Manipulator laser thin plate welding residual stress reduction and homogenization device and method thereof

Abstract

The invention relates to a mechanical arm laser thin plate welding residual stress reduction and homogenization device and method. The device and method are suitable for mechanical arm laser welding of a to-be-welded thin plate. The device comprises a workbench and an ultrasonic transducer, the workbench is suitable for placing a to-be-welded thin plate, the to-be-welded thin plate can be subjected to laser welding through the mechanical arm, at least one set of via holes are formed in the workbench, and each set of via holes comprises two via holes formed in the width direction of the workbench; the number of the ultrasonic transducers is more than two, and the ultrasonic transducers are arranged below the workbench and correspond to the positions of the via holes of the workbench. Through the arrangement, the residual stress generated during welding can be effectively reduced and homogenized, and the problem that the residual stress generated during thin plate welding causes adverse effects on the stability and performance of the structure in subsequent use and work of materials is solved.

Description

Technical Field

[0001] The invention relates to the field of welding and residual stress regulation, and in particular to a manipulator laser thin plate welding residual stress reduction and homogenization device and a method thereof. Background Art

[0002] When welding thin plates, due to the influence of local non-uniform phase change, non-uniform heat transfer temperature field and restraint stress, a large amount of elastic energy accumulates inside the material, which eventually manifests itself in the form of elastic stress, forming the so-called welding residual stress. This stress belongs to the type of residual stress inherent in the solidification process during welding, which may affect the stability and performance of the structure in the subsequent use and work of the material.

[0003] How to reduce welding residual stress is an issue that urgently needs to be solved. Summary of the invention

[0004] In view of this, the present application provides a robot laser thin plate welding residual stress reduction and equalization device and method, which can effectively reduce the welding residual stress at the weld.

[0005] The present application provides a residual stress reduction and homogenization device for robot laser thin plate welding, which is suitable for robot laser welding of thin plates to be welded, and includes a workbench and an ultrasonic transducer; the workbench is suitable for placing the thin plates to be welded, and the thin plates to be welded can be welded by robot laser, and at least two through holes are opened on the workbench, and the through holes are arranged along the width direction of the workbench; there are more than two ultrasonic transducers, and the ultrasonic transducers are arranged below the workbench, corresponding to the positions of the through holes of the workbench.

[0006] In a possible implementation of a residual stress reduction and homogenization device for robot laser thin plate welding, the ultrasonic transducer includes: an amplitude transformer, a front end cover, a piezoelectric ceramic sheet, an electrode sheet and a rear end cover; the amplitude transformer is a cylinder, one end of the amplitude transformer is provided with a flange, one end of the amplitude transformer passes through the through hole of the workbench and is flush with the upper surface of the workbench or is higher than the upper surface of the workbench by a preset distance, and the amplitude transformer is used to increase the heat dissipation area of ​​the ultrasonic transducer; the front end cover is connected to the opposite end of the amplitude transformer connected to the thin plate to be welded; the piezoelectric ceramic sheet is arranged at the opposite end where the front end cover is connected to the amplitude transformer; the electrode sheet is arranged at the opposite end where the voltage ceramic sheet is connected to the front end cover; the rear end cover is arranged at the opposite end where the electrode sheet is connected to the piezoelectric ceramic sheet, and a clamping nut is arranged at the other end of the rear end cover; and the through hole passes through the front end cover, the piezoelectric ceramic sheet, the electrode sheet and the rear end cover.

[0007] In a possible implementation of the residual stress reduction and homogenization device for robot laser thin plate welding, it also includes a copper pressure plate, which is detachably arranged on the top of the workbench, and the thin plate to be welded is arranged between the copper pressure plate and the workbench.

[0008] In a possible implementation of the residual stress reduction and homogenization device for robot laser thin plate welding, the copper pressure plate is arranged on the top of the thin plate to be welded and is close to the position of 15 mm of the welding seam of the thin plate to be welded.

[0009] In a possible implementation of the residual stress reduction and homogenization device for robot laser thin plate welding, a groove is provided on the copper pressing plate near the weld end, and the slope of the groove is α, and α is 45°.

[0010] In a possible implementation of the residual stress reduction and homogenization device for robot laser thin plate welding, it also includes a power cord and an ultrasonic power supply, one end of the power cord is connected to the clamping nut, and the other end of the power cord is connected to the ultrasonic power supply.

