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Stability of fiber laser-MIG hybrid welding of high strength aluminum alloy 被引量:13
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作者 韩永全 韩蛟 +2 位作者 陈岩 姚青虎 王鹏 《China Welding》 CAS 2021年第3期7-11,共5页
The effect of fiber laser on MIG arc was investigated with 8 mm 7075-T6 high strength aluminum alloy as base material.The arc shape,droplet transfer form and electrical signal in the process of MIG welding and laser-M... The effect of fiber laser on MIG arc was investigated with 8 mm 7075-T6 high strength aluminum alloy as base material.The arc shape,droplet transfer form and electrical signal in the process of MIG welding and laser-MIG hybrid welding were analyzed.The stability of the hybrid welding process was evaluated by standard deviation analysis.The results show that with the increase of laser power,a large number of laser-induced plasma enters the arc column area,providing more conductive channels,which makes the heat of MIG arc more concentrated and the short circuit transition disappear.Due to the continuous effect of laser,the keyhole becomes a continuous electron emission source,and a stable cathode spot will be formed near the keyhole,which enhances the stability of MIG arc at the base current state.By using the method of standard deviation analysis,the voltage standard deviation of single MIG welding arc and laser-MIG hybrid arc within 4 seconds was calculated.The standard deviation of single MIG arc voltage was 1.05,and the standard deviation of MIG arc voltage in laser-MIG hybrid welding was 0.71–0.86,so the hybrid welding process was more stable. 展开更多
关键词 High strength aluminum alloy fiber laser-mig hybrid welding arc behavior electrical signal
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CHARACTERISTICS OF DROPLET TRANSFER IN CO_2 LASER-MIG HYBRID WELDING WITH SHORTCIRCUITING MODE 被引量:3
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作者 LEI Zhenglong CHEN Yanbin LI Liqun WU Lin 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2006年第2期172-175,共4页
LF6 aluminum alloy plates with 4.5 mm thickness are welded in this experiment. Welding is carried out by using the CO2 laser-MIG paraxial hybrid welding in fiat position. The experimental results indicate that the inh... LF6 aluminum alloy plates with 4.5 mm thickness are welded in this experiment. Welding is carried out by using the CO2 laser-MIG paraxial hybrid welding in fiat position. The experimental results indicate that the inherent droplet transfer cycle time of conventional MIG arc is changed due to the interaction between CO2 laser beam and MIG arc in the short-circuiting mode of laser-MIG hybrid welding. Because of the preheating action of CO2 laser to electrode and base material, the droplet transfer frequency of MIG arc is increased in the hybrid welding process. When laser power is increased to a certain degree, the droplet transfer frequency is decreased due to the effect of laser-induced keyhole. Furthermore, through analyzing the MIG welding current and arc voltage waveforms and the characteristics of droplet transfer in the hybrid welding process, the effect of laser energy and the action point between laser beam and arc on the frequency of droplet transfer and weld appearance is investigated in details. 展开更多
关键词 laser-mig hybrid welding Aluminum alloy Droplet transfer weld appearance welding current and voltage
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Mathematical analysis of the role of recoil pressure in weld pool dynamics during laser-MIG hybrid welding
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作者 高志国 吴毅雄 《China Welding》 EI CAS 2010年第1期48-53,共6页
A mathematical model was established to simulate the weld pool development and dynamic process in stationary iaser-MlG hybrid welding. Surface tension and buoyancy were considered to calculate liquid metal flow patter... A mathematical model was established to simulate the weld pool development and dynamic process in stationary iaser-MlG hybrid welding. Surface tension and buoyancy were considered to calculate liquid metal flow patter, moreover, typical phenomena of MIG welding, such as filler droplets impinging weld pool, electromagnetic force in the weld pool, and typical phenomena of laser beam welding, such as recoil pressure, Inverse Bremsstrahlung absorption, Fresnel absorption were all considered in the model. The laser beam and arc couple effect were introduced into this model by the plasma width during hybrid welding. The role of recoil pressure in the weld formation was discussed. Transient weld pool shape and complicated liquid metal velocity distribution from two kinds weld pool to an unified weld pool were calculated. The simulated weld bead geometry with consideration recoil pressure was in good agreement with experimental measurement. 展开更多
关键词 laser-mig hybrid welding mathematical model weld pool fluid flow recoil pressure
