JP6333670B2 - Laser welding apparatus and welding method thereof - Google Patents

Description

  The present invention relates to a laser welding apparatus that performs welding while supplying a filler wire as a filler material, and a welding method therefor, and more particularly, laser welding that performs welding by relatively moving while applying weaving to a laser beam irradiated to an irradiation object. The present invention relates to an apparatus and a welding method thereof.

The laser welding method is superior to the arc welding method using arc discharge such as conventional TIG welding and MIG welding in terms of hygiene in the working environment and increases the penetration depth of the weld due to its high energy density. However, the width of the heat-affected layer can be reduced, and the mechanical integrity of the joint can be improved.
Further, the fiber laser welding method in which laser light is guided by an optical fiber can provide high-quality and stable light, and is particularly excellent in vibration resistance and dust strength.
On the other hand, in the laser welding method, it is necessary to relatively move a small-diameter spot whose energy density is increased by condensing laser light along the welding line, and the gap between the joints is reduced according to the spot diameter. Therefore, high machining dimensional accuracy and movement accuracy are required for welding preparation and construction process such as machining of the welded portion and movement of the workpiece.

  By the way, in the arc welding method, a weaving welding method is known in which welding is performed while alternately moving a welding rod substantially perpendicular to the welding direction so as to give a wide bead. There has also been proposed a welding method in which this is applied to a laser welding method, and the bead width is expanded with respect to the beam diameter by weaving the laser beam.

  For example, Patent Document 1 discloses a laser welding method in which weaving is introduced into YAG laser welding, which is one of laser welding methods, and the laser light irradiation range can be expanded to increase the gap at the workpiece joint. . More specifically, when a glass plate is disposed inclining with respect to the emission direction axis from the laser light source and rotated around the emission direction axis, the laser light passing through the glass plate is refracted and is placed on the workpiece. A spot obtained by condensing rotates around the emission direction axis in the vicinity of the weld line. Further, when the work is moved along the weld line relative to the laser light source, weld beads are continuously formed on the weld line. According to this, even if the gap between the joint portions of the workpiece is somewhat large, the welded bead can be formed in the vicinity of the joint portion without irradiating all the collected laser light between the joint portions, and a sound welded portion. Can give.

  Further, Patent Document 2 discloses a laser device that performs weaving while supplying filler wire (a filler metal) in a laser welding method. In general, the beam diameter of a YAG laser is about 0.6 to 0.8 mm, and the gap between the joints is only allowed to be about 0.1 to 0.2 mm. Discloses a laser welding apparatus for welding while weaving. More specifically, a glass plate is disposed so as to be rotatable about the emission direction axis from the laser light source, and the mounting angle of the glass plate with respect to the emission direction axis can be set according to the width of the gap between the workpieces. Further, a wire supply device for incorporating a filler wire into a processing head that emits laser light is incorporated. As a result, when the laser beam is emitted while rotating the glass plate, and the processing head is moved straight while supplying the filler wire by the wire supply device, the welding can be performed while weaving spirally.

JP 2000-158170 A JP 2003-170284 A

  Laser welding, especially fiber laser welding, is suitable for speeding up the welding process and improving the quality of welded products, for example, reducing distortion in welds. It is used for tailored blank welding to be obtained. On the other hand, the beam diameter of the laser beam is small, and it is very difficult to continuously supply the filler wire to the center thereof. This is particularly a problem in the joining of thick plates that require a large amount of filler material to be supplied.

  Moreover, if this is removed from the center of the beam spot of the laser beam while the filler wire is continuously supplied, a welding defect will occur. In view of this, a filler wire displacement correction function is also required in automatic welding.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a laser welding apparatus capable of stably supplying a filler wire and enabling welding with few welding defects, and the welding thereof. It is to provide a method.

  A laser welding apparatus according to the present invention is a laser welding apparatus that performs welding by moving a laser beam irradiated to an irradiation object while relatively moving it, and collects laser light from a laser light source on the irradiation object. And an optical system that periodically changes the optical path to provide periodic movement on the irradiated object, moving means that provides relative movement of the optical system with respect to the irradiated object, and a filler wire that includes the filler wire. A wire feeder to be supplied onto the irradiated object, and a wire supply controller for calculating the supply position and posture of the filler wire and controlling the wire feeder, and the optical system A light receiving optical system for branching the return light from the irradiation object in a direction different from the laser light source and receiving the light to measure the light intensity; and the wire supply control unit includes the light receiving light Acquired along a change in the light intensity from the system to the periodic movement, and calculates the supply position and orientation of the filler wire along the weaving.

