A laser welding device and a micro part laser welding method

Abstract

This invention relates to the technical field of micro-part assembly equipment, specifically to a laser welding device and a laser welding method for micro-parts. The laser welding device includes a laser welding gun, a welding table, and a welding vision device. The welding table is equipped with a positioning mechanism for positioning parts. The laser welding gun is positioned above the welding table so that its laser beam irradiates the parts on the placement table. The welding vision device works in conjunction with the laser welding gun to observe the welding process. The device, with its laser welding gun, welding table, and welding vision device working in tandem, achieves precise positioning of micro-parts with a diameter of less than 5mm to prevent displacement. The laser welding gun beam is focused and precisely matched to the micro-weld joint. The welding vision device observes the welding process in real time and guides the welding execution. This overall solution addresses the problems of insufficient positioning accuracy, high operational difficulty, and high defect rate in traditional welding methods, ensuring stable welding quality.

Description

Technical Field

[0001] This invention relates to the technical field of micro-part assembly equipment, and more specifically, to a laser welding apparatus and a laser welding method for micro-parts. Background Technology

[0002] Against the backdrop of rapid miniaturization and precision iteration in modern manufacturing, micro-parts with diameters of less than 5mm are widely used in high-end fields such as medical devices, consumer electronics, industrial automation, and aerospace. These include core components of micro-sensors, precision connector terminals, and micro-mechanical transmission structures. The assembly and welding quality of these parts directly determines the performance, reliability, and lifespan of the final product. As product integration continues to increase, the application scenarios for micro-parts are becoming increasingly complex. In most cases, it is necessary to first assemble and position multiple micro-parts, and then weld and fix the assembled connection points to form a complete functional component, meeting the design requirements of product miniaturization and lightweighting.

[0003] Currently, welding of assembled micro-parts with a diameter of less than 5mm faces many technical bottlenecks due to the small size of the parts and the compact structure after assembly. This has become a key problem restricting the mass production efficiency and quality stability of micro-components.

[0004] First, controlling the precision of the welding operation is difficult. For micro-parts with a diameter of less than 5mm, the welding area is typically only a few tenths of a millimeter to a few millimeters. The precision of traditional welding tools cannot fully meet the requirements of this size. For example, the minimum diameter of a conventional micro soldering iron tip is about 0.3mm, far exceeding the size of some micro-solder joints. During welding, it is very easy to cause bridging between adjacent welding areas, or damage to the micro-parts due to the mechanical pressure generated by the contact between the soldering iron tip and the part, such as deformation or electrode detachment. At the same time, the positioning accuracy of the assembled micro-parts is extremely high. Even a slight positional shift during the welding process can lead to welding failure. Manual operation or conventional automated equipment cannot achieve micron-level welding positioning, which greatly increases the difficulty of operation.

[0005] Secondly, controlling the heat-affected zone (HAZ) during welding is challenging. Miniature components are small in size and have low heat capacity, making them extremely sensitive to welding temperature. Traditional welding processes often result in excessively large HAZs, which can damage the component itself, surrounding heat-sensitive elements, and flexible substrates. For example, excessively high local temperatures during welding can cause the miniature component to melt and deform, deteriorating its material properties. Conversely, excessively low temperatures can prevent effective fusion, leading to insufficient component connection strength and making the component prone to detachment and failure during subsequent use, severely impacting product reliability.

[0006] Furthermore, existing welding processes suffer from poor adaptability and low yield. For assembled micro-parts, the welding space is typically very limited, making it difficult for traditional welding tools to reach the welding area, leading to problems such as incomplete welds and uneven solder distribution. Simultaneously, precise control of solder usage is challenging; too much solder can cause overflow and contaminate the parts, while too little will fail to guarantee weld strength, further complicating the welding operation. Industry data shows that the welding defect rate for assembled micro-parts with diameters below 5mm is generally high, exceeding 25% in some scenarios. This not only results in material waste but also significantly increases production costs and rework workload.

[0007] In summary, current welding processes for assembling micro-parts with diameters below 5mm suffer from numerous problems due to the small size of the parts and the compact assembly structure. These include high operational difficulty, insufficient positioning accuracy, high risk of thermal damage, and low welding yield, failing to meet the demands of modern micro-manufacturing for large-scale, high-precision, and high-reliability production. Therefore, developing a welding technology that addresses these technical pain points, reduces the difficulty of welding operations after assembling micro-parts, and improves welding quality and production efficiency has become a pressing technical problem for those skilled in the art. Summary of the Invention

[0008] The purpose of this invention is to provide a laser welding device and a laser welding method for micro parts, which can conveniently weld micro parts with a diameter of less than 5 mm and quickly complete the assembly.

