Laser coaxial fuse welding device and method based on sound wave guidance under microgravity

Abstract

The invention discloses a laser coaxial fuse welding device and method based on sound wave guidance under microgravity, and belongs to the field of coaxial fuse welding under the microgravity environment, the laser coaxial fuse welding device comprises a clamping platform and a guide rail type mechanical arm, and the guide rail type mechanical arm comprises a guide rail and a mechanical arm body; a laser coaxial fuse welding device, a sound wave regulation and control instrument and a monitoring device are arranged at the tail end of the mechanical arm body, the monitoring device comprises a visual monitoring instrument and an infrared sensor, and the sound wave regulation and control instrument comprises a plurality of transducers which are evenly arranged around a laser source of the laser coaxial fuse welding device in an annular array. The multiple transducers are electrically connected with the output end of the controller through the signal amplifiers and the signal generators which are in one-to-one correspondence in sequence, and the input end of the controller is electrically connected with the monitoring device. According to the laser coaxial fuse welding device and method based on sound wave guidance under the microgravity, by introducing sound wave guidance and sound wave vibration, the welding quality and efficiency are improved, and the welding safety and reliability are further enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of coaxial fuse welding in a microgravity environment, and in particular to a laser coaxial fuse welding device and method based on acoustic wave guidance in microgravity. Background Art

[0002] In the space environment, repairing or connecting structural equipment is a key part of the space mission. Whether it is the maintenance of the International Space Station, the assembly of satellites, or the repair of equipment in future deep space exploration missions, reliable welding technology is an important guarantee to ensure the safety and reliability of these structures. However, in a microgravity environment, traditional welding technology faces the following challenges:

[0003] 1. Unstable molten pool shape: On Earth, the formation and flow of the molten pool mainly rely on gravity. However, under microgravity conditions, the molten pool is no longer affected by gravity, and its shape becomes extremely unstable. It is difficult for the molten droplet to adhere to the parent material in the expected manner, resulting in a decrease in welding quality and even possible weld defects.

[0004] 2. The flow inside the molten pool is difficult to control: the lack of gravity makes it impossible for the metal liquid inside the molten pool to flow naturally, which brings great uncertainty to the welding process. The shape and flow path of the molten droplet cannot be effectively controlled, which easily forms irregular welds and affects the mechanical properties of the welded joint.

[0005] 3. Porosity and inclusion problems are exacerbated: During welding on Earth, gases and impurities can be deposited or discharged from the molten pool under the action of gravity. However, in a microgravity environment, these bubbles and inclusions will be suspended in the molten pool and difficult to escape, thereby increasing the risk of porosity and inclusions, seriously affecting the quality of welding. Summary of the invention

[0006] The purpose of the present invention is to provide a laser coaxial fuse welding device and method based on acoustic wave guidance under microgravity to solve the above technical problems.

[0007] To achieve the above-mentioned purpose, the present invention provides a laser coaxial fuse welding device based on acoustic wave guidance under microgravity, comprising a clamping platform and a guide rail type mechanical arm arranged on one side of the clamping platform, the guide rail type mechanical arm comprising a guide rail arranged parallel to the clamping platform and a mechanical arm body slidably arranged at the top of the guide rail, a laser coaxial fuse welding device, an acoustic wave control instrument and a monitoring device are arranged at the end of the mechanical arm body, the monitoring device comprises a visual monitoring instrument for monitoring the parameters of a molten pool formed by the laser coaxial fuse welding device and the parameters of impurities in the molten pool and an infrared sensor for monitoring the welding temperature, the acoustic wave control instrument comprises a plurality of transducers uniformly arranged in a ring array around the laser source of the laser coaxial fuse welding device, the plurality of transducers are electrically connected to the output end of the controller in turn through a one-to-one corresponding signal amplifier and a signal generator, the input end of the controller is electrically connected to the monitoring device, and is used to obtain monitoring results based on the monitoring device, and use the controller to control the opening and closing and working parameters of the plurality of transducers;

[0008] The acoustic field composed of multiple transducers covers the molten pool formed by the laser coaxial fuse welding equipment, and is used to vibrate out impurities in the molten pool when multiple transducers are turned on at the same time;

[0009] The multiple transducers in the innermost ring are arranged close to the laser source of the laser coaxial fuse welding device, and are used to guide the molten pool to move toward the substrate when only the transducers arranged close to the laser coaxial fuse welding device are turned on.