  According to this invention, the position of the welded part corresponding to the periodic movement of the optical system is detected by the change in the light intensity from the light receiving optical system, the welded part position along the weaving is calculated, and the attitude of the filler wire is further detected. Therefore, the filler wire can be stably supplied to the position, and welding with few welding defects can be performed. Further, even if the position of the filler wire is deviated from the welded portion position, even if the posture is changed, the posture at the ideal welded portion position along the weaving can be returned.

  In the above-described invention, the wire supply control unit calculates a position along the weaving from a sum of a periodic movement vector indicating the periodic movement by the optical system and a relative movement vector indicating the relative movement by the moving unit. It may be characterized by. According to this invention, if the weld position corresponding to the periodic movement of the optical system is detected, the weld position along the weaving can be easily calculated from the periodic movement vector and the relative movement vector. The wire can be supplied stably and welding with few welding defects can be realized. Further, the positional deviation of the filler wire can be easily corrected.

  In the above-described invention, the periodic movement may be a circumferential movement. According to this invention, the weld position corresponding to the periodic movement of the optical system can be easily calculated, the filler wire can be stably supplied to the weld position along the weaving, and welding with few welding defects can be achieved. It is.

  The laser welding method according to the present invention is a laser welding method in which welding is performed by moving the laser beam irradiated to the irradiated object while weaving the laser beam, and the laser beam from the laser light source is applied to the irradiated object. And an optical system that periodically changes the optical path thereof to periodically move the irradiated object, a moving means that moves the optical system relative to the irradiated object, and a filler wire. A wire feeder for supplying the object to be irradiated; and a wire supply controller for calculating the supply position and posture of the filler wire and controlling the wire feeder; and the optical system further comprises the laser. A light receiving optical system for branching the return light from the irradiated object in a direction different from that of the laser light source and receiving the light to measure the light intensity; A change in the light intensity from the light optical system acquired along the periodic movement, and calculates the supply position and orientation of the filler wire along the weaving.

  According to this invention, it is possible to detect the weld position corresponding to the periodic movement of the optical system based on the change in the light intensity from the light receiving optical system, calculate the weld position along the weaving, and further detect the orientation of the filler wire. Therefore, the filler wire can be stably supplied to the position, and welding with few welding defects can be performed. Further, even if the position of the filler wire is deviated from the welded portion position, even if the posture is changed, the posture at the ideal welded portion position along the weaving can be returned.

  In the above-described invention, the wire supply control unit calculates a position along the weaving from a sum of a periodic movement vector indicating the periodic movement by the optical system and a relative movement vector indicating the relative movement by the moving unit. It may be characterized by. According to this invention, if the weld position corresponding to the periodic movement of the optical system is detected, the weld position along the weaving can be easily calculated from the periodic movement vector and the relative movement vector. Can be stably supplied, and welding with few welding defects can be realized. Further, the positional deviation of the filler wire can be easily corrected.

  In the above-described invention, the periodic movement may be a circumferential movement. According to this invention, the weld position corresponding to the periodic movement of the optical system can be easily calculated, the filler wire can be stably supplied to the weld position along the weaving, and welding with few welding defects can be achieved. It is.

It is a block diagram of the principal part of the laser welding apparatus in this invention. It is a figure which shows the weaving of a laser beam. It is a flowchart which shows operation | movement of a control part. It is a top view which shows the relationship between a filler wire and a spot. It is a top view which shows the relationship between a filler wire and a spot. It is a sectional side view which shows the relationship between a filler wire and a laser beam.

  First, the details of a laser welding apparatus according to one embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 1, a laser welding apparatus 1 is a laser welding apparatus that performs welding by moving relative to each other while applying a weaving to a laser beam irradiated to a welded object (irradiation object) 50. An optical system 10 having an optical axis C as a projection unit for projection is accommodated inside a housing of a head unit (not shown).