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Detection of butt weld of laser-MIG hybrid welding of thin-walled profile for high-speed train
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作者 Qingxiang Zhou Fang Liu +3 位作者 Jingming Li Jiankui Li Shuangnan Zhang Guixi Cai 《Railway Sciences》 2022年第1期98-113,共16页
Purpose–This study aims to solve the problem of weld quality inspection,for the aluminum alloy profile welding structure of high-speed train body has complex internal shape and thin plate thickness(2–4 mm),the conve... Purpose–This study aims to solve the problem of weld quality inspection,for the aluminum alloy profile welding structure of high-speed train body has complex internal shape and thin plate thickness(2–4 mm),the conventional nondestructive testing method of weld quality is difficult to implement.Design/methodology/approach–In order to solve this problem,the ultrasonic creeping wave detection technology was proposed.The impact of the profile structure on the creeping wave detection was studied by designing profile structural test blocks and artificial simulation defect test blocks.The detection technology was used to test the actual welded test blocks,and compared with the results of X-ray test and destructive test(tensile test)to verify the accuracy of the ultrasonic creeping wave test results.Findings–It is indicated that that X-ray has better effect on the inspection of porosities and incomplete penetration defects.However,due to special detection method and protection,the detection speed is slow,which cannot meet the requirements of field inspection of the welding structure of aluminum alloy thin-walled profile for high-speed train body.It can be used as an auxiliary detection method for a small number of sampling inspection.The ultrasonic creeping wave can be used to detect the incomplete penetration welds with the equivalent of 0.25 mm or more,the results of creeping wave detection correspond well with the actual incomplete penetration defects.Originality/value–The results show that creeping wave detection results correspond well with the actual non-penetration defects and can be used for welding quality inspection of aluminum alloy thin-wall profile composite welding joints.It is recommended to use the echo amplitude of the 10 mm 30.2 mm 30.5 mm notch as the criterion for weld qualification. 展开更多
关键词 High-speed train Aluminum alloy profile laser-mig hybrid welding Nondestructive inspection X-ray radiography Ultrasonic creeping wave detection
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Characteristic of laser-MIG hybrid welding with filling additional cold wire for aluminum alloy 被引量:20
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作者 常云峰 雷振 +3 位作者 王旭友 滕彬 杨海锋 Gong Tinghe 《China Welding》 EI CAS 2018年第3期35-41,共7页
The weld appearance, deposition rate, welding efficiency, stability of arc, laser keyhole characteristic, and weld property were studied by using a novel laser-MIG hybrid welding process with filling wire of aluminum ... The weld appearance, deposition rate, welding efficiency, stability of arc, laser keyhole characteristic, and weld property were studied by using a novel laser-MIG hybrid welding process with filling wire of aluminum alloy. The results were also compared with those by conventional laser-MIG hybrid welding process. It was found that with the suitable process parameters this novel welding process for aluminum alloy was stable and final weld bead had fine appearance. Compared to conventional laser-MIG hybrid welding process, during this novel welding process the stability of arc, the laser keyhole characteristic and the weld property were similar, while the keyhole cycle frequency and keyhole opening area had differences of 1.23% and 15.34%, respectively, and the welding efficiency increased by about 31% without increasing heat input. 展开更多
关键词 aluminum alloy hybrid welding with filling wire deposition rate laser keyhole
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The numerical simulation of laser-MIG hybrid welding for Invar alloy 被引量:2
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作者 王玉华 魏艳红 +3 位作者 占小红 朱振新 晏冬秀 陈洁 《China Welding》 EI CAS 2017年第4期29-36,共8页
Composites are widely applied to the manufacturing of aircraft in aviation. Forming of large-scale composite component in aircraft requires the corresponding mold with precise size. The laser-MIG hybrid welding has a ... Composites are widely applied to the manufacturing of aircraft in aviation. Forming of large-scale composite component in aircraft requires the corresponding mold with precise size. The laser-MIG hybrid welding has a significant advantage in the manufacturing of Invar mold for aircraft composites. This paper mainly introduces the application of the laser-MIG hybrid welding,and the distribution of thermal field and flow field on the Invar alloy laser-MIG hybrid three-layer welding is analyzed and discussed specifically. 展开更多
关键词 INVAR ALLOY laser-mig hybrid welding THERMAL FIELD flow FIELD