[0010] Preferably, when multiple transducers are turned on at the same time, they are in the acoustic vibration mode, at which time the set frequencies of the multiple transducers are 20kHz-100kHz and the powers are 100W-500W;

[0011] When only the innermost ring transducer is turned on, it is in the acoustic wave guiding mode. At this time, the set frequency of the transducer arranged close to the laser coaxial fuse welding equipment is 10kHz-50kHz, and the power is 50W-200W.

[0012] A method for a laser coaxial fuse welding device based on acoustic wave guidance under microgravity comprises the following steps:

[0013] S1. Position the substrate on the clamping platform, and control the robot body to move the laser coaxial fuse welding equipment and the acoustic wave control instrument to a position close to the welding point of the substrate;

[0014] S2, starting the laser source and wire feeding mechanism of the laser coaxial fuse welding equipment, the wire feeding mechanism feeds the welding wire to a position close to the welding point, focusing the laser beam to the welding wire close to the welding point, and melting the welding wire to form a molten pool;

[0015] S3, using monitoring equipment to collect parameters of the molten pool and impurities, and based on the collected results, using a controller to adjust the number of multiple transducers turned on and the working parameters of the turned-on transducers, so that the turned-on transducers are in an acoustic wave vibration mode, thereby vibrating the impurities out of the molten pool, and turning off the transducers in the acoustic wave vibration mode;

[0016] S4, using a monitoring device to collect the position of the welding point, and using a controller to open the innermost ring transducer, so that the opened transducer is in an acoustic wave guiding mode, guiding the molten pool to the welding point, and monitoring the molten pool path in real time during the guiding process, and correcting the working parameters of the transducer in the acoustic wave guiding mode according to the monitoring results, until the molten pool covers the welding point;

[0017] S5. Cooling.

[0018] Preferably, step S3 specifically includes the following steps:

[0019] S31, start the laser source of the laser coaxial fuse welding equipment, and determine the laser power P, irradiation time t and spot radius w i ;

[0020] S32, starting the wire feeding mechanism, and controlling the welding wire to move toward the welding point at a constant speed v until it moves to the focal plane of the laser beam emitted by the laser source;

[0021] S33, using a visual monitoring instrument to obtain molten pool parameters and impurity parameters, wherein the molten pool parameters include the area and position of the molten pool, and the impurity parameters include the area and position of the impurities;

[0022] S34. Determine the number of on / off switches, positions, operating frequencies, and amplitudes of the multiple transducers based on the acquisition results of step S33.

[0023] Preferably, in step S31, the laser power P is calculated as follows:

[0024]

[0025] in,

[0026] E melt =m×c×T m -T i +L f (2);

[0027] E loss =30.5% E melt (3);

[0028] In the formula, E melt Indicates the energy required to melt the welding wire, in J; E lossrepresents the heat loss energy, in J; m represents the mass of the welding wire, in kg; c represents the specific heat capacity of the welding wire, in J / kg·K; T m Indicates the melting point of welding wire, the unit is K; T i Indicates the initial temperature of the welding wire, in K; L f Indicates the melting latent heat of welding wire, in J / kg;

[0029] The calculation formula of irradiation time t is as follows;

[0030]

[0031] Where D W Indicates the wire diameter; α indicates the thermal diffusion coefficient, in m 2 / s;

[0032] Spot radius w i The calculation formula is as follows:

[0033]

[0034] In the formula, f l represents the focal length of the lens; z f represents the focal position; λ represents the laser wavelength; n0 represents the refractive index; w0 represents the initial spot radius.

[0035] Preferably, in step S32, the calculation formula of the constant speed v is as follows:

[0036]

[0037] Where L represents the length of the welding wire.

[0038] Preferably, the visual monitoring instrument described in step S33 is a binocular or multi-camera system, which uses algorithms such as Canny edge detection to identify the edges of the molten pool and impurities, and obtain the area A of the molten pool. mp and position coordinate x mp ,y mp , and the area A of the impurity imp and position coordinate x imp ,y imp .