  The optical system 10 includes an optical fiber 11 that guides and emits laser light from a laser light source (not shown), a transparent plate 12 that transmits and refracts the emitted laser light, a transparent plate 12 that holds the transparent plate 12 and that has an optical axis C as a center. A rotatable cylindrical member 13, a collimating lens 14 that converts laser light transmitted through the transparent plate 12 into parallel light, and a condensing lens 15 that condenses the collimated laser light are provided. These optical systems 10 are relatively movable together with the head portion with respect to the welded object 50 described later.

  The optical fiber 11 is optically connected to a known laser light source (oscillator) (not shown) such as a fiber laser oscillator or a YAG laser oscillator, and can emit laser light along the optical axis C. Use of a fiber laser oscillator is preferable because it can deepen the penetration depth of welding and reduce the width of the heat-affected layer. The transparent plate 12 is a glass plate having a main surface inclined with respect to the optical axis C, and preferably an optical parallel can be used. Details of the transparent plate 12 will be described later.

  Laser light transmitted through the condensing lens 15 and emitted from the optical system 10 that is a light projection unit is irradiated onto the welded object 50 in the vicinity of the focal point of the condensing lens 15, and the surface of the welded object 50 is irradiated with the laser light. A spot S (see FIG. 2) is formed, and the vicinity of the surface of the welded article 50 is melted by the spot S to enable welding.

  The optical system 10 further includes a light receiving optical system including a beam sampler 16 inserted between the collimating lens 14 and the condenser lens 15 and fixed to the housing of the head unit, and a photosensitive element 17. The beam sampler 16 is a transparent glass plate provided to be inclined with respect to the optical axis C, and an antireflection film is coated on the incident side (upper side) of the laser beam. As a result, the beam sampler 16 transmits the collimated laser light from the collimating lens 14, while returning light from the vicinity of the melted portion, particularly laser light from the spot S and a filler wire 22 described later. The reflected light is reflected so as to be branched toward the photosensitive element 17 in a direction different from the light source.

  The photosensitive element 17 can receive the return light from the beam sampler 16, that is, the light from the vicinity of the melted part and measure the light intensity, and can detect the change in the reflected light of the laser light from the spot S. . Note that only the reflected light of the laser beam may be detected by interposing a wavelength selection filter. Here, the fixed beam sampler 16 is refracted and decentered when the collimated laser light from the collimating lens 14 is transmitted. Since such eccentricity is always constant, it will be assumed that there is no eccentricity in the following description in order to simplify the description.

  Near the above spot S, that is, in the vicinity of the focal point of the condenser lens 15, a wire supply unit 20 is provided so that the tip of the filler wire 22 is positioned. The wire supply unit 20 includes a wire supply unit 21 that slidably holds the vicinity of the distal end portion of the filler wire 22. The filler wire 22 is attached to the feed mechanism 24 in the form of a winding, for example, and is sent out toward the distal end side by the feed mechanism 24. The wire feeder 21 is supported by a moving mechanism 23 and can move in two axes on a plane that intersects the direction in which the filler wire 22 extends. For example, it is possible to move in the up and down direction and the front and back direction (left and right direction with respect to the feeding direction of the filler wire 22) on the paper surface of FIG. The feed mechanism 24 and the moving mechanism 23 are each attached to the head portion, and can move relatively in parallel with the weldment 50 together with the head portion.

  Here, the transparent plate 12 has both main surfaces parallel to each other and inclined with respect to the optical axis C, so that the laser beam emitted from the optical fiber 11 is refracted so as to be eccentric with respect to the optical axis C. Let The transparent plate 12 is attached to a cylindrical member 13 that can rotate around the optical axis C with respect to the housing of the head portion. The cylindrical member 13 can be rotated at a constant speed by the rotation mechanism 25, whereby the transparent plate 12 can also be rotated around the optical axis C at a constant speed. Thus, the laser beam is decentered with a predetermined width with respect to the optical axis C, and the eccentric direction can be rotated around the optical axis C. As a result, the laser light transmitted through the condenser lens 15 can rotate the spot S formed on the welded object 50 around the optical axis C. The inclination angle of the transparent plate 12 with respect to the optical axis C is appropriately set according to the width of the weaving described later.

  The cylindrical member 13 is attached with an angle sensor 26 that measures a rotation angle about the optical axis C of the cylindrical member 13 and the transparent plate 12. The angle sensor 26 is connected to a control unit 30 described later so that a signal indicating a rotation angle of the transparent plate 12 with respect to the optical axis C can be transmitted sequentially. Instead of providing the angle sensor 26, a mechanism capable of controlling the rotation mechanism 25 to a predetermined rotation angle such as a stepping motor may be used, and the rotation angle may be controlled based on a signal from the control unit 30 described later.