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Joint performance of CO2 laser-MIG hybrid welding 5083-H116 alloy
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作者 高志国 李亚玲 黄坚 《China Welding》 EI CAS 2012年第4期70-75,共6页
Laser-MIG hybrid welding process was dealt with 6 mm thick 5083Hl16 Al-Mg alloy plate in butt-joint configuration. Weld formation principle during hybrid welding was explained. The joint properties and microstructure ... Laser-MIG hybrid welding process was dealt with 6 mm thick 5083Hl16 Al-Mg alloy plate in butt-joint configuration. Weld formation principle during hybrid welding was explained. The joint properties and microstructure characteristics of welded joints were analyzed by tensile tests, fractographs observed by optical microscopy and scanning electron microscopy (SEM). Higher heat input could obtain better mechanical properties, and tensile strength and elongation reached 97.2%, 81% of the base metal, respectively. Fracture position traasited from fusion line to weld center in the higher heat input, and fracture location were only in the center of welded joints for the heat input relatively small. 展开更多
关键词 laser-mig welding 5083 aluminum alloy welded joint mechanical property
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Laser-pulsed MIG hybrid welding technology of A6N01S aluminum alloy 被引量:13
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作者 雷振 李小宇 +2 位作者 徐富家 汪认 常云峰 《China Welding》 EI CAS 2017年第4期10-19,共10页
Welding research of A6N01S-T5 aluminum alloy profile for high-speed train was done by using laser-MIG hybrid welding and MIG welding individually. And the weld appearance,welding distortion,mechanical properties of th... Welding research of A6N01S-T5 aluminum alloy profile for high-speed train was done by using laser-MIG hybrid welding and MIG welding individually. And the weld appearance,welding distortion,mechanical properties of the joints and microstructures were analyzed. The test results demonstrated that high-efficient welding for the profile can be achieved by using laser-MIG hybrid welding,the speed of which can be over 3. 0 m/min. The processing had a good gap bridging ability,even if the gap of the butt joint was up to 2. 0 mm,a good weld appearance can also be got. While the hybrid welding speed was greater than 2. 5 m/min,the welding distortion of the laser-tandem MIG hybrid joints was just about 33% of that of the MIG joints,but the welding efficiency was over 3 times of MIG welding. And tensile strength of the hybrid joints was 85% of that of A6N01S-T5 base metal,9% higher than that of the MIG joints. Fatigue properties was tested individually with pulsed tensile fatigue method in the condition of 1 × 10~7 lifetime. The test results demonstrated that the fatigue strength of the joints was a little lower than that of base material,which could be up to 115 MPa. But the fatigue strength of hybrid welding joints was 107. 5 MPa,which was 23% higher than 87 MPa of MIG welding joints. 展开更多
关键词 HIGH-SPEED TRAIN ALUMINUM alloy profile laser MIG hybrid welding
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Research on laser-arc hybrid welding technology for long-distance pipeline construction 被引量:17
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作者 曾惠林 许远斌 +1 位作者 王长江 何金昆 《China Welding》 EI CAS 2018年第3期53-58,共6页
In recent years, the research on pipeline laser-arc hybrid welding technology has been the important and difficult in the field of welding all over the world. China Petroleum Pipeline Research Institute Co. Ltd. has f... In recent years, the research on pipeline laser-arc hybrid welding technology has been the important and difficult in the field of welding all over the world. China Petroleum Pipeline Research Institute Co. Ltd. has firstly developed pipeline laser-arc hybrid welding system in China, and executed the welding tests based on X70/X80 steel. Preliminary experiment results showed that hybrid welding could meet the requirements of related standards such as API1104,ASME,etc., the mechanical properties of girth seam are qualified in the case that there were no internal defects. With the development of high-power fiber laser and the continuous improvement of welding equipment, laser-arc hybrid welding technology for pipeline field welding will be available soon. 展开更多
关键词 PIPELINE all position welding laser-arc hybrid welding
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Microstructure and mechanical properties of the joint of 6061 aluminum alloy by plasma-MIG hybrid welding 被引量:14
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作者 王誉静 魏波 +2 位作者 郭阳阳 刘正 潘厚宏 《China Welding》 EI CAS 2017年第2期58-64,共7页