[0011] In a possible implementation of the residual stress reduction and homogenization device for robot laser thin plate welding, the ultrasonic transducer and the ultrasonic power supply are both provided in plurality, and the number of the ultrasonic transducer is the same as the number of the ultrasonic power supply.

[0012] In a possible implementation of the residual stress reduction and homogenization device for robot laser thin plate welding, it also includes a host computer, the host computer is electrically connected to the ultrasonic power supply, and the ultrasonic power supply is connected to the host computer using the RS485 protocol.

[0013] In a possible implementation of the residual stress reduction and homogenization device for robot laser thin plate welding, it also includes a spring and a screw, a screw hole is opened on the amplitude change rod, the screw passes through the screw hole, and the spring is arranged on the screw hole, located at the connection end of the amplitude change rod and the workbench.

[0014] In a possible implementation of a residual stress reduction and homogenization device for robot laser thin plate welding, a coupling agent is applied to the connecting end between the amplitude transformer and the thin plate to be welded; and a high-temperature thermal conductive material is applied between the copper pressure plate and the thin plate to be welded.

[0015] The present application also provides a method for reducing and equalizing residual stress in welding of metal sheets, using any of the above-mentioned devices to reduce and equalize welding residual stress during welding, comprising the following steps:

[0016] Set welding trajectory and parameters;

[0017] Placing the thin plate to be welded at a preset position on the workbench, and placing a copper pressing plate on the thin plate to be welded and pressing it tightly;

[0018] The horn of the ultrasonic transducer is placed close to both sides of the weld;

[0019] activating the ultrasonic transducer;

[0020] The robot performs laser welding on the thin plates to be welded according to the set welding trajectory.

[0021] Beneficial effects of the present invention: the present application arranges an ultrasonic transducer and an amplitude transformer under a welding workbench; the workbench is a plate-like structure with a certain thickness, and a through hole is provided on the workbench. The workbench is arranged to place the thin plate to be welded so that the welding of the thin plate can be completed on the workbench, and the through hole is arranged to enable the amplitude transformer to be connected to the thin plate to be welded; the copper pressure plate is detachably arranged on the top of the workbench, and the thin plate with welding is arranged between the copper pressure plate and the workbench, and the copper pressure plate is arranged to cooperate with the workbench to press the wall panel to be welded; the ultrasonic transducer is arranged at the bottom of the workbench, the ultrasonic transducer corresponds to the through hole position of the workbench, and a through hole is arranged on the upper part of the ultrasonic transducer, and the through hole can penetrate the two ends of the ultrasonic transducer, so that the welding residual stress at the weld can be reduced by the ultrasonic transducer during the welding process of the thin plate to be welded. In the present application, the horn is a cylinder, one end of which is provided with a flange, one end of which passes through a through hole of the workbench and is connected to a thin plate to be welded, and the other end of the horn is connected to one end of the ultrasonic transducer. The horn is used to increase the heat dissipation area of ​​the ultrasonic transducer, which helps the ultrasonic transducer to work for a longer time to prevent the transducer from being damaged due to excessive temperature. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram showing the overall structure of the device of the present application in cooperation with the robot laser;

[0023] Figure 2 A schematic diagram of the specific structure of an ultrasonic transducer in an embodiment of the present application is shown;

[0024] Figure 3 A schematic diagram showing a specific structure of an embodiment of the present application is shown;

[0025] Figure 4 A working principle diagram of a host computer according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0027] Examples of embodiments are shown in the accompanying drawings, wherein the same or similar symbols throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0028] In the description of the present invention, it is necessary to understand that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0029] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0030] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "join", "hinge", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] The robot laser thin plate welding residual stress reduction and homogenization device of the present application is suitable for reducing and homogenizing the welding residual stress of the weld when the robot is used to perform laser welding on the thin plate to be welded. Specifically, an embodiment of the present application is as follows: Figure 1 As shown, the residual stress reduction and homogenization device for laser thin plate welding by a manipulator includes a workbench 100, a copper pressing plate 110 and an ultrasonic transducer 200. The workbench 100 is a plate-like structure with a certain thickness, and the upper part is a flat structure, which is suitable for placing the thin plate to be welded. When the manipulator is needed to weld the thin plate to be welded, the thin plate to be welded is first placed on the upper surface of the workbench. The manipulator can be used to weld the thin plate to be welded later.