[0039] Preferably, step S34 specifically includes the following steps:

[0040] S341, establishing a mapping relationship: dividing the welding area into N1 grids, each grid corresponds to at least one transducer, a total of N2 transducers, N2 = nN1, n represents the multiple relationship between the transducer and the grid;

[0041] S342, determine the operating frequency and amplitude of the transducer: the operating frequency f is calculated as follows:

[0042]

[0043] Where f0 represents the fundamental frequency; k f is the frequency adjustment coefficient; d represents the characteristic size of the impurity, and

[0044] The amplitude A is calculated as follows:

[0045]

[0046] Where A0 represents the basic amplitude; k A is the amplitude adjustment coefficient;

[0047] S343, compare the position coordinates x of the impurities imp ,y imp Is it consistent with the position coordinate x of the molten pool? mp ,y mp If they coincide, the impurity position coordinate x imp ,y imp The grid where the impurity exists is regarded as a grid, and the transducer corresponding to the grid with impurities is turned on according to the mapping relationship, so as to determine the number of turned-on transducers, and control the turned-on transducers to operate according to the determined working frequency and amplitude, otherwise they are skipped.

[0048] Preferably, the working parameters described in step S4 include working frequency and amplitude, and the working frequency and amplitude correction formula of the transducer in the acoustic wave guiding mode is as follows:

[0049] f new =f base +k f ×Δx,Δy(9);

[0050] A new =A base +k A ×Δx,Δy(10);

[0051] In the formula, f new Indicates the corrected transducer operating frequency; f base Indicates the basic operating frequency; Δx, Δy indicate the deviation between the current position of the molten pool and the welding point; A new Indicates the transducer amplitude after correction; A base represents the basic amplitude;

[0052] The corrected melt pool path is as follows:

[0053] V correction =Vcurrent +k V ×Δx,Δy(11);

[0054] Where V correction Indicates the corrected molten pool moving speed; V current Indicates the current molten pool moving speed; k V Indicates the speed adjustment factor.

[0055] Therefore, the present invention adopts the above-mentioned laser coaxial fuse welding device and method based on acoustic wave guidance under microgravity, which has the following beneficial effects:

[0056] 1. Through the transducer close to the laser source, the acoustic wave guidance mode can effectively guide the molten pool to move toward the substrate, ensuring that the molten droplet adheres to the substrate in the expected manner. This not only improves the stability of the molten pool, but also improves the quality of the welded joint;

[0057] 2. Use visual monitoring instruments and infrared sensors to monitor the parameters (such as area, position) and temperature changes of the molten pool in real time, and combine with the controller to adjust the working parameters of multiple transducers to ensure that the molten pool is formed in the best state;

[0058] 3. Under the sonic vibration mode, impurities in the molten pool can be vibrated out, significantly reducing the presence of pores and inclusions;

[0059] 4. Use binocular or multi-camera system with Canny edge detection algorithm to identify the edges of the molten pool and impurities in real time and obtain precise position coordinates. Once impurities are found, immediately turn on the corresponding transducer for processing to ensure the purity of the molten pool.

[0060] In summary, the laser coaxial fuse welding device and method based on acoustic wave guidance under microgravity described in the present invention successfully solves the problems of unstable molten pool morphology, difficult to control internal flow, pores and inclusions in a microgravity environment by introducing acoustic wave guidance and vibration mode and combining real-time monitoring and control systems; it not only improves the welding quality and efficiency, but also enhances the safety and reliability of the welding process, and is an ideal choice for future repair and connection of space structure equipment.

[0061] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 This is an overall layout diagram of a laser coaxial fuse welding device based on acoustic wave guidance under microgravity of the present invention;

[0063] Figure 2 It is a structural schematic diagram of a laser coaxial fuse welding apparatus of the present invention based on acoustic wave guidance under microgravity;

[0064] Figure 3 This is a block diagram of the electrical connection of a transducer of a laser coaxial fuse welding device based on acoustic wave guidance under microgravity according to the present invention;

[0065] Figure 4 The present invention is a flowchart of a method of a laser coaxial fuse welding device based on acoustic wave guidance under microgravity.

