CN1277661C - High-powder laser rotation scanning welding method - Google Patents
High-powder laser rotation scanning welding method Download PDFInfo
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- CN1277661C CN1277661C CN 200410006331 CN200410006331A CN1277661C CN 1277661 C CN1277661 C CN 1277661C CN 200410006331 CN200410006331 CN 200410006331 CN 200410006331 A CN200410006331 A CN 200410006331A CN 1277661 C CN1277661 C CN 1277661C
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- welding
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- workbench
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- 238000003466 welding Methods 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000000843 powder Substances 0.000 title 1
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 4
- 229910001069 Ti alloy Inorganic materials 0.000 abstract description 3
- 230000009471 action Effects 0.000 abstract description 2
- 229910052782 aluminium Inorganic materials 0.000 abstract description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 abstract description 2
- 206010053567 Coagulopathies Diseases 0.000 abstract 1
- 239000004411 aluminium Substances 0.000 abstract 1
- 230000035602 clotting Effects 0.000 abstract 1
- 238000002844 melting Methods 0.000 abstract 1
- 230000008018 melting Effects 0.000 abstract 1
- 230000002950 deficient Effects 0.000 description 3
- JNDMLEXHDPKVFC-UHFFFAOYSA-N aluminum;oxygen(2-);yttrium(3+) Chemical compound [O-2].[O-2].[O-2].[Al+3].[Y+3] JNDMLEXHDPKVFC-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910019655 synthetic inorganic crystalline material Inorganic materials 0.000 description 2
- 229910019901 yttrium aluminum garnet Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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Abstract
The present invention relates to a high-power laser rotary scanning welding method which is used for welding aluminium, titanium alloy, etc. A high-power laser robot welding system is used as a basis; a robot is used for making a laser beam rotate. Another straight-line transmission shaft is used for driving a welded workpiece to move in a straight line. Two kinds of movement are combined to form laser rotary scanning welding. The laser power of the present invention for welding is more than 1000W. Because both of a welding head and the workpiece of the present invention move and the welding head is fixed on the robot and driven by the robot to move circumferentially, a laser point is widened in the width direction of a welding seam. The welded workpiece is fixed on a one-dimension movable workbench and is driven by a leading screw to move in the straight line for realizing the movement in the length direction of the welding seam. The combined application of the two kinds of movement enlarges the range of the action point of the laser beam, reduces a high assembly precision requirement for welding material, and abates the temperature gradient of a welding area. The present invention solves the undercut problem of the front surface of the welding seam, and also prolongs the clotting time of a melting bath.
Description
Technical field: the present invention relates to a kind of high power laser rotation sweep welding method that is used for welding of aluminum, titanium alloy etc.
Background technology:
With the keyhole effect is the Laser Deep Penetration Welding of theoretical foundation, compare with high-energy-density with traditional TIG weldering, MIG weldering, lower thermal energy input, weld seam is narrow, the heat affected area is little, be out of shape advantage such as little and more and more be subjected to people's attention, and welding the time do not need vacuum plant, so laser weld has quality height, precision height, fast characteristics, is a kind of dynamical welding method.Existing high power laser welding method, usually adopt the method for light beam linear scanning to weld, its deficiency has soldered workpiece fit-up gap requirement high, the machining accuracy height on soldered limit, the welding laser beam is aimed at the requirement height in the slit between two workpiece, usually is difficult to guarantee in the actual welding process.Heat effect mode between laser and the welding material makes some material (as titanium alloy) weld seam front produce the undercut defective, influences the mechanical property, particularly joint fatigue behaviour of welding point.In addition in the laser beam welding, because the molten bath volume is very little, cooling velocity is exceedingly fast, and impurity in the molten bath and gas have little time to overflow and is trapped in to form in the weld metal and is mingled with and defective such as pore, influence the quality of welding point.Laser Welding is had relatively high expectations to the welding gap, because of the focal beam spot diameter is generally less than 0.25mm, if the fit-up gap is greater than 0.25mm, just light beam passes the gap and can not make the weldment fusing when hot spot alignment gap center line.Require the fit-up gap less than 0.25mm, be difficult to guarantee in actual production, reach 2.5 meters as aircraft central wing lower wall panels butt weld length, too high merging precision requires and will bring difficulty to actual production.The C.J.Dawes of the U.S. is born in 1985 earlier and has developed the circle round beam laser weldering and developed the light beam revolving gear of a kind of low-power (800W) off-centre for this reason, this device is provided with a deflection eyeglass on the Laser Welding light path, utilize the deflection method of eyeglass to realize the rotation of laser beam, this kind welding method makes laser focal spot depart from former center 0.5mm under the condition that does not change life size and shape, laser focal spot is just done the scanning motion of circling round with the radius of 0.5mm in welding process, this moment, laser beam rotated, and the welded piece maintenance is motionless.Owing to adopt the deflection eyeglass to reach the rotation of light beam, therefore, limited the power of laser, only be useful in the low power spot welding.