[0032] Specifically, in this embodiment, a through hole is provided on the workbench 100, and the through hole is set from the top to the bottom of the workbench. The ultrasonic transducer 200 is arranged at the bottom of the workbench 100, and the ultrasonic transducer 200 corresponds to the through hole position of the workbench 100. The ultrasonic transducer can transmit energy upward to the thin plate placed on the workbench through the through hole on the workbench, thereby exerting an effect on the residual stress of the weld during the welding process. A through hole is provided on the ultrasonic transducer 200, and the through hole can penetrate the two ends of the ultrasonic transducer 200. The horn 210 connected to the ultrasonic transducer is a cylinder, and flanges are provided at both ends of the horn 210. One end of the horn 210 penetrates the through hole of the workbench 100 and is connected to the thin plate to be welded, and the other end is connected to one end of the ultrasonic transducer 200. Thus, the horn 210 can transmit the energy of the ultrasonic transducer to the welded thin plate. Moreover, the horn 210 can increase the heat dissipation area of ​​the ultrasonic transducer 200. Furthermore, a copper pressing plate 110 is also provided in this embodiment. The copper pressing plate 110 is detachably provided on the top of the workbench 100. During welding, the thin plate to be welded is provided between the copper pressing plate 110 and the workbench 100. The copper pressing plate 110 ensures that the position of the thin plate to be welded is stable and prevents movement.

[0033] Specifically, the robot laser welds several thin plates to be welded, and first places the thin plates to be welded on the workbench 100. In order to ensure that the thin plates to be welded do not move during the entire welding process, a detachable copper pressure plate 110 is provided on the top of the workbench 100, and the copper pressure plate 110 is pressed to the top of the thin plates to be welded. Therefore, the copper pressure plate 110 cooperates with the workbench 100 to fix and press the thin plates to be welded. In order to reduce and equalize the residual stress generated during welding, an ultrasonic transducer 200 is provided at the bottom of the workbench 100, and a through hole is provided on the workbench 100. The setting position of the ultrasonic transducer 200 corresponds to the position of the through hole of the workbench 100, so that the ultrasonic transducer can transmit energy to the thin plate on the workbench through the through hole to reduce and equalize the residual stress of the welding weld. Furthermore, in order to better reduce and homogenize the residual stress generated during welding, a plurality of vias and a plurality of ultrasonic transducers 200 are provided on the workbench 100, and each ultrasonic transducer corresponds to a via. Of course, in the specific implementation process, the number of vias may also be more than the number of ultrasonic transducers. However, each transducer needs to correspond to a via to ensure that the energy of the ultrasonic transducer can be transmitted to the welded thin plate through the via. It should be further explained that in the embodiment of the present application, when welding, the weld should be placed along the line of multiple vias to ensure that vias are provided on both sides of the weld, so that the residual stress of the weld can be reduced and homogenized from both sides of the weld.

[0034] Specifically, the positions of the vias on the workbench can be set according to the shape of the weld of the thin plate to be welded. The arrangement route of the vias on the workbench is set to match the shape of the weld of the thin plate to be welded. For example, if the weld of the thin plate to be welded is a straight line, a plurality of vias arranged in a straight line are set, and a group of vias arranged along the straight line can also be arranged, with two vias in each group, which are respectively set on two symmetrical sides. When the weld is a curve, a plurality of vias are opened along the curve on the workbench, or a plurality of via groups are set along the curve, and the two vias in each group are set on both sides of the curve. The specific number of vias can be set according to actual needs. As an implementable embodiment, the workbench can be in a rectangular shape. The plurality of vias can be distributed in a matrix with a preset distance between them.

[0035] In a possible implementation, the ultrasonic transducer 200 includes: an horn 210, a front cover 220, a piezoelectric ceramic sheet 230, an electrode sheet 240 and a rear cover 250. The horn 210 is a cylinder, and flanges are provided at both ends of the horn 210. One end of the horn 210 passes through the through hole of the workbench 100 and is connected to the thin plate to be welded, and the other end of the horn 210 is connected to one end of the ultrasonic transducer 200. The piezoelectric ceramic sheet 230 is provided at the opposite end where the front cover 220 is connected to the horn 210; the electrode sheet 240 is provided at the opposite end where the voltage ceramic sheet 220 is connected to the front cover; the rear cover 250 is provided at the opposite end where the electrode sheet 240 is connected to the piezoelectric ceramic sheet 230, and a clamping nut 250 is provided at the other end of the rear cover 250; and the through hole passes through the front cover 220, the piezoelectric ceramic sheet 230, the electrode sheet 240 and the rear cover 250.

