functional attribute of developing all-position laser-electric arc composite welding processes under heavy-gradient working conditions, effectively simplifies groove manufacture before welding, prepares work before pipe orifice assembly and the like, improves welding test efficiency, and gives multiple ring safety measures to improve test safety.
As a preferred embodiment, the biaxial positioner includes a first rotating mechanism 2 and a second rotating mechanism 3, the first rotating mechanism 2 is mounted on the upper end of the base platform 1, a support arm 6 is connected to the drive end of the first rotating mechanism, the second rotating mechanism 3 is mounted on the support arm 6, one end of the welding platform 4 is connected to the drive end of the second rotating mechanism 3, the rotation axis of the first rotating mechanism 2 is along the front-rear direction, and the rotation axis of the second rotating mechanism 3 is along the left-right direction.
In the above embodiment, the driving end of the first rotation mechanism 2 forms one of the rotating shafts of the biaxial positioner, the driving end of the second rotation mechanism 3 forms the other rotating shaft of the biaxial positioner, one of the rotating shafts drives the second rotation mechanism 3 and the welding platform 4 to turn back and forth, a large-gradient working condition inclined by a certain angle is simulated, the other rotating shaft drives the welding platform 4 to complete 180-degree rotation, and the full-position welding of 0-12 o' clock is simulated when the pipeline is horizontally placed. Wherein the axis of rotation of the first rotation mechanism 2 is in the same plane as the welding platform 4.
In this embodiment, the first rotating mechanism 2 and the second rotating mechanism 3 are one of a servo motor, a hydraulic motor, and a stepper motor, and are connected to a first controller. The intelligent control of the first controller and the second controller is realized.
In this embodiment, the support arm 6 is an L-shaped member (specifically, an L-shaped plate), one end of which is connected to the first rotating mechanism 2, the second rotating mechanism 3 is attached to the other end of the support arm 6, and the welding platform 4 is disposed on the inside corner side of both ends of the support arm 6. The structural design of the support arm 6 is beneficial to the assembly of the welding platform 4, meanwhile, the support arm 6 has two vertical orientations, and the two orientations are respectively connected with the first rotating mechanism 2 and the second rotating mechanism 3, so that the welding platform 4 can be well turned over.
As a preferred embodiment, as shown in fig. 1, 2 and 3, the laser-arc hybrid welding carriage 5 includes a frame 51, a forward and backward moving mechanism 52, a lifting mechanism 53, a left and right moving mechanism 54, a mounting bracket 55, a laser welding head 56 and an arc welding torch 57, wherein the forward and backward moving mechanism 52 is mounted on an upper portion of the welding platform 4 and connected to the frame 51 for driving the frame 51 to translate along a welding line direction of the flat plate welding workpiece, the lifting mechanism 53 is mounted on the frame 51 and connected to a carrier bracket for adjusting a height of the carrier bracket with respect to the welding line, the left and right moving mechanism 54 is mounted on the carrier bracket, a driving end thereof is connected to the mounting bracket 55 for driving the carrier bracket to move in a direction perpendicular to the welding line, the laser welding head 56 and the arc welding torch 57 are respectively mounted on the mounting bracket 55, and positions of the laser welding head 56 and the arc welding torch 57 on the mounting bracket 55 are adjustable, and welding positions of the laser welding head 56 and the arc welding torch 57 are both directed to the welding line of the flat plate welding workpiece.
In the above embodiment, taking the welding platform 4 as an example, the front-back moving mechanism 52 can drive the frame 51 to move in the front-back direction (i.e. the rotation axis direction of the first rotating mechanism 2), the lifting mechanism 53 drives the frame 51 to move up and down, the left-right moving mechanism 54 drives the frame 51 to move in the left-right direction (i.e. the rotation axis direction of the second rotating mechanism 3), wherein the lifting mechanism 53 aims at adjusting the heights of the laser welding head 56 and the arc welding torch 57 to perform focusing, the moving direction of the front-back moving mechanism 52 is consistent with the extending direction of the welding seam, i.e. drives the laser welding head 56 and the arc welding torch 57 to move along the welding seam for welding, and the left-right moving mechanism 54 mainly adjusts the positions of the laser welding head 56 and the arc welding torch 57 along the width direction of the welding seam. In the actual welding process, the linkage and running state parameters of the three can adjust the welding parameters of the laser welding head 56 and the arc welding torch 57 in real time.