[0066] Reference numerals

[0067] 1. Clamping platform; 2. Base material; 3. Guide rail type robotic arm; 31. Guide rail; 32. Robotic arm body; 4. Laser coaxial fuse welding equipment; 41. Wire feeding mechanism; 42. Laser source; 43. Welding wire; 5. Visual monitoring instrument; 6. Transducer. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical scheme and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention are further described in detail in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention and are not used to limit the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions.

[0069] It should be noted that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products or devices.

[0070] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0071] like Figure 1-Figure 3As shown, a laser coaxial fuse welding device based on acoustic wave guidance under microgravity includes a clamping platform 1 and a guide rail type mechanical arm 3 arranged on one side of the clamping platform 1. The top of the clamping platform 1 is positioned and connected to a substrate 2 through a clamp. The guide rail type mechanical arm 3 includes a guide rail 31 arranged parallel to the clamping platform 1 and a mechanical arm body 32 slidably arranged on the top of the guide rail 31. The end of the mechanical arm body 32 is provided with a laser coaxial fuse welding device 4, an acoustic wave control instrument and a monitoring device. The monitoring device includes a visual monitoring instrument 5 for monitoring the parameters of a molten pool formed by the laser coaxial fuse welding device 4 and the parameters of impurities in the molten pool, and an infrared sensor for monitoring the welding temperature. The acoustic wave control instrument includes a laser around the laser coaxial fuse welding device 4. The light source 42 is a plurality of transducers 6 evenly arranged in a circular array. The plurality of transducers 6 are electrically connected to the output end of the controller in turn through corresponding signal amplifiers and signal generators, and the input end of the controller is electrically connected to the monitoring device, so as to obtain monitoring results based on the monitoring device and use the controller to regulate the opening and closing and working parameters of the plurality of transducers 6. The sound field formed by the plurality of transducers 6 covers the molten pool formed by the laser coaxial fuse welding device 4, so as to vibrate out impurities in the molten pool when the plurality of transducers 6 are turned on at the same time. The plurality of transducers 6 in the innermost ring are arranged close to the laser source 42 of the laser coaxial fuse welding device 4, so as to guide the molten pool to move toward the substrate 2 when only the transducer 6 arranged close to the laser coaxial fuse welding device 4 is turned on.

[0072] The laser coaxial fuse welding equipment 4 also includes a wire feeding mechanism 41 for feeding the welding wire 43. It should be noted that the above-mentioned clamping platform 1, guide rail 31, robot arm body 32 and electronic components are all mature products on the market. This embodiment only needs to purchase them and connect them according to the instructions. No improvement has been made to them, so the structural principles will not be repeated here.

[0073] When multiple transducers 6 are turned on at the same time, they are in the acoustic wave vibration mode, and the set frequencies of the multiple transducers 6 are 20kHz-100kHz, and the power is 100W-500W; when only the innermost ring transducer 6 is turned on, it is in the acoustic wave guiding mode, and the set frequency of the transducer 6 arranged close to the laser coaxial fuse welding equipment 4 is 10kHz-50kHz, and the power is 50W-200W.

[0074] like Figure 4 As shown, the method of the laser coaxial fuse welding device based on acoustic wave guidance under microgravity includes the following steps:

[0075] S1. Position the substrate on the clamping platform, and control the robot body to move the laser coaxial fuse welding equipment and the acoustic wave control instrument to a position close to the welding point of the substrate;

[0076] S2, starting the laser source and wire feeding mechanism of the laser coaxial fuse welding equipment, the wire feeding mechanism feeds the welding wire to a position close to the welding point, focusing the laser beam to the welding wire close to the welding point, and melting the welding wire to form a molten pool;

[0077] S3, using monitoring equipment to collect parameters of the molten pool and impurities, and based on the collected results, using a controller to adjust the number of multiple transducers turned on and the working parameters of the turned-on transducers, so that the turned-on transducers are in an acoustic wave vibration mode, thereby vibrating the impurities out of the molten pool, and turning off the transducers in the acoustic wave vibration mode;