[0036] Specifically, Figures 2 to 3As shown, the specific structure of the ultrasonic transducer 200 includes a horn 210, a front end cover 220, a piezoelectric ceramic sheet 230, an electrode sheet 240 and a rear end cover 250. When the ultrasonic transducer 200 is working, the ultrasonic transducer 200 generates heat. In order to increase the heat dissipation area of ​​the ultrasonic transducer 200, a horn 210 is provided. The horn 210 is provided between the ultrasonic transducer 200 and the workbench 100. In order to facilitate the connection between the horn 210 and the ultrasonic transducer 200 and the workbench 100, flanges are provided at both ends of the horn 210. One end of the horn 210 passes through the through hole of the workbench 100 and abuts against the thin plate to be welded. The other end of the horn 210 is connected to one end of the ultrasonic transducer 200. The piezoelectric ceramic sheet 230 is a core component of the ultrasonic transducer 200, which can realize the mutual conversion between electrical energy and mechanical energy. The piezoelectric ceramic 230 is a ceramic material with a piezoelectric effect. When an alternating voltage is applied to the piezoelectric ceramic 230, it will generate an alternating strain, thereby realizing the conversion of electrical energy into mechanical energy. In this embodiment, the electrode sheet 240 is provided to connect the piezoelectric ceramic sheet 230 and the external circuit, and the clamping nut 260 is provided to make the structure of the ultrasonic transducer more complete, so that the horn 210, the front cover 220, the piezoelectric ceramic sheet 230, the electrode sheet 240 and the rear cover 250 are more closely fitted.

[0037] In a possible implementation, the copper pressing plate 110 is arranged on the top of the thin plate to be welded, and is close to the welding seam of the thin plate to be welded at a position of 15 mm. A groove is provided near the end of the weld seam of the copper pressing plate 110, and the slope of the groove is α, and α is 45°. Preferably, the copper pressing plate is a brass pressing plate.

[0038] Specifically, Figure 3 As shown, a copper pressing plate 110 is placed on the upper part of the thin plate to be welded, and the copper pressing plate 110 is pressed on both sides of the weld. A clamping device is used on the copper pressing plate 110 to press it on the workbench 100 to prevent the ultrasonic transducer 200 from vibrating during operation, causing the position of the thin plate to be welded to change and affect the welding process. A 45° groove is opened near the weld. The use of a brass pressing plate can increase heat conduction, speed up heat dissipation, and reduce the heat at the weld of the welded plate. Large and uneven heat input is an important cause of welding residual stress. Pressing the copper pressing plate 110 to promote heat dissipation can better improve the mechanical properties of the weld and reduce welding residual stress.

[0039] In a possible implementation, a power cord 310 and an ultrasonic power supply 300 are further included, one end of the power cord 310 is connected to the compression nut 260 , and the other end of the power cord 310 is connected to the ultrasonic power supply 300 .

[0040] Specifically, Figure 3As shown, in order to enable the ultrasonic transducer 200 to work, an ultrasonic power supply 300 is provided, and the ultrasonic transducer 200 is connected to the ultrasonic power supply 300 via a power line 310 to supply power to the ultrasonic transducer 200.

[0041] In a possible implementation, both the ultrasonic transducer 200 and the ultrasonic power supply 300 are provided in plurality, and the number of the ultrasonic transducer 200 is the same as the number of the ultrasonic power supply 300 .

[0042] Specifically, Figure 3 As shown, in order to control a single ultrasonic transducer 200 to work according to actual needs, a plurality of ultrasonic power supplies 300 are provided, and one ultrasonic power supply 300 controls a corresponding ultrasonic transducer 200, so the number of ultrasonic transducers 200 is the same as that of ultrasonic power supplies 300.

[0043] In a possible implementation, a host computer 400 is further included. The host computer 400 is electrically connected to the ultrasonic power supply 300, and the ultrasonic power supply 300 is connected to the host computer 400 using the RS485 protocol.

[0044] Specifically, Figure 3 As shown, in order to be able to regulate the ultrasonic transducer 200, a host computer 400 is set up. The host computer 400 can simultaneously control the ultrasonic transducer 200 to regulate the welding process of the thin plate to be welded. During the welding process, it is not appropriate to apply ultrasound at the molten pool where the welding gun is located, because applying ultrasound at this time will affect the weld performance at the molten pool. However, when welding is just over and the molten pool is in a hot state, applying ultrasound can more effectively improve the weld performance and reduce residual stress. When the host computer 400 can control the ultrasonic transducer 200 in real time for regulation, it can be linked in time and space with the set robot welding trajectory, so that the ultrasonic transducer 200 located at the welding gun position works at a lower power or does not work, while the molten pool at the past position of the welding gun is applied with high power for stress reduction and regulation.