  The laser welding apparatus 1 further includes a control unit 30 including a pattern determination unit 31 and a wire control unit 32. The control unit 30 is configured by a computer, and functions as a pattern determination unit 31 and a wire control unit 32 by executing a predetermined program. The control unit 30 further includes storage means and input / output means (not shown), and stores a later-described reference pattern and the like in the storage means. Details of the pattern determination unit 31 and the wire control unit 32 will be described later.

  The control unit 30 is connected to the moving mechanism 23 and the feeding mechanism 24 and can control operations of the moving mechanism 23 and the feeding mechanism 24 by an output signal from the wire control means 32. In addition, since the housing | casing which supports the optical system 10, and other structural members of the laser welding apparatus 1 are well-known, description and illustration are abbreviate | omitted.

  Next, the operation of the laser welding apparatus 1 will be described with reference to FIGS. 1 to 6 as appropriate along FIG.

  First, the control unit 30 detects reflected light of the laser beam by the photosensitive element 17 (S1).

  Here, the spot S causes the transparent plate 12 to decenter the laser beam by a predetermined distance (radius r) with respect to the optical axis C, and causes the transparent plate 12 attached to the cylindrical member 13 by the rotation mechanism 25 to move around the optical axis C. Rotate with Thus, the spot S rotates around the optical axis C with a radius r (diameter d) in accordance with the rotation of the transparent plate 12. Further, the optical axis C translates relative to the weldment 50 in accordance with the relative translation of the head portion relative to the weldment 50. That is, the position of the spot S moves from the initial position to a position represented by the sum of a period (rotation) movement vector and a relative (straight line) movement vector. Welding in which the optical axis C translates relative to the weld 50 and the spot S rotates around the optical axis C enables welding at a joint having a gap having a width W larger than the diameter of the spot S. .

  The photosensitive element 17 detects the return light (reflected light) of the laser light from the vicinity of the spot S, and sequentially transmits it to the control unit 30 instead of an electric signal. When it is desired to detect only the return light of the laser beam, a filter for selecting the wavelength of the laser beam may be interposed in the optical path. Note that the wavelength selection filter may be changed to detect light generated from the melting portion.

  Next, the control unit 30 compares the reflected light with the reference pattern by the pattern determination unit 31 (S2). The reference pattern is a typical pattern of reflected light obtained corresponding to the ideal position of the filler wire 22 where welding can be stably performed, and is obtained experimentally. Further, simulation may be used. The change in the amount of light received by the photosensitive element 17 is compared with the reference pattern, and the control unit 30 estimates the position of the filler wire 22 and / or estimates its posture by the pattern determination unit 31.

  When setting the change in the amount of reflected light along the weaving of the spot S as the reference pattern, the weaving is the sum of the periodic movement and the relative movement as described above, and the reference pattern of the change in the amount of reflected light with respect to the periodic movement is used. If set, the relative amount of this can be moved to set the change in the amount of reflected light along the weaving as the reference pattern. Further, when the periodic movement is rotation at a constant speed around the optical axis C, the reference pattern is a light quantity change pattern that changes in accordance with the rotation angle.

  For example, as shown in FIG. 4, when the rotation angle of the transparent plate 12 is θ1, a typical virtual filler wire position 22 (θ1) of the filler wire 22 that can be stably welded is set, and the reference pattern is applied. The amount of reflected light of the laser beam corresponding to the positional relationship between the virtual filler wire position 22 (θ1) and the spot S is defined in advance.

  In the case of FIG. 4, the area crossing the spot S of the actual filler wire 22 is larger than the area crossing the spot S of the virtual filler wire position 22 (θ1), and the reflected light from the filler wire 22 has a light amount larger than that of the reference pattern. growing. The pattern determination unit 31 compares the light amount with the reference pattern, and estimates the position of the filler wire 22. Note that whether the spot S is on the left or right side of the filler wire 22 can be determined as a pattern from the rotation direction and rotation angle of the spot S and the history of changes in the amount of light thus far.