[0009] The embodiments of the present invention are achieved through the following technical solutions: A laser welding apparatus includes a laser welding gun, a welding table, and a welding vision device; the welding table is provided with a positioning mechanism for positioning parts; the laser welding gun is positioned above the welding table so that the laser beam of the laser welding gun irradiates the parts on the placement table; the welding vision device is configured in conjunction with the laser welding gun so that the welding vision device can observe the welding status of the laser welding gun.

[0010] Furthermore, the welding table is provided with a rotating platform; the positioning mechanism is disposed on the rotating platform so that the parts of the positioning mechanism rotate with the rotating platform; the rotating platform is configured to cooperate with the laser welding gun so that the laser welding gun always irradiates the weld seam of the parts when the rotating platform rotates.

[0011] Furthermore, the welding vision is vertically positioned and its centerline is aligned with the rotation axis of the rotary table; the centerline of the positioning mechanism is aligned with the rotation axis of the rotary table; and the laser beam of the laser welding gun intersects with the centerline of the welding vision.

[0012] Furthermore, the positioning mechanism includes a positioning seat and a clamping member. The positioning seat is provided with a positioning groove for placing parts, and the outer wall of the positioning seat is also provided with a clamping hole communicating with the interior of its positioning groove. The clamping member is telescopically disposed outside the clamping hole, so that the clamping member can extend into the positioning groove through the clamping hole and clamp the parts inside the positioning groove; the center line of the positioning groove is colinear with the rotation axis of the rotary table. (This positions the parts for better welding.) Furthermore, the welding table is equipped with drive mechanisms on both its X-axis and Y-axis to enable the rotary table to move in the horizontal plane.

[0013] Furthermore, both the welding vision device and the laser welding gun are mounted on a lifting plate; the lifting plate is equipped with a Z-axis drive mechanism to enable it to move up and down.

[0014] Furthermore, it also includes a loading robot; the loading robot is configured to cooperate with the welding table so that the loading robot places the part inside the positioning groove; after the loading robot places the micro part into the positioning groove, the clamping member extends into the positioning groove and clamps the micro part.

[0015] Furthermore, the inner wall of the material handling gripper of the loading robot is provided with an anti-adhesion structure, which includes several micro-protrusions distributed along the inner wall of the material handling gripper to prevent micro-parts from sticking to the inner wall of the material handling gripper.

[0016] A laser welding method for micro-parts includes the following steps: Part positioning: After placing the part in the positioning groove, the rotating seat moves in the horizontal plane until the center line of the positioning groove is aligned with the center line of the welding vision. Weld point positioning: The lifting plate descends and the laser welding gun beam is guided by welding vision to illuminate the weld seam of the part; Welding: The rotating table causes the weld seam to be gradually welded by the laser beam.

[0017] Furthermore, during the weld point positioning process, the laser welding gun emits a positioning beam; the light from the positioning beam is aligned with the light from the welding beam; after the weld point positioning is completed, the rotary table rotates one revolution and the welding vision is used to observe whether the positioning beam always illuminates the weld; if the positioning beam illuminates a position other than the weld, the rotary table moves in the horizontal plane during welding to ensure that the welding beam always illuminates the weld.

[0018] The technical solutions of the embodiments of the present invention have at least the following advantages and beneficial effects: The device is equipped with a laser welding gun, a welding table, and a welding vision system. The three work together to ensure that the positioning mechanism precisely limits the movement of micro parts with a diameter of less than 5mm to prevent displacement. The laser welding gun beam is concentrated and precisely matched to the micro weld point. The welding vision system observes the welding process in real time and guides the welding execution. Overall, it solves the problems of insufficient positioning accuracy, high operation difficulty, and high defect rate in traditional welding, and ensures stable welding quality.

[0019] The welding table is equipped with a rotating platform and a positioning mechanism mounted on it. When the rotating platform drives the parts to rotate, the laser welding gun always irradiates the annular weld seam. The annular welding can be completed without moving the welding gun, which solves the problem of easy missed welding due to the small welding space of traditional welding tools. At the same time, it improves welding efficiency and adapts to mass production needs.