In this embodiment, the laser welding head 56 and the arc welding torch 57 may be mounted on the mounting bracket 55 by using brackets that are respectively arranged, the mounting bracket 55 is generally a plate-shaped member that is disposed vertically, and the position of the bracket on the mounting bracket 55 is adjustable (specifically, the bracket may be connected to the mounting bracket 55 by using bolts, and the mounting position of the bracket may be adjusted up and down, front and back). Wherein the laser welding head 56 and the arc welding torch 57 are distributed at an included angle.
In a preferred embodiment, the front-rear moving mechanism 52, the elevating mechanism 53 and the left-right moving mechanism 54 are all electric rails and are connected to a second controller, and the mounting bracket 55 is provided with a laser vision tracking sensor 58 connected to the second controller.
In the above embodiment, during the welding process, the laser vision tracking sensor 58 is used for high-precision positioning and real-time tracking correction of the to-be-welded part, processing image information of the groove profile of the weldment (welding seam) is formed through a laser signal acquisition and signal processing algorithm, the image feature point (such as the center part of the bottom of the groove) is calibrated in position, the height and centering information are set, the deviation signal deviating from the calibrated feature origin is fed back to the action execution second controller along with the advancing process of the laser-arc hybrid welding trolley 5, and the second controller transmits the correction action instruction to the lifting mechanism 53 and the left-right movement mechanism 54 to correct the positions of the laser welding head 56 and the arc welding torch 57. In addition, the laser vision tracking device can identify the abrupt change spatial position signal of the welding end lamp, and can transmit the signal to the second controller, and the second controller sends out a welding termination instruction for self-identifying welding termination and preventing the safety production problems of laser injury and the like caused by accidents such as derailment of a welding trolley. Meanwhile, the second controller adjusts the operation parameters of the forward-backward movement mechanism 52, that is, the welding speed (the movement speed of the laser-arc hybrid welding carriage 5) during the welding, according to the above-described parameters.
What needs to be stated is: the main body of the lifting mechanism 53 is vertically mounted on the frame 51, the sliding portion thereof is connected to the carrier bracket, the main body of the left-right moving mechanism 54 is horizontally mounted on the carrier bracket, the sliding portion thereof is connected to the mounting bracket 55 via a shaft or a link, and the mounting bracket 55 is integrally located laterally of the frame 51.
In the present embodiment, the front-rear moving mechanism 52, the lifting mechanism 53, and the left-right moving mechanism 54 may be replaced by other types of linear moving mechanisms, such as a screw conveyor, an air cylinder, an electric push rod, and the like.
In this embodiment, a fixing plate perpendicular to the welding platform 4 is provided at one end thereof, and the fixing plate is connected to the driving end of the second rotating mechanism 3. The design of the fixing plate is beneficial to the stable assembly of the welding platform 4 and the second rotating mechanism 3.
In this embodiment, the support arms 6 are respectively provided with a slope indicator 7. For visually displaying gradient information of the welding platform 4 turned in the front-rear direction.
The slope display device 7 may be an electronic device, and is connected to the second controller.
In this embodiment, the flat welding workpiece is press-fitted to the upper portion of the welding platform 4 by a quick clamping tool 8. The flat welded workpiece is generally two square plates, and a weld joint is formed between the two plates.
In this embodiment, a traveling mechanism is provided at the lower end of the base platform 1. The whole device can be conveniently moved by the travelling mechanism. Specifically, the travelling mechanism may be a plurality of travelling wheels (may be a fuma wheel) disposed at the lower end of the apparatus.
Of course, the base platform 1 may be fixedly installed without a travelling mechanism, and fork openings penetrating through two sides of the base platform 1 may be formed in the base platform 1 and moved by a forklift. In this embodiment, the base platform 1 may be a rectangular parallelepiped type platform.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. The utility model provides a test platform for laser-electric arc hybrid welding process development which characterized in that: the welding device comprises a base platform (1), a double-shaft positioner, a welding platform (4) and a laser-arc composite welding trolley (5), wherein the double-shaft positioner is arranged at the upper end of the base platform (1), the welding platform (4) is connected with the double-shaft positioner, the double-shaft positioner is used for driving the welding platform (4) to overturn up and down along the front-back direction and the left-right direction, the laser-arc composite welding trolley (5) is arranged at the upper part of the welding platform (4), a flat welding workpiece is detachably arranged at the position of the upper part of the welding platform (4) corresponding to the side of the laser-arc composite welding trolley (5), and the laser-arc composite welding trolley (5) is used for moving along a welding line of the flat welding workpiece and performing laser-arc composite welding on the welding line.