  Also, as shown in FIG. 5, when the rotation angle of the transparent plate 12 is θ2, a typical virtual filler wire position 22 (θ2) of the filler wire 22 that can be stably welded is set, and at the tip thereof It is assumed that the position completely crosses the spot S. At this time, the rotation angle θ2 is 0 degree with respect to the delivery direction of the filler wire 22. On the other hand, when the actual position of the filler wire 22 crosses only a part of the spot S, the amount of reflected light of the laser light from the filler wire 22 becomes smaller than the reference pattern. As a result, it is possible to determine that the distal end portion of the filler wire 22 is located on the opposite side of the delivery direction with respect to the distal end portion of the virtual filler wire position 22 (θ2) and the delivery length is short.

  Further, referring to FIG. 6A, at the same rotation angle θ2 as in FIG. 5, the virtual filler wire position 22 (θ2) is a position close to the focal point F of the laser light, and the amount of reflected light at this time is defined as a reference pattern. To do. That is, a spot having a diameter d (θ2) is formed at a virtual filler wire position 22 (θ2), which is a typical position where welding can be performed stably. On the other hand, when the actual filler wire 22 is positioned away from the focal point F, a spot having a diameter d larger than the diameter d (θ2) is formed. At this time, the reflected light from the spot of diameter d (θ2) is dispersed and the amount of light is reduced. That is, the difference in the amount of reflected light can be detected by the difference in the distance from the focal point F of the laser light, and the position of the filler wire 22 can be estimated. At this time, as to whether the focus F is deviated upward or downward, a method such as determining the change by moving the focus F up and down can be adopted. Further, a sensor that measures the height of the tip of the filler wire 22 may be provided separately from the reflected laser light for welding.

  Further, referring to FIG. 6B, when the height of the filler wire 22 is the same as described above, the range of the rotation angle at which the reflected light of the laser beam can be obtained by the filler wire 22 is compared with the virtual filler wire position 22 ′. And become wider. This also makes it possible to estimate the distance of the filler wire 22 from the focal point F, that is, the position of the filler wire 22.

  Referring to FIG. 3 again, the control unit 30 determines the control content for the operation of the wire supply unit 20 from the position of the filler wire 22 estimated by the wire control means 32 (S3). That is, based on the difference between the reference pattern and the light quantity pattern received by the photosensitive element 17, the control content is determined so as to reduce the difference.

  In the case as shown in FIG. 4, since the light amount is larger than that of the reference pattern, the filler wire 22 is moved in the direction of decreasing the light amount so as to match the reference pattern. Whether the spot S is on the left or right side of the filler wire 22 can be determined from the history of changes in the rotation direction and angle and the amount of light thus far. At this time, the amount of light received by the photosensitive element 17 may be compared with a reference pattern as a pattern over a period of one rotation of the transparent plate 12 or sequentially with a reference pattern. That is, the received light quantity can be a pattern with an arbitrary time interval, and this can be compared with the reference pattern.

  The control unit 30 transmits a control signal to the wire supply unit 20 so as to return the filler wire 22 to a typical position where welding can be stably performed by the wire control unit 32 based on the determined control content (S4). . That is, a signal for moving the filler wire 22 in the vertical direction and the horizontal direction is transmitted to the moving mechanism 23, and the feeding speed of the filler wire 22 is changed to the feeding mechanism 24. Thereby, the position of the wire feeder 21 can be moved, and the feeding speed of the filler wire 22 can be changed.

  As described above, according to the present embodiment, the operation of the wire supply unit 20 is controlled so as to reduce the difference between the light quantity change pattern received by the photosensitive element 17 and the reference pattern, and stable welding with few welding defects is performed. Make it possible. In addition, if the weaving is performed by rotating the transparent plate 12, the reference pattern can be compared based on the rotation angle of the spot S, that is, the rotation angle of the transparent plate 12, and the wire supply unit 20 can be connected based on the rotation angle. It can be controlled.

  The wire supply unit 20 moves in the up / down / left / right direction while changing the feed speed. If stable feeding is possible, for example, the winding of the filler wire 22 is constant, for example, the feed speed and the left / right direction can be changed. Control or control of only the feed rate may be possible.

  The control of the wire supply unit 20 may be controlled to follow the weaving. For example, the center of the spot S is always controlled to be positioned at the tip of the filler wire 22, and the filler wire 22 is caused to follow the weaving while vibrating the filler wire 22 left and right within a narrow range with respect to the width (diameter d) of the weaving. Also good.