[0020] The welding vision is vertically positioned and aligned with the rotation axis of the rotary table. The center line of the positioning mechanism is also aligned with the rotation axis of the rotary table. The laser welding gun is tilted and the beam intersects with the center line of the welding vision. This coaxial and tilted design ensures clear real-time observation of the welding vision and can be adapted to annular seam parts of different diameters. It solves the problems of poor adaptability and observation deviation of traditional welding tools and expands the applicability of the device.

[0021] The positioning mechanism includes a positioning seat with a positioning groove and a retractable clamping member. The positioning groove is adapted to the miniature part, and the clamping member clamps the part through the clamping hole. The positioning groove is aligned with the rotation axis of the rotary table. This structure enables the part to be firmly positioned, ensuring that the weld is always within the laser irradiation range during welding. It solves the problem of poor positioning and easy displacement of miniature parts, which leads to welding failure.

[0022] The welding table is equipped with drive mechanisms on the X and Y axes to move the rotary table, which can precisely adjust the horizontal position of the parts to achieve alignment between the weld seam and the laser beam without manual adjustment. This solves the problem that manual and conventional equipment cannot achieve micron-level positioning and reduces the difficulty of operation.

[0023] The welding vision and laser welding gun are mounted on a lifting plate with a Z-axis drive mechanism, which can adjust the height synchronously to adapt to the welding of parts of different heights, ensuring the welding focusing effect and observation clarity, and solving the problems of traditional welding tools such as non-adjustable height, poor adaptability and insufficient positioning accuracy.

[0024] The inner wall of the material handling clamp is equipped with a uniformly distributed micro-protrusion anti-adhesion structure, which reduces the contact area with the parts, avoids the parts from adhering, ensures stable and accurate picking and placing, improves the stability of the device operation, and solves the problem of easy adhesion and inconvenience of picking and placing micro parts.

[0025] In the welding method, the part positioning stage achieves precise alignment through the robot's feeding, clamping, and rotating table movement. The weld point positioning stage ensures that the laser is aligned with the weld seam through the adjustment of the lifting plate and the calibration of the positioning beam. The welding stage uses the rotating table to rotate the part in conjunction with laser welding and visual monitoring. This method solves the problems of high operation difficulty and unstable quality in traditional welding methods, thereby improving welding quality and efficiency. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the laser welding apparatus of the present invention.

[0027] Figure 2 This is a schematic diagram of a welding station.

[0028] Figure 3 for Figure 2 Enlarged view of point a in the middle.

[0029] Figure 4 This is a schematic diagram of the positioning mechanism.

[0030] Figure 5 This is a schematic diagram showing the position of the laser beam on the part when the part is close to the welding line of sight.

[0031] Figure 6 This is a schematic diagram showing the position of the laser beam on the part when the part is far from the welding line of sight.

[0032] Reference numerals: 1-Lifting plate, 2-Laser welding gun, 3-Welding table, 4-Welding vision, 5-Positioning seat, 6-Part, 7-Tightening component, 8-Rotating table, 9-Weld seam, 10-Tightening hole, 11-Positioning groove. Detailed Implementation

[0033] like Figures 1-6 As shown, in order to solve the technical pain points in the background art such as the difficulty of welding operations, insufficient positioning accuracy, and unstable welding quality of micro parts 6 with a diameter of less than 5mm after assembly, this embodiment provides a laser welding device and a corresponding welding method, which is specifically adapted to the welding needs of this type of micro part 6, and is especially suitable for welding micro parts 6 with annular gaps on the upper surface. The following is a detailed description in conjunction with the specific structure.

[0034] The core of the laser welding device in this embodiment includes a laser welding gun 2, a welding table 3, and a welding vision device 4. These three components work together to address the shortcomings of traditional welding processes from three dimensions: positioning, welding, and observation. The welding table 3 serves as the support for the micro-part 6 and is specifically equipped with a positioning mechanism for positioning the part 6. This positioning mechanism can precisely limit the positioning of micro-parts 6 with a diameter of less than 5mm, preventing displacement of the part 6 during welding and effectively solving the problems of insufficient welding positioning accuracy and welding failure due to positional deviation in the prior art. The laser welding gun 2 is positioned above the welding table 3, and its emitted laser beam can be precisely aligned with the positioned part 6 on the welding table 3. Compared with traditional micro-soldering and wire-feed laser welding processes, the laser welding gun 2 has a more concentrated and precise beam, adapting to the welding requirements of micro-parts 6 ranging from a few tenths of a millimeter to several millimeters, significantly reducing the difficulty of welding operations. The welding vision device 4 works in conjunction with the laser welding gun 2, enabling real-time observation of the welding process, timely detection of welding defects, and solving the problems of inability to monitor the welding process in real time and high defect rates in the prior art, ensuring the stability of welding quality.