Plasma-MIG {metal inert gas arc welding) hybrid welding of aluminum alloy with 6 mm thickness using ER5356 welding wire was carried out. The microstructures and mechanical properties of the welded joint were inve... Plasma-MIG {metal inert gas arc welding) hybrid welding of aluminum alloy with 6 mm thickness using ER5356 welding wire was carried out. The microstructures and mechanical properties of the welded joint were investigated by optical microscopy, X-ray diffraction (XRD) , energy dispersive spectroscopy (EDS) , tensile test, hardness test and scanning electron microscope ( SEM) were used to judge the type of tensile fracture. The results showed that the tensile strength of welded joint was 142 MPa which was 53. 6% o f the strength o f the base metal. The welding seam zone was characterized by dendritic structure. In the fusion zone, the columnar grains existed at one side of the welding seam. The fibrous organization was found in the base metal, and also in the heat affected zone (HAZ) where the recrystallization occurred. The HAZ was the weakest position of the welded joint due to the coarsening of Mg2Si phase. The type of tensile fracture was ductile fracture. 展开更多
关键词 plasma-MIG hybrid welding aluminum alloy MICROSTRUCTURE mechanical property
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MODEL OF LASER-TIG HYBRID WELDING HEAT SOURCE 被引量:3
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作者 ChenYanbin LiLiqun FengXiaosong 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2004年第4期511-514,共4页
The welding mechanism of laser-TIG hybrid welding process is analyzed. Withthe variation of arc current, the welding process is divided into two patterns: deep-penetrationwelding and heat conductive welding. The heat ... The welding mechanism of laser-TIG hybrid welding process is analyzed. Withthe variation of arc current, the welding process is divided into two patterns: deep-penetrationwelding and heat conductive welding. The heat flow model of hybrid welding is presented. As todeep-penetration welding, the heat source includes a surface heat flux and a volume heat flux. Theheat source of heat conductive welding is composed of two Gaussian distribute surface heat sources.With this heat source model, a temperature field is calculated. The finite element code MARC isemployed for this purpose. The calculation results show a good agreement with the experimental data. 展开更多
关键词 Laser-TIG hybrid welding Deep-penetration welding Heat conductive welding Heat source model Temperature field
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Welding characteristics in different laser-TIG hybrid manners 被引量:2
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作者 陈彦宾 雷正龙 +1 位作者 李俐群 吴林 《China Welding》 EI CAS 2004年第1期41-45,共5页
An experiment for determining the laser-TIG hybrid welding characteristics was carried out in three kinds of hybrid methods: CO_2 laser-TIG coaxial hybrid, CO_2 laser-TIG paraxial hybrid and Nd: YAG laser-TIG paraxial... An experiment for determining the laser-TIG hybrid welding characteristics was carried out in three kinds of hybrid methods: CO_2 laser-TIG coaxial hybrid, CO_2 laser-TIG paraxial hybrid and Nd: YAG laser-TIG paraxial hybrid. The experimental results indicate that hybrid welding has two welding mechanisms in CO_2 laser-TIG hybrid welding: deep penetration welding and heat conduction welding. As the effect of the laser-induced keyhole, the arc root is condensed, the current density and penetration depth increase significantly, the welding characteristic is apt to deep penetration welding. When current increases to some degree, the keyhole induced by laser disappears, which produces a shallow penetration and wide bead. The weld exhibits heat conduction welding characteristics. Furthermore, the arc images and weld bead cross-sections of three kinds of hybrid manners were also compared and analyzed at different welding currents, which established the foundation for understanding the welding characteristics of laser-TIG hybrid welding comprehensively. 展开更多
关键词 laser-TIG hybrid welding welding characteristics welding mechanisms
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Effect of laser-wire distance on temperature distribution in laser + GMAW-P hybrid welding 被引量:2
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作者 胥国祥 武传松 +1 位作者 秦国梁 欧海龙 《China Welding》 EI CAS 2011年第1期22-27,共6页
The temperature fields in laser + GMAW-P hybrid welding for different laser-wire distances in quasi-steady state were calculated using an developed combined heat source model, and the influence of laser-wire distance... The temperature fields in laser + GMAW-P hybrid welding for different laser-wire distances in quasi-steady state were calculated using an developed combined heat source model, and the influence of laser-wire distance on them was analyzed. The results show tbat, at a low level of arc power, the temperature profiles caused by laser and arc energy respecively cannot couple well when the laser-wire distance reaches 4 mm, a trend of separation between them beginning to take place. In the case of high arc power, both the critical laser-wire distance and HAZ width increase. 展开更多
关键词 hybrid welding laser-wire distance temperature field numerical simulation
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Three thermal analysis models for laser, GMAW-P and Iaser+GMAW-P hybrid welding 被引量:1