  In comparison of the amount of light with the reference pattern, for example, referring to FIG. 4 and FIG. 5, the range of the rotation angle of the position where the filler wire 22 crosses the spot S (the spot S is formed on the filler wire 22) is If it is within a predetermined range, it is determined as normal. For example, if it crosses at a position of 90 degrees, an error due to the lateral displacement of the filler wire 22 occurs. It can also be determined as an error due to melting.

  Further, the optical system 10 can perform the same weaving by rotating a condensing lens decentered with respect to the optical axis around the optical axis. Further, the weaving only needs to have a certain regularity, and for example, it may be vibrated left and right with respect to the welding direction. In this case, the reference pattern is based on the vibration angle.

  In addition, the light receiving unit composed of the beam sampler 16 and the photosensitive element 17 may be provided outside the housing of the head unit to give an angle with respect to the optical axis C. The reflected light of the laser beam from the filler wire 22 and the reflected light of the laser beam from the melting part may be distinguished, or the reflected light of the laser light may be easily distinguished from the light generated by the plasma generated from the melting part. it can.

  In addition to the laser beam for welding, a measurement light source for estimating the position of the filler wire 22 may be added. For example, the light from the measurement light source may be positioned on the opposite side (diagonal position) across the optical axis C with the spot S by weaving, for example. Furthermore, the accuracy of estimation of the position of the filler wire 22 can be improved by changing the intensity of the laser beam for welding according to a certain rule according to the rotation angle and suppressing the generation of plasma at a specific rotation angle. In addition to the reflected light of the laser light, the light generated by the melted portion may be received and used for estimation of the position of the filler wire 22 and confirmation of the welding state.

  As mentioned above, although the Example by this invention and the modification based on this were demonstrated, this invention is not necessarily limited to this, A person skilled in the art will deviate from the main point of this invention, or the attached claim. Various alternative embodiments and modifications could be found without doing so.

DESCRIPTION OF SYMBOLS 1 Laser welding apparatus 10 Optical system 12 Transparent board 15 Condensing lens 16 Beam sampler 17 Photosensitive element 20 Wire supply part 25 Rotation mechanism 30 Control part 31 Pattern determination means 32 Wire control means

Claims (6)

A laser welding apparatus that performs welding by moving relative to a laser beam irradiated to an irradiation object while weaving,
An optical system that condenses laser light from a laser light source on the object to be irradiated, and periodically changes the optical path to provide periodic movement on the object to be irradiated;
A moving means for moving the optical system relative to the irradiated object;
A wire feeder for supplying a filler wire onto the irradiated object;
A wire supply control unit that calculates the supply position and orientation of the filler wire and controls the wire feeder, and
Further, the optical system includes a light receiving optical system that branches the return light from the irradiated object of the laser light in a direction different from the laser light source and receives the light to measure the light intensity,
The wire supply control unit acquires a change in the light intensity from the light receiving optical system along the periodic movement, and calculates a supply position and a posture of the filler wire along the weaving. Welding equipment.   The wire supply control unit calculates a position along the weaving from a sum of a periodic movement vector indicating the periodic movement by the optical system and a relative movement vector indicating the relative movement by the moving unit. The laser welding apparatus according to claim 1.   The laser welding apparatus according to claim 2, wherein the periodic movement is a circumferential movement. A laser welding method in which welding is performed by moving relative to a laser beam irradiated to an object while weaving,
An optical system that condenses laser light from a laser light source on the object to be irradiated, and periodically changes the optical path to provide periodic movement on the object to be irradiated;
A moving means for moving the optical system relative to the irradiated object;
A wire feeder for supplying a filler wire onto the irradiated object;
A wire supply control unit that calculates the supply position and orientation of the filler wire and controls the wire feeder; and
Further, the optical system includes a light receiving optical system that branches the return light from the irradiated object of the laser light in a direction different from the laser light source and receives the light to measure the light intensity,
The wire supply control unit acquires a change in the light intensity from the light receiving optical system along the periodic movement, and calculates a supply position and an attitude of the filler wire along the weaving. Laser welding method.   The wire supply control unit calculates a position along the weaving from a sum of a periodic movement vector indicating the periodic movement by the optical system and a relative movement vector indicating the relative movement by the moving unit. The laser welding method according to claim 4.   6. The laser welding method according to claim 5, wherein the periodic movement is a circumferential movement.

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