[0035] In the structural design of the welding station 3, a rotary table 8 is specially provided, and a positioning mechanism is fixedly installed on the rotary table 8, so that the miniature part 6 carried on the positioning mechanism can rotate synchronously with the rotary table 8. Figure 3 As shown, the gap after assembly of part 6 is annular. Considering the characteristics of the micro-part 6 with an annular gap on its upper surface, which is the subject of this patent, the rotary table 8 and the laser welding gun 2 work precisely together. When the rotary table 8 rotates part 6, the laser welding gun 2 always keeps the laser beam irradiating the annular weld seam of part 6. The entire annular gap can be welded without moving the laser welding gun 2, effectively solving the problems of limited welding space, difficulty in penetrating with traditional welding tools, and easy incomplete welding in the prior art. At the same time, it improves welding efficiency and adapts to the mass production needs of micro-components.

[0036] To further improve welding accuracy and adaptability, the welding vision device 4 is vertically positioned, with its centerline aligned with the rotation axis of the rotary table 8. The centerline of the positioning mechanism is also aligned with the rotation axis of the rotary table 8. This coaxial design ensures that the welding vision device 4 can clearly observe the welding area of ​​the part 6 while the rotary table 8 rotates, avoiding monitoring errors caused by observation angle deviations and guaranteeing the traceability of the welding process. Simultaneously, the beam of the laser welding gun 2 intersects the centerline of the welding vision device 4, causing the laser welding gun 2 to be tilted. Figure 5 and Figure 6 As shown, Figure 6 The laser welding gun 2 is relative to Figure 5The further the laser irradiation point on the surface of part 6 is from the center of rotation, the more adaptable this structural design can be to welding micro parts 6 with annular seams of different diameters. This solves the problem of poor adaptability of traditional welding tools in the background technology and their inability to flexibly deal with micro parts 6 of different specifications, thus expanding the applicability of the device.

[0037] The positioning mechanism, as the core component for positioning part 6, specifically includes a positioning seat 5 and a clamping member 7. The positioning seat 5 has a positioning groove 11 that matches the shape of the miniature part 6. The dimensions of the positioning groove 11 precisely match the miniature part 6, enabling initial positioning and limiting of part 6 and preventing horizontal displacement. On the outer wall of the positioning seat 5, a clamping hole 10 communicating with the interior of the positioning groove 11 is also provided. The position of the clamping hole 10 corresponds to the side wall of part 6. The clamping member 7 is telescopically mounted on the outside of the clamping hole 10. Its telescopic movement is achieved by a high-precision miniature electric cylinder. When part 6 is placed in the positioning groove 11, the clamping member 7 extends into the positioning groove 11 through the clamping hole 10 and tightly clamps the side wall of part 6, achieving secure positioning of part 6. Simultaneously, the center line of the positioning groove 11 is collinear with the rotation axis of the rotary table 8, ensuring that the center line of part 6 is aligned with the center line of the positioning groove 11. During the rotation process, the annular weld seam is always at the irradiation point of the laser welding gun 2, which further improves the welding accuracy and solves the problem in the background technology that the micro part 6 is not firmly positioned and is prone to displacement during welding, leading to welding failure.

[0038] To facilitate the adjustment of the horizontal position of part 6 and ensure precise alignment of its annular weld seam with the laser welding gun 2 beam, drive mechanisms are installed on both the X and Y axes of the welding table 3. These drive mechanisms, employing linear modules, ball screws, or similar structures, enable the rotary table 8 to move flexibly along the X and Y axes in the horizontal plane. This adjusts the position of part 6 on the positioning mechanism, achieving precise alignment of the weld seam of part 6 with the laser beam without manual adjustment, reducing operational difficulty and avoiding positioning deviations caused by manual adjustments. This solves the problem of achieving micron-level positioning in the prior art, which is difficult to achieve with manual operation or conventional automated equipment. Furthermore, it can also compensate for errors that occur when part 6 is placed in the positioning groove 11.