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作者 胥国祥 武传松 +2 位作者 秦国梁 王旭友 林尚扬 《China Welding》 EI CAS 2009年第1期35-39,共5页
The temperature fields and the weld pool geometries for laser + GMAW-P hybrid welding, laser welding and pulsed gas metal arc welding (GMAW-P) are numerically simulated in quasi-steady state by using the developed ... The temperature fields and the weld pool geometries for laser + GMAW-P hybrid welding, laser welding and pulsed gas metal arc welding (GMAW-P) are numerically simulated in quasi-steady state by using the developed heat source models, respectively. The calculated weld cross-sectious of the three types of welding processes agree well with their respective measured results. Through comparison, it is found that the temperature distribution of laser+GMAW-P hybrid welding possesses the advantages of those in both laser and GMAW-P welding processes so that the improvement of welding productivity and weld quality are ensured. 展开更多
关键词 laser+GMAW-P hybrid welding laser welding GMAW-P temperature fields thermal analysis
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Novel hybrid method: pulse CO_2 laser-TIG hybrid welding by coordinated control 被引量:1
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作者 陈彦宾 雷正龙 +2 位作者 李俐群 吴林 解成 《China Welding》 EI CAS 2006年第1期20-25,共6页
In continuous wave CO2 laser-TlG hybrid welding process, the laser energy is not fully utilized because of the absorption and defocusing by plasma in the arc space. Therefore, the optimal welding result can only be ac... In continuous wave CO2 laser-TlG hybrid welding process, the laser energy is not fully utilized because of the absorption and defocusing by plasma in the arc space. Therefore, the optimal welding result can only be achieved in a limited energy range. In order to improve the welding performance further, a novel hybrid welding method--pulse CO2 laser-TIG arc hybrid welding by coordinated control is proposed and investigated. The experimental results indicate that, compared with continuous wave CO2 laser-TIG hybrid welding, the absorption and defocusing of laser energy by plasma are decreased further, and at the same time, the availability ratio of laser and arc energy can be increased when a coordinated frequency is controlled. As a result, the weld appearance is also improved as well as the weld depth is deepened. Furthermore, the effect of frequency and phase of pulse laser and TIG arc on the arc images and welding characteristics is also studied. However, the novel hybrid method has great potentials in the application of industrials from views of techniques and economy. 展开更多
关键词 CO2 laser-TIG hybrid welding pulse coordinated control welding characteristics arc images
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Influence of laser on arcs in alternate arcing during laser-twin-arc hybrid welding process 被引量:1
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作者 顾小燕 李桓 +1 位作者 杨立军 高莹 《China Welding》 EI CAS 2012年第3期55-60,共6页
In this study, multi-information including spectrum, high-speed photograph and electrical signal was adopted to explore the coupling mechanism of alternate burning in laser-twin-arc welding process. Laser provides a c... In this study, multi-information including spectrum, high-speed photograph and electrical signal was adopted to explore the coupling mechanism of alternate burning in laser-twin-arc welding process. Laser provides a conductive, stable plasma channel for arcs. Plasma radiation strengthened especially in the center of the arc after hybrid. High temperature plasma erupting from keyhole provides an upward reacting force which can prevent droplet from transfer. The charged particles consisted in high temperature plasma reduce the voltage that maintains arc ignition or burning. The results show that laser can influence the arc shape, prevent droplet transfer, reduce resistivity and stabilize arcs. 展开更多
关键词 laser-twin-arc hybrid welding coupling mechanism spectrum KEYHOLE alternate burning
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High-speed butt welding of magnesium alloy using pulsed laser-arc hybrid heat source 被引量:1
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作者 陈明华 李陈宾 +1 位作者 袁胜涛 刘黎明 《China Welding》 EI CAS 2012年第1期1-7,共7页
Laser-arc hybrid welding at a speed of 6 000 mm/min is carried out on 2 mm thick magnesium alloy AZ61 plateand completely-penetrated butt joints are obtained, lnvestigations of the influence of parameters on weld fo... Laser-arc hybrid welding at a speed of 6 000 mm/min is carried out on 2 mm thick magnesium alloy AZ61 plateand completely-penetrated butt joints are obtained, lnvestigations of the influence of parameters on weld formation show that Ihe addition of pulsed laser can effctively enhance tlle heat penetrability attd directivity nf the hybrid heat source. Measurements on microstructures and mechanical properties the joint indicate that grain in the.fhsion zone is refined and the grain size is sensitive to the arc current ; the fitsioa zone exhibits the highest hardaess; the tensile strength of the joint reaches 93% of base metal; there is the brittle fracture along the grain bozmdaries in the fusion zone. High-speed camera images exhibit that although the two adjacent laser pulses can not overlap, the recorery relaxation of the concentrated electric arc after laser intlse action can still maintain the continuous welding process. 展开更多