Summary of the invention: the objective of the invention is, provide a kind of can long weld seam, the rotation sweep welding method of high power welding.Technical solution of the present invention is, with high-power neodymium-doped yttrium-aluminum garnet (Nd
3+: YAG) laser robot's welding system is the basis, makes laser beam produce rotation by robot, drives soldered workpiece moving linearly by another straight-line transmitting moving axis, and two motions are in conjunction with forming the laser rotary scanning welding.An adaptor is installed on the interface of mechanical arm front end, and the lower end of adaptor clamps the plumb joint holder, and holder clamps plumb joint, with manipulator motion; Mechanical arm adopts continuously-running duty, in the original control system of robot, write a control program that mechanical arm is moved in a circle, at first, mechanical arm is moved to the pre-welding starting point from the optional position, then, in the rerun mode of a back semicircle of the first previous semicircle of operation, make mechanical arm with the radius be 0.5mm～1.5mm circumference, be rotated scanning with the linear velocity of 2m/min～6m/min; Simultaneously, workbench is done rectilinear motion with the speed of 100mm/min～500mm/min, thereby make laser move ahead with respect to the speed of workpiece with 100mm/min～500mm/min, the track while scan of light beam is the stack of above-mentioned two kinds of motions, and what obtain on workpiece is helix.But the welded part clamping is on the workbench that is moved by motor-driven straight line, motor is connected with ball-screw by shaft coupling, the two ends of ball-screw respectively connect a bearing, nut is on the one hand by the back side that is bolted to workbench, form transmission with ball-screw on the other hand, the rotation of leading screw is transmitted to the straight line of workbench moves, and workbench is done straight line with the speed of 0.5m/min～1.5m/min along guide rail and is moved.Advantage of the present invention: the power of the laser that the present invention is used to weld is more than 1000W, because the present invention has adopted plumb joint and workpiece to move, plumb joint is fixed in the robot, is driven by robot to move in a circle, and makes laser spot widen in the weld width direction; Soldered workpiece is fixed on the one dimension travelling table, is driven by ball-screw and does rectilinear motion, realizes moving of fusion length direction.The application of these two motion combinations, make the expanded range of laser beam application point, reduction is to the too high assembly precision requirement of welding material, slow down the thermograde of weld zone, can solve the undercut problem in weld seam front, can also prolong the weld pool solidifies time, the cooperation laser beam revolves the stirring action when sweeping, be beneficial to the emersion of impurity and gas in the molten bath, reduce the defective with pore of being mingled with in the weld metal, improve quality of weld joint.
Description of drawings:
Fig. 1 is laser welding system of the present invention and mechanical arm syndeton schematic diagram;
Fig. 1 .a looks schematic diagram for laser welding system of the present invention and mechanical arm syndeton master;
Fig. 1 .b is laser welding system of the present invention and mechanical arm syndeton schematic top plan view;
Fig. 2 is the structural representation of travelling table of the present invention;
Fig. 3 is the three-face view of adaptor of the present invention, and a is a right view, and b is a front view, and c is a left view;
Fig. 4 is the three-face view of plumb joint holder of the present invention, and a is a left view, and b is a front view, and c is a top view.
The specific embodiment: at high-power neodymium-doped yttrium-aluminum garnet (Nd
3+: YAG) on the basis of laser robot's welding system, adaptor 2 of tipping on the interface 1 of mechanical arm front end, plumb joint holder of forming by last holder 3 and following holder 6 of the lower end socket of adaptor 2, last holder 3 is clamped on optical fiber reception and the focus pack 4 with following holder 6, laser beam is after 5 refractions of 90 ° of refracting telescopes, after focus lamp 7 focuses on, pass lens cover plate 8 backs and form laser beam 9, make the mechanical arm of laser welding system and robot be tightened to one this moment, utilize the original control system of robot, write one again and make mechanical arm do the control program that the straight-line while also rotates, this program is:
01?MoveL?p10，v100，z1，tool0；
02?MoveC?offs(p10，0.5，0.5，0)，offs(p10，1，0，0)，v100，z1，tool0；
03?MoveC?offs(p10，0.5，-0.5，0)，p10，v100，z1，tool0。
Adopt continuously-running duty when mechanical arm is carried out this program, robot can continuously be the circular motion of 0.5mm as radius a position just.Block 01 adopts the MoveL instruction, makes robot arrive the p10 point from the optional position moving linearly; Block 02 adopts the MoveC instruction, utilizes the principle of three-point circle, the previous semicircle of operation circumference; A back semicircle of block 03 operation circumference.Instruction v100 represents that the translational speed of robot is 100mm/min.Make mechanical arm be 0.5mm～1.5mm with the radius, be rotated scanning with the linear velocity of 2m/min～6m/min; Simultaneously, workbench is done rectilinear motion with the speed of 100mm/min～500mm/min, thereby make laser move ahead with respect to the speed of workpiece with 100mm/min～500mm/min, the track while scan of light beam is the stack of above-mentioned two kinds of motions, and what obtain on workpiece is helix.Welded part is installed on the workbench 13 of a moving linearly, this workbench 13 is one and is controlled by digital control system, the accurate straight line travelling table of driven by servomotor, motor 10 is connected with ball-screw 15 by shaft coupling 11, the two ends of ball-screw 15 respectively connect a bearing 12, nut 14 is on the one hand by the back side that is bolted to workbench 13, form transmission with ball-screw 15 on the other hand, the rotation transmission of ball-screw 15 is moved for the straight line of workbench 13 on guide rail 16, working table movement drives workpiece and moves as straight line thus, thereby realizes the welding to workpiece.