[0078] Step S3 specifically includes the following steps:

[0079] S31, start the laser source of the laser coaxial fuse welding equipment, and determine the laser power P, irradiation time t and spot radius w i ;

[0080] In step S31, the laser power P is calculated as follows:

[0081]

[0082] in,

[0083] E melt =m×c×T m -T i +L f (2);

[0084] E loss =30.5% E melt (3);

[0085] In the formula, E melt Indicates the energy required to melt the welding wire, in J; E loss represents the heat loss energy, in J; m represents the mass of the welding wire, in kg; c represents the specific heat capacity of the welding wire, in J / kg·K; T m Indicates the melting point of welding wire, the unit is K; T i Indicates the initial temperature of the welding wire, in K; L f Indicates the melting latent heat of welding wire, in J / kg;

[0086] The calculation formula of irradiation time t is as follows;

[0087]

[0088] Where D W Indicates the wire diameter; α indicates the thermal diffusion coefficient, in m 2 / s;

[0089] Spot radius w iThe calculation formula is as follows:

[0090]

[0091] In the formula, f l represents the focal length of the lens; z f represents the focal position; λ represents the laser wavelength; n0 represents the refractive index; w0 represents the initial spot radius.

[0092] S32, starting the wire feeding mechanism, and controlling the welding wire to move toward the welding point at a constant speed v until it moves to the focal plane of the laser beam emitted by the laser source;

[0093] In step S32, the calculation formula of the constant speed v is as follows:

[0094]

[0095] Where L represents the length of the welding wire.

[0096] S33, using a visual monitoring instrument to obtain molten pool parameters and impurity parameters, wherein the molten pool parameters include the area and position of the molten pool, and the impurity parameters include the area and position of the impurities;

[0097] The visual monitoring instrument described in step S33 is a binocular or multi-camera system, which uses algorithms such as Canny edge detection to identify the edges of the molten pool and impurities, and obtain the area A of the molten pool. mp and position coordinate x mp ,y mp , and the area A of the impurity imp and position coordinate x imp ,y imp .

[0098] S34. Determine the number of on / off switches, positions, operating frequencies, and amplitudes of the multiple transducers based on the acquisition results of step S33.

[0099] Step S34 specifically includes the following steps:

[0100] S341, establishing a mapping relationship: dividing the welding area into N1 grids, each grid corresponds to at least one transducer, a total of N2 transducers, N2 = nN1, n represents the multiple relationship between the transducer and the grid;

[0101] S342, determine the operating frequency and amplitude of the transducer: the operating frequency f is calculated as follows:

[0102]

[0103] Where f0 represents the fundamental frequency; k f is the frequency adjustment coefficient; d represents the characteristic size of the impurity, and

[0104] The amplitude A is calculated as follows:

[0105]

[0106] Where A0 represents the basic amplitude; k A is the amplitude adjustment coefficient;

[0107] S343, compare the position coordinates x of the impurities imp ,y imp Is it consistent with the position coordinate x of the molten pool? mp ,y mp If they coincide, the impurity position coordinate x imp ,y imp The grid where the impurity exists is regarded as a grid, and the transducer corresponding to the grid with impurities is turned on according to the mapping relationship, so as to determine the number of turned-on transducers, and control the turned-on transducers to operate according to the determined working frequency and amplitude, otherwise they are skipped.

[0108] S4, using a monitoring device to collect the position of the welding point, and using a controller to open the innermost ring transducer, so that the opened transducer is in an acoustic wave guiding mode, guiding the molten pool to the welding point, and monitoring the molten pool path in real time during the guiding process, and correcting the working parameters of the transducer in the acoustic wave guiding mode according to the monitoring results, until the molten pool covers the welding point;

[0109] The working parameters described in step S4 include working frequency and amplitude, and the working frequency and amplitude correction formula of the transducer in the acoustic wave guidance mode is as follows:

[0110] f new =f base +k f ×Δx,Δy(9);

[0111] A new =A base +k A ×Δx,Δy(10);

[0112] In the formula, f new Indicates the corrected transducer operating frequency; f base Indicates the basic operating frequency; Δx, Δy indicate the deviation between the current position of the molten pool and the welding point; A new Indicates the transducer amplitude after correction; A base represents the basic amplitude;

[0113] The corrected melt pool path is as follows:

[0114] V correction =V current +kV ×Δx,Δy(11);

[0115] Where V correction Indicates the corrected molten pool moving speed; V current Indicates the current molten pool moving speed; k V Indicates the speed adjustment factor.