[0039] Considering that the heights of the laser welding gun 2 and the welding vision 4 need to be flexibly adjusted when welding micro parts 6 of different specifications to ensure the focusing effect and observation clarity of the welding beam, both the welding vision 4 and the laser welding gun 2 are fixedly mounted on the lifting plate 1. The lifting plate 1 is equipped with a drive mechanism along the Z-axis. This drive mechanism can adopt a linear guide rail and a lead screw structure to drive the lifting plate 1 to rise and fall smoothly along the Z-axis, thereby synchronously adjusting the heights of the laser welding gun 2 and the welding vision 4, and thus adapting to the welding needs of micro parts 6 with welds of different diameters.

[0040] To further enhance the automation level of the device, reduce the difficulty of manual operation, and avoid damage or positioning deviation of part 6 due to improper operation during manual placement, this device also includes a loading robot. The loading robot is positioned corresponding to the welding table 3, and its end is equipped with a gripper capable of accurately grasping micro-parts 6 with a diameter of less than 5mm and placing them stably inside the positioning slot 11. After the loading robot accurately places the micro-part 6 into the positioning slot 11, the clamping member 7 immediately extends into the positioning slot 11 and clamps the micro-part 6, completing the automated positioning of part 6 without manual intervention, thus solving the problems of low efficiency and large positioning deviation in manual loading in the prior art. Furthermore, the loading robot can also be used to remove the finished part 6 from the positioning slot 11 after welding, realizing automated and continuous operation of loading, welding, and unloading, further adapting to the needs of large-scale production of micro-components.

[0041] Because the micro-parts 6 with a diameter of less than 5mm are small in size and light in weight, their surfaces are prone to adhering to the inner wall of the pick-up clamp. This causes the parts 6 to be unable to smoothly detach from the pick-up clamp during the picking and unloading process, thus affecting positioning accuracy and production efficiency. Therefore, an anti-adhesion structure is provided on the inner wall of the pick-up clamp of the loading robot. This anti-adhesion structure is specifically composed of several micro-protrusions evenly distributed along the inner wall of the pick-up clamp. These micro-protrusions can reduce the contact area between the inner wall of the pick-up clamp and the surface of the micro-parts 6, reduce the adsorption force between the two, effectively prevent the micro-parts 6 from sticking to the inner wall of the pick-up clamp, and ensure that the loading robot can place the parts 6 smoothly and accurately in the positioning slot 11. At the same time, it ensures that the parts 6 can smoothly detach from the pick-up clamp during unloading, further improving the operational stability and reliability of the device, and solving the auxiliary pain points of easy adhesion and inconvenient picking and unloading of micro-parts 6 in the background technology.

[0042] Based on the aforementioned laser welding device, this embodiment also provides a laser welding method for micro parts 6. This method can accurately adapt to the welding of micro parts 6 with a diameter of less than 5mm and annular gaps, effectively solving the problems of high operation difficulty and unstable quality of traditional welding methods. The specific steps are as follows: First, the part 6 is positioned. The loading robot grabs the micro part 6 and places it in the positioning groove 11 of the positioning seat 5. Then, the clamping member 7 extends into the positioning groove 11 and clamps the part 6, completing the initial fixation of the part 6. Next, the drive mechanism of the welding table 3 in the X and Y axes drives the rotary table 8 to move until the center line of the positioning groove 11 is aligned with the center line of the welding vision 4, ensuring that the annular weld of the part 6 is within the observation range of the welding vision 4, laying the foundation for subsequent weld point positioning and welding.

[0043] The welding point positioning stage then begins. The Z-axis drive mechanism lowers the lifting plate 1, which in turn lowers the welding vision device 4 and the laser welding gun 2 simultaneously. This ensures the laser beam emitted by the laser welding gun 2 illuminates the upper surface of part 6, with the distance between the illumination point and the rotation center of part 6 gradually increasing as the laser welding gun 2 descends. This continues until the laser beam precisely illuminates the weld seam of part 6, completing the welding point positioning. To further improve the accuracy of welding point positioning and prevent beam deviation during welding, the laser welding gun 2 emits a positioning beam during the positioning process. This positioning beam is aligned with the actual welding beam and is a low-energy beam used only to indicate the illumination position, not for welding. The positioning beam visually indicates the illumination position of the welding beam. After welding point positioning is complete, the welding stage begins. The laser welding gun 2 is activated and emits a welding beam, while the rotary table 8 rotates part 6 at a uniform speed, allowing the annular weld seam on part 6 to be gradually and evenly welded by the laser beam. During the welding process, the welding vision device 4 monitors the welding status in real time to ensure welding quality. The entire welding process requires no manual intervention, is highly automated, and has high welding precision. It can effectively solve the problems of difficult welding operation, difficult heat-affected zone control, and low yield in the background technology, and greatly improve the quality and production efficiency of welding after the assembly of micro parts, meeting the production needs of modern micro manufacturing industry for large scale, high precision, and high reliability.