[0045] Among them, the upper computer 400 includes an interactive interface and a bottom layer sequence. Preferably, a self-edited csv file (control process card) can be selected, and the ultrasonic control process can be set according to different trajectories and welding conditions to meet various working conditions. The interactive interface includes an import interface, a timing start button and a parameter display. The bottom program includes a csv decoding part, a command execution part and a palindrome decoding part. The import interface controls the csv decoding part so that the csv decoding part decodes the edited csv file and provides an execution plan. The timing start button controls the command execution part so that the command execution part executes the above-mentioned execution plan, so that the command execution part sends control instructions to the ultrasonic power supply 300 at a regular interval. The ultrasonic power supply 300 returns a parameter data frame, and the parameter data frame enters the palindrome decoding part for decoding, and finally is displayed on the parameter display interface of the interactive interface.

[0046] In a possible implementation, an ultrasonic transducer holder is also included, which is a hollow cylinder with openings at both ends, and the ultrasonic transducer holder is fixedly arranged below the workbench 100. A plurality of screw holes are provided on the ultrasonic transducer holder, and the horn of the ultrasonic transducer is fixed to the holder through the screw holes. A spring and a screw are also included, the screw passes through the screw hole, and the spring is arranged between the screw and the screw hole. The ultrasonic transducer holder is fixed below the workbench 100 and is connected and fixed to the bottom surface of the workbench. The ultrasonic transducer 200 is fixed to the bottom of the workbench through the ultrasonic transducer holder, and the horn 210 passes through the ultrasonic transducer holder and contacts the thin plate to be welded. The ultrasonic transducer 200 is integrated with the workbench 100 through the ultrasonic transducer holder, avoiding the need to install the ultrasonic transducer 200 before welding, saving a certain amount of time.

[0047] In a possible implementation, a coupling agent is applied to the connection end between the horn 210 and the thin plate to be welded; and a high-temperature heat-conducting material is applied between the copper pressing plate 110 and the thin plate to be welded.

[0048] Specifically, Figure 3 As shown, coupling agent is applied to the connection end of the horn 210 and the thin plate to be welded in order to achieve better heat conduction.

[0049] A method for reducing and equalizing residual stress in welding of metal sheets includes the following specific steps: Step 1: Using the above-mentioned device, adopting robot laser welding, setting welding trajectory and parameters; Step 2: Placing the thin plate to be welded on the workbench 100, with the amplitude transformer 210 close to both sides of the weld, and placing a copper pressing plate 110 on the upper part of the thin plate to be welded and pressing it tightly; Step 3: The ultrasonic transducer 200 and the ultrasonic power supply 300 are connected and corresponded one to one through the power line 310, specifying a specific serial number, and connected to the host computer 400 through the power line 310.

[0050] Specifically, step 1: use the above-mentioned device, adopt robot laser welding, set welding trajectory and parameters; step 2: place the thin plate to be welded on the workbench 100, place the copper pressing plate 110 on the upper part of the thin plate to be welded, make the copper pressing plate 110 and the workbench 100 cooperate, press the thin plate to be welded, make the horn 210 close to both sides of the weld, and place the thin plate to be welded on the workbench 100 during the welding process. Displacement; step 3: The ultrasonic transducer 200 and the ultrasonic power supply 300 are connected and corresponded one by one through the power line 310, specify a specific serial number, and are connected to the host computer 400 through the power line 310. The host computer 400 controls the ultrasonic power supply 300 through an internal specific program, and the ultrasonic power supply 300 provides power to the ultrasonic transducer 200, so that the ultrasonic transducer 300 starts working.

[0051] The present application sets a workbench 100, a copper pressure plate 110, an ultrasonic transducer 200, an ultrasonic power supply and a host computer 400. The workbench 100 is set in order to complete the welding work on the workbench 100. The copper pressure plate 110 cooperates with the workbench 100 to fix and press the thin plate to be welded. The ultrasonic transducer 200 is set in order to reduce and equalize the residual stress generated during welding. In order to enable the ultrasonic transducer 200 to work, an ultrasonic power supply 300 is set. The ultrasonic transducer 200 and the ultrasonic power supply 300 are connected through a power line 310. In order to be able to regulate the ultrasonic transducer 200, a host computer 400 is set. The host computer 400 can simultaneously control the ultrasonic transducer 200 to regulate the welding process of the thin plate to be welded. Through the above settings, the present application can effectively reduce and equalize the residual stress generated during welding, and solve the problem that the residual stress generated when welding thin plates causes the subsequent use and work of the material to affect the stability and performance of the structure.