[0116] S5. Cooling.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A laser coaxial fuse welding device based on acoustic wave guidance under microgravity, characterized in that: It includes a clamping platform and a guide rail type mechanical arm arranged on one side of the clamping platform, the guide rail type mechanical arm includes a guide rail arranged parallel to the clamping platform and a mechanical arm body slidably arranged on the top of the guide rail, and a laser coaxial fuse welding device, an acoustic wave control instrument and a monitoring device are arranged at the end of the mechanical arm body, the monitoring device includes a visual monitoring instrument for monitoring the parameters of the molten pool formed by the laser coaxial fuse welding device and the parameters of impurities in the molten pool, and an infrared sensor for monitoring the welding temperature, and the acoustic wave control instrument includes a plurality of transducers uniformly arranged in a ring array around the laser source of the laser coaxial fuse welding device, the plurality of transducers are electrically connected to the output end of the controller in turn through a one-to-one corresponding signal amplifier and a signal generator, and the input end of the controller is electrically connected to the monitoring device, and is used to obtain monitoring results based on the monitoring device, and use the controller to control the opening and closing and working parameters of the plurality of transducers; The acoustic field composed of multiple transducers covers the molten pool formed by the laser coaxial fuse welding equipment, and is used to vibrate out impurities in the molten pool when multiple transducers are turned on at the same time; The multiple transducers in the innermost ring are arranged close to the laser source of the laser coaxial fuse welding device, and are used to guide the molten pool to move toward the substrate when only the transducers arranged close to the laser coaxial fuse welding device are turned on.

2. The laser coaxial fuse welding device based on acoustic wave guidance under microgravity according to claim 1, characterized in that: When multiple transducers are turned on at the same time, it is in the acoustic vibration mode. At this time, the setting frequency of multiple transducers is 20kHz-100kHz, and the power is 100W-500W; When only the innermost ring transducer is turned on, it is in the acoustic wave guiding mode. At this time, the set frequency of the transducer arranged close to the laser coaxial fuse welding equipment is 10kHz-50kHz, and the power is 50W-200W.

3. The method of the laser coaxial fuse welding device based on acoustic wave guidance under microgravity according to claim 1 or 2, characterized in that: The following steps are involved: S1. Position the substrate on the clamping platform, and control the robot body to move the laser coaxial fuse welding equipment and the acoustic wave control instrument to a position close to the welding point of the substrate; S2, starting the laser source and wire feeding mechanism of the laser coaxial fuse welding equipment, the wire feeding mechanism feeds the welding wire to a position close to the welding point, focusing the laser beam to the welding wire close to the welding point, and melting the welding wire to form a molten pool; S3, using monitoring equipment to collect parameters of the molten pool and impurities, and based on the collected results, using a controller to adjust the number of multiple transducers turned on and the working parameters of the turned-on transducers, so that the turned-on transducers are in an acoustic wave vibration mode, thereby vibrating the impurities out of the molten pool, and turning off the transducers in the acoustic wave vibration mode; S4, using a monitoring device to collect the position of the welding point, and using a controller to open the innermost ring transducer, so that the opened transducer is in an acoustic wave guiding mode, guiding the molten pool to the welding point, and monitoring the molten pool path in real time during the guiding process, and correcting the working parameters of the transducer in the acoustic wave guiding mode according to the monitoring results, until the molten pool covers the welding point; S5. Cooling.