2. A test platform for laser-arc hybrid welding process development as claimed in claim 1, wherein: the double-shaft positioner comprises a first rotating mechanism (2) and a second rotating mechanism (3), wherein the first rotating mechanism (2) is arranged at the upper end of the base platform (1), a supporting arm (6) is connected with the driving end of the first rotating mechanism, the second rotating mechanism (3) is arranged on the supporting arm (6), one end of the welding platform (4) is connected with the driving end of the second rotating mechanism (3), the rotation axis of the first rotating mechanism (2) is in the front-back direction, and the rotation axis of the second rotating mechanism (3) is in the left-right direction.
3. A test platform for laser-arc hybrid welding process development as claimed in claim 2, wherein: the first rotating mechanism (2) and the second rotating mechanism (3) are one of a servo motor, a hydraulic motor and a stepping motor and are connected with a first controller.
4. A test platform for laser-arc hybrid welding process development as claimed in claim 2, wherein: the support arm (6) is an L-shaped member, one end of the support arm is connected with the first rotating mechanism (2), the second rotating mechanism (3) is arranged at the other end of the support arm (6), and the welding platform (4) is arranged at the reentrant corner sides of the two ends of the support arm (6).
5. A test platform for laser-arc hybrid welding process development as claimed in claim 2, wherein: the laser-arc composite welding trolley (5) comprises a frame (51), a front-back moving mechanism (52), a lifting mechanism (53), a left-right moving mechanism (54), a mounting bracket (55), a laser welding head (56) and an arc welding torch (57), wherein the front-back moving mechanism (52) is arranged on the upper portion of the welding platform (4) and is connected with the frame (51) and used for driving the frame (51) to translate along the welding line direction of a flat plate welding workpiece, the lifting mechanism (53) is arranged on the frame (51) and is connected with a carrier bracket for adjusting the height of the carrier bracket relative to the welding line, the left-right moving mechanism (54) is arranged on the carrier bracket, the driving end of the carrier bracket is connected with the mounting bracket (55) and used for driving the carrier bracket to move along the direction perpendicular to the welding line, the laser welding head (56) and the arc welding torch (57) are respectively arranged on the mounting bracket (55), the positions of the laser welding head (56) and the arc welding torch (57) on the mounting bracket (55) are adjustable, and the welding position of the flat plate welding torch (57) is pointed to the welding position of the welding line of the flat plate welding workpiece.
6. A test platform for laser-arc hybrid welding process development as claimed in claim 5, wherein: the front-back moving mechanism (52), the lifting mechanism (53) and the left-right moving mechanism (54) are all electric guide rails and are connected with a second controller, and the mounting bracket (55) is provided with a laser vision tracking sensor (58) connected with the second controller.
7. A test platform for laser-arc hybrid welding process development as claimed in claim 2, wherein: one end of the welding platform (4) is provided with a fixing plate perpendicular to the welding platform, and the fixing plate is connected with the driving end of the second rotating mechanism (3).
8. A test platform for laser-arc hybrid welding process development as claimed in claim 2, wherein: and slope display instruments (7) are respectively arranged on the supporting arms (6).
9. A test platform for laser-arc hybrid welding process development as claimed in claim 1, wherein: the flat welding workpiece is pressed on the upper part of the welding platform (4) through a quick clamping tool (8).
10. A test platform for laser-arc hybrid welding process development as claimed in claim 1, wherein: the lower end of the base platform (1) is provided with a traveling mechanism.
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CN202311283767.5A CN117161591A (en) | 2023-10-07 | 2023-10-07 | Test platform for developing laser-electric arc composite welding process |
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CN202311283767.5A CN117161591A (en) | 2023-10-07 | 2023-10-07 | Test platform for developing laser-electric arc composite welding process |
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