[0052] The above are only preferred specific implementations of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and concepts of the present invention within the scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A residual stress reduction and homogenization device for robot laser thin plate welding, suitable for robot laser welding of thin plates to be welded, characterized in that: Includes a workbench and an ultrasonic transducer; The workbench is suitable for placing the thin plates to be welded, the thin plates to be welded can be laser welded by a robot, and at least one group of via holes is opened on the workbench, and the group of via holes is two via holes arranged along the width direction of the workbench; There are more than two ultrasonic transducers, and the ultrasonic transducers are arranged below the workbench and correspond to the positions of the through holes of the workbench.

2. The residual stress reduction and homogenization device for laser sheet welding of a manipulator according to claim 1, characterized in that: The ultrasonic transducer comprises: a horn, a front end cover, a piezoelectric ceramic sheet, an electrode sheet and a rear end cover; The horn is a cylinder, one end of which is provided with a flange, one end of which passes through the through hole of the workbench and is flush with the upper surface of the workbench or is higher than the upper surface of the workbench by a preset distance, and the horn is used to increase the heat dissipation area of ​​the ultrasonic transducer; The front end cover is connected to the opposite end of the horn connected to the thin plate to be welded; The piezoelectric ceramic sheet is arranged at the opposite end where the front end cover is connected to the horn; The electrode sheet is arranged at the opposite end where the voltage ceramic sheet is connected to the front end cover; The rear end cover is arranged at the opposite end where the electrode sheet is connected to the piezoelectric ceramic sheet, and a clamping nut is arranged at the other end of the rear end cover; The through hole penetrates the front end cover, the piezoelectric ceramic sheet, the electrode sheet and the rear end cover.

3. The residual stress reduction and homogenization device for robot laser thin plate welding according to claim 2, characterized in that: It also includes a copper pressing plate, which is detachably arranged on the top of the workbench, and the thin plate to be welded is arranged between the copper pressing plate and the workbench.

4. The residual stress reduction and homogenization device for robot laser thin plate welding according to claim 3, characterized in that: The copper pressure plate is arranged on the top of the thin plate to be welded and is close to the position of 15 mm of the welding seam of the thin plate to be welded.

5. The residual stress reduction and homogenization device for robot laser thin plate welding according to claim 4, characterized in that: The copper pressing plate is provided with a groove near the welding seam end, and the slope of the groove is α, and α is 45°.

6. The residual stress reduction and homogenization device for laser sheet welding by a manipulator according to any one of claims 1 to 5, characterized in that: It also includes a power cord and an ultrasonic power supply, wherein one end of the power cord is connected to the compression nut, and the other end of the power cord is connected to the ultrasonic power supply.

7. The residual stress reduction and homogenization device for robot laser thin plate welding according to claim 6 is characterized in that: The ultrasonic transducer and the ultrasonic power supply are both provided in plurality, and the number of the ultrasonic transducer is the same as the number of the ultrasonic power supply.

8. The residual stress reduction and homogenization device for robot laser thin plate welding according to claim 6 is characterized in that: It also includes a host computer, which is electrically connected to the ultrasonic power supply, and the ultrasonic power supply is connected to the host computer using the RS485 protocol.

9. The residual stress reduction and homogenization device for robot laser thin plate welding according to claim 8, characterized in that: A coupling agent is applied to the connection end between the horn and the thin plate to be welded; A high-temperature heat-conducting material is applied between the copper pressing plate and the thin plate to be welded.

10. A method for reducing and equalizing residual stress in robot laser thin plate welding, characterized in that: Using the device according to any one of claims 1 to 9 to reduce and equalize welding residual stress during welding, the method comprises the following steps: Set welding trajectory and parameters; Placing the thin plate to be welded at a preset position on the workbench, and placing a copper pressing plate on the thin plate to be welded and pressing it tightly; The horn of the ultrasonic transducer is placed close to both sides of the weld; activating the ultrasonic transducer; The robot performs laser welding on the thin plates to be welded according to the set welding trajectory.

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