Claims (4)
1. high power laser rotation sweep welding method, it is characterized in that, utilize the laser welding robot, laser welding system is installed on the mechanical arm of robot, in the original control system of robot, install a control program that mechanical arm is moved in a circle additional laser beam is moved along circular path; The welded part clamping is moving linearly on the workbench that is driven by the straight-line transmitting moving axis, and the track while scan of light beam is the stack of above-mentioned two kinds of motions, forms the laser rotary scanning welding.
2. high power laser rotation sweep welding method according to claim 1, it is characterized in that, mechanical arm adopts continuously-running duty, in the original control system of robot, install additional and write a control program that mechanical arm is moved in a circle, at first, mechanical arm is moved to the pre-welding starting point from the optional position, then, in the rerun mode of a back semicircle of the first previous semicircle of operation, making mechanical arm is the circumference of 0.5mm-1.5mm with the radius, linear velocity with 2m/min～6m/min is rotated scanning, simultaneously, workbench is done rectilinear motion with the speed of 100mm/min～500mm/min, thereby makes laser move ahead with respect to the speed of workpiece with 100mm/min～500mm/min, the track while scan of light beam is the stack of above-mentioned two kinds of motions, and what obtain on workpiece is helix.
3. high-power rotation sweep welding method according to claim 1, it is characterized in that, the welded part clamping by motor (10) but on the workbench (13) that the straight line that drives moves, motor (10) is connected with ball-screw (15) by shaft coupling (11), nut (14) is on the one hand by the back side that is bolted to workbench (13), form transmission with ball-screw (15) on the other hand, the rotation of ball-screw (15) is transmitted to the straight line of workbench (13) moves, and workbench (13) is done straight line with the speed of 0.5m/min～1.5m/min and is moved.
4. high-power rotation sweep welding method according to claim 2 is characterized in that, the control program that mechanical arm is moved in a circle, and this program is:
01?MoveL?p10，v100，z1，tool0；
02?MoveC?offs(p10，0.5，0.5，0)，offs(p10，1，0，0)，v100，z1，tool0；
03?MoveC?offs(p10，0.5，-0.5，0)，p10，v100，z1，tool0。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410006331 CN1277661C (en) | 2004-02-26 | 2004-02-26 | High-powder laser rotation scanning welding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410006331 CN1277661C (en) | 2004-02-26 | 2004-02-26 | High-powder laser rotation scanning welding method |
Publications (2)
| Publication Number | Publication Date |
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| CN1559743A CN1559743A (en) | 2005-01-05 |
| CN1277661C true CN1277661C (en) | 2006-10-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410006331 Expired - Fee Related CN1277661C (en) | 2004-02-26 | 2004-02-26 | High-powder laser rotation scanning welding method |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007098464A (en) * | 2005-10-07 | 2007-04-19 | Nissan Motor Co Ltd | Laser beam machining robot controller, method for controlling laser beam machining robot and laser beam machining robot controlling program |
| JP2009028871A (en) * | 2007-07-30 | 2009-02-12 | Denso Wave Inc | Robot control device |
| CN102825386A (en) * | 2012-08-10 | 2012-12-19 | 昆山市和博电子科技有限公司 | Shifting transmission mechanism |
| CN105414759B (en) * | 2015-12-09 | 2017-05-03 | 北京工业大学 | Laser welding method with focus capable of rotating and vertically vibrating |
| JP6579983B2 (en) * | 2016-03-18 | 2019-09-25 | 日立オートモティブシステムズ株式会社 | High energy beam welding quality judgment method, quality judgment device using the judgment method, and welding management system using the judgment method |
| CN107414293A (en) * | 2017-08-03 | 2017-12-01 | 大族激光科技产业集团股份有限公司 | A kind of periodic oscillations method for laser welding and weld assembly |
| CN116944680A (en) * | 2023-09-20 | 2023-10-27 | 山东大学 | Laser scanning welding method for small round weld joint |
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2004
- 2004-02-26 CN CN 200410006331 patent/CN1277661C/en not_active Expired - Fee Related
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| CN1559743A (en) | 2005-01-05 |
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Granted publication date: 20061004 Termination date: 20170226 |