关键词 magnesium alloy laser-GTA hybrid welding high speed mierostructure tensile strength
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Numerical Analysis of Energy Effect in Laser-TIG Hybrid Welding 被引量:1
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作者 Yanbin CHEN Liqun LI Junfei FANG Xiaosong FENG 《Journal of Materials Science & Technology》 SCIE EI CAS CSCD 2003年第z1期23-26,共4页
The hybrid source that combined CO2 laser with TIG arc to proceed welding was analyzed. Based on an energymodel, the temperature field and weld shape were calculated numerically. The heat transfer characteristic of th... The hybrid source that combined CO2 laser with TIG arc to proceed welding was analyzed. Based on an energymodel, the temperature field and weld shape were calculated numerically. The heat transfer characteristic of thehybrid heat source to workpiece and its effect to weld shape were also analyzed. Through analyzing the enhancementeffect of the hybrid heat source, the absorption effect and defocusing effect of the hybrid arc to laser were calculated,and the regularity of the energy density to the current was obtained subsequently. At last, the critical energy matchesto induce the enhancement effect of CO2 laser-TIG arc hybrid welding were obtained. 展开更多
关键词 Laser-TIG hybrid welding ENERGY effect NUMERICAL simulation
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CO_2 laser-micro plasma arc hybrid welding for galvanized steel sheets 被引量:6
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作者 C.H.KIM Y.N.AHN J.H.KIM 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2011年第A01期47-53,共7页
A laser lap welding process for zinc-coated steel has a well-known unsolved problem-porosity formation. The boiling temperature of coated zinc is lower than the melting temperature of the base metal, which is steel. I... A laser lap welding process for zinc-coated steel has a well-known unsolved problem-porosity formation. The boiling temperature of coated zinc is lower than the melting temperature of the base metal, which is steel. In the autogenous laser welding, the zinc vapor generates from the lapped surfaces expels the molten pool and the expulsion causes numerous weld defects, such as spatters and blow holes on the weld surface and porosity inside the welds. The laser-arc hybrid welding was suggested as an alternative method for the laser lap welding because the arc can preheat or post-heat the weldment according to the arrangement of the laser beam and the arc. CO2 laser-micro plasma hybrid welding was applied to the lap welding of zinc-coated steel with zero-gap. The relationships among the weld quality and process parameters of the laser-arc arrangement, and the laser-arc interspacing distance and arc current were investigated using a full-factorial experimental design. The effect of laser-arc arrangement is dominant because the leading plasma arc partially melts the upper steel sheets and vaporizes or oxidizes the coated zinc on the lapped surfaces. Compared with the result from the laser-TIG hybrid welding, the heat input from arc can be reduced by 40%. 展开更多
关键词 CO2激光 镀锌钢板 复合焊接 等离子弧 电弧电流 焊缝表面 微等离子体 焊接热输入
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Hybrid Visual Servoing Control for Robotic Arc Welding Based on Structured Light Vision 被引量:2
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作者 XUDe WANGLin-Kun TUZhi-Guo TANMin 《自动化学报》 EI CSCD 北大核心 2005年第4期596-605,共10页
A novel hybrid visual servoing control method based on structured light vision is pro-posed for robotic arc welding with a general six degrees of freedom robot. It consists of a positioncontrol inner-loop in Cartesian... A novel hybrid visual servoing control method based on structured light vision is pro-posed for robotic arc welding with a general six degrees of freedom robot. It consists of a positioncontrol inner-loop in Cartesian space and two outer-loops. One is position-based visual control inCartesian space for moving in the direction of weld seam, i.e., weld seam tracking, another is image-based visual control in image space for adjustment to eliminate the errors in the process of tracking.A new Jacobian matrix from image space of the feature point on structured light stripe to Cartesianspace is provided for dierential movement of the end-e?ector. The control system model is simplifiedand its stability is discussed. An experiment of arc welding protected by gas CO2 for verifying iswell conducted. 展开更多
关键词 混合视觉 机器人 定位焊接 伺服控制
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