4. The method of the laser coaxial fuse welding device based on acoustic wave guidance under microgravity according to claim 3, characterized in that: Step S3 specifically includes the following steps: S31, start the laser source of the laser coaxial fuse welding equipment, and determine the laser power P, irradiation time t and spot radius w i ; S32, starting the wire feeding mechanism, and controlling the welding wire to move toward the welding point at a constant speed v until it moves to the focal plane of the laser beam emitted by the laser source; S33, using a visual monitoring instrument to obtain molten pool parameters and impurity parameters, wherein the molten pool parameters include the area and position of the molten pool, and the impurity parameters include the area and position of the impurities; S34. Determine the number of on / off switches, positions, operating frequencies, and amplitudes of the multiple transducers based on the acquisition results of step S33.

5. The method of the laser coaxial fuse welding device based on acoustic wave guidance under microgravity according to claim 4, characterized in that: In step S31, the laser power P is calculated as follows: in, E melt =m×c×(T m -T i )+L f (2); AND loss =30.5%E melt (3); In the formula, E melt Indicates the energy required to melt the welding wire, in J; E loss represents the heat loss energy, in J; m represents the mass of the welding wire, in kg; c represents the specific heat capacity of the welding wire, in J / kg·K; T m Indicates the melting point of welding wire, the unit is K; T i Indicates the initial temperature of the welding wire, in K; L f Indicates the melting latent heat of welding wire, in J / kg; The calculation formula of irradiation time t is as follows; Where D W Indicates the wire diameter; α indicates the thermal diffusion coefficient, in m 2 / s; Spot radius w i The calculation formula is as follows: In the formula, f l represents the focal length of the lens; z f represents the focal position; λ represents the laser wavelength; n0 represents the refractive index; w0 represents the initial spot radius.

6. The method of the laser coaxial fuse welding device based on acoustic wave guidance under microgravity according to claim 5, characterized in that: In step S32, the calculation formula of the constant speed v is as follows: Where L represents the length of the welding wire.

7. The method of the laser coaxial fuse welding device based on acoustic wave guidance under microgravity according to claim 6, characterized in that: The visual monitoring instrument described in step S33 is a binocular or multi-camera system, which uses algorithms such as Canny edge detection to identify the edges of the molten pool and impurities, and obtain the area A of the molten pool. mp and position coordinates (x mp ,y mp ), and the area A of the impurity imp and position coordinates (x imp ,y imp ).

8. The method of the laser coaxial fuse welding device based on acoustic wave guidance under microgravity according to claim 7, characterized in that: Step S34 specifically includes the following steps: S341, establishing a mapping relationship: dividing the welding area into N1 grids, each grid corresponds to at least one transducer, a total of N2 transducers, N2 = nN1, n represents the multiple relationship between the transducer and the grid; S342, determine the operating frequency and amplitude of the transducer: the operating frequency f is calculated as follows: Where f0 represents the fundamental frequency; k f is the frequency adjustment coefficient; d represents the characteristic size of the impurity, and The amplitude A is calculated as follows: Where A0 represents the basic amplitude; k A is the amplitude adjustment coefficient; S343, compare the position coordinates of impurities (x imp ,y imp ) is consistent with the position coordinates (x mp ,y mp ) coincide with each other. If they coincide, the impurity position coordinates (x imp ,y imp ) is regarded as a grid with impurities, and the transducers corresponding to the grid with impurities are turned on according to the mapping relationship, so as to determine the number of turned-on transducers, and control the turned-on transducers to operate according to the determined working frequency and amplitude, otherwise they are skipped.

9. The method of the laser coaxial fuse welding device based on acoustic wave guidance under microgravity according to claim 8, characterized in that: The working parameters described in step S4 include working frequency and amplitude, and the working frequency and amplitude correction formula of the transducer in the acoustic wave guidance mode is as follows: f new =f base +k f ×(Δx,Δy) (9); A new =A base +k A ×(Δx,Δy) (10); In the formula, f new Indicates the corrected transducer operating frequency; f base represents the basic operating frequency; (Δx, Δy) represents the deviation between the current position of the molten pool and the welding point; A new Indicates the transducer amplitude after correction; A base represents the basic amplitude; The corrected melt pool path is as follows: V correction =V current +k V ×(Δx,Δy) (11); Where V correction Indicates the corrected molten pool moving speed; V current Indicates the current molten pool moving speed; k V Indicates the speed adjustment factor.

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