[0044] In addition, after the weld point is positioned, the rotary table 8 rotates the part 6 one revolution. The welding vision system 4 observes in real time whether the positioning beam is always illuminating the annular weld. If the positioning beam illuminates a position outside the weld, it indicates that the positioning of part 6 is deviated. During welding, when part 6 rotates to the deviated position, the drive mechanism of the welding table 3 along the X and Y axes drives the rotary table 8 to make fine adjustments in the horizontal plane, ensuring that the welding beam always illuminates the weld. This ensures that the laser beam can accurately act on the weld during subsequent welding processes, solving the problem of welding failure caused by welding positioning deviation in the background technology.

Claims

1. A laser welding apparatus, characterized in that, The system includes a laser welding gun, a welding table, and a welding vision device; the welding table is equipped with a positioning mechanism for positioning parts; the laser welding gun is positioned above the welding table so that the laser beam of the laser welding gun irradiates the parts of the welding table; the welding vision device is configured in conjunction with the laser welding gun so that the welding vision device can observe the welding process of the laser welding gun.

2. The laser welding apparatus according to claim 1, characterized in that: The welding table is equipped with a rotating platform; the positioning mechanism is disposed on the rotating platform so that the parts of the positioning mechanism rotate with the rotating platform; the rotating platform is configured to cooperate with the laser welding gun so that the laser welding gun always irradiates the weld seam of the parts when the rotating platform rotates.

3. The laser welding apparatus according to claim 2, characterized in that: The welding vision is vertically positioned and its centerline is aligned with the rotation axis of the rotary table; the centerline of the positioning mechanism is aligned with the rotation axis of the rotary table; and the laser beam of the laser welding gun intersects with the centerline of the welding vision.

4. The laser welding apparatus according to claim 3, characterized in that: The positioning mechanism includes a positioning seat and a clamping member. The positioning seat is provided with a positioning groove for placing parts. The outer side wall of the positioning seat is also provided with a clamping hole that communicates with the interior of the positioning groove. The clamping member is a telescopic device and is provided outside the clamping hole so that the clamping member extends into the positioning groove through the clamping hole and clamps the parts inside the positioning groove. The center line of the positioning groove is co-lined with the rotation axis of the rotary table.

5. The laser welding apparatus according to claim 4, characterized in that: The welding station is equipped with drive mechanisms on both its X and Y axes, so that the drive mechanisms can drive the rotary table to move in the horizontal plane.

6. The laser welding apparatus according to claim 5, characterized in that: Both the welding vision device and the laser welding gun are mounted on a lifting plate; the lifting plate is equipped with a drive mechanism in the Z-axis direction, so that it moves up and down under the action of the drive mechanism.

7. The laser welding apparatus according to claim 6, characterized in that: It also includes a loading robot; the loading robot is configured to work in conjunction with the welding table so that the loading robot places the part inside the positioning groove; after the loading robot places the micro part in the positioning groove, the clamping member extends into the positioning groove and clamps the micro part.

8. The laser welding apparatus according to claim 7, characterized in that: The inner wall of the material handling gripper of the loading robot is provided with an anti-adhesion structure, which includes a number of micro protrusions distributed along the inner wall of the material handling gripper to prevent micro parts from sticking to the inner wall of the material handling gripper.

9. A laser welding method for micro-parts, characterized in that: Part positioning: After placing the part in the positioning slot, the rotating seat moves in the horizontal plane until the center line of the positioning slot is aligned with the center line of the welding vision. Weld point positioning: The lifting plate descends and the laser welding gun beam is guided by welding vision to illuminate the weld seam of the part; Welding: The rotating table causes the weld seam to be gradually welded by the laser beam.

10. The laser welding method for micro-parts according to claim 9, characterized in that: During the weld point positioning process, the laser welding gun emits a positioning beam; the light from the positioning beam is aligned with the light from the welding beam; after the weld point positioning is completed, the rotary table rotates one revolution and the welding visual inspection is conducted to ensure that the positioning beam always illuminates the weld; if the positioning beam illuminates a position other than the weld, the rotary table moves in the horizontal plane during welding to ensure that the welding beam always illuminates the weld.

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