Large plate thickness difference angle joint laser swing wire filling welding system

Abstract

The utility model discloses a big board thickness difference angle joint laser swing wire feeding welding system, including laser, wire feeding mechanism I, wire feeding mechanism II, laser head and TIG welder, wire feeding nozzle II of wire feeding mechanism II, laser head, TIG welder and wire feeding nozzle I of wire feeding mechanism I are sequentially arranged on the robot along the direction of welding, and laser and the PLC electric connection of robot control cabinet electric connection, and laser is connected with laser head, and laser is used to send laser beam and conducts to laser head, and the mirror can swing in laser head and change the path of laser beam, wherein wire feeding mechanism I is used to provide welding wire to TIG welder, and wire feeding mechanism II is used to provide welding wire to laser head. In the utility model laser wire feeding swing, reduce the precision of incoming material and workpiece assembly precision requirement, stir the molten pool simultaneously, reduce blowhole, unmelting and other defects, increase laser weld width, improve the uneven or weld leg size asymmetric problem that may appear in early TIG wire feeding weld.

Description

Technical Field

[0001] This utility model relates to a laser oscillating filler wire welding system for corner joints of large plate thickness differences, belonging to the field of welding. Background Technology

[0002] In industries such as shipbuilding, construction machinery, nuclear power, rail transportation, and automobile manufacturing, some components employ extensive welding of structural stiffeners to reduce weight and increase structural strength. However, the thickness difference between these stiffeners and the base plate is significant, with the stiffeners being 2-4 mm thick and the base plate 8-10 mm thick. Traditional welding processes, such as gas-shielded arc welding and laser welding, are used. However, due to the large thickness difference, the weld penetration varies greatly between the two sides. The thinner plate side has a deeper penetration, sometimes even resulting in burns or burn-through defects, while the thicker plate side has a shallow penetration and low bond strength. These welding problems can prevent components from achieving their intended weight reduction and strength goals.

[0003] In corner joints with significant thickness differences, conventional laser filler wire, with its constant laser oscillation power, tends to result in excessive penetration on the thinner plate side, even leading to burn-through, while the penetration on the thicker plate side is shallow, resulting in low bond strength. If TIG filler wire is used, its energy density is even lower than laser, making it more prone to burns on the thinner plate side and shallow penetration on the thicker plate side. The greater the thickness difference, the more severe this asymmetry in penetration becomes, easily leading to defects such as burns or low bond strength in the weld joint. Figure 4 As shown.

[0004] Therefore, it is necessary to find a suitable welding process to solve the problem of asymmetric penetration depth in this application scenario. Summary of the Invention

[0005] The purpose of this invention is to provide a laser oscillating filler wire welding system for corner joints with large plate thickness differences, which solves the technical defect of asymmetrical weld depth between the two plates when corner joints with large plate thickness differences are performed in the prior art.

[0006] To solve the above problems, the technical solution adopted by this utility model is: a laser oscillating wire feeding welding system for large plate thickness difference corner joints, including a laser, a wire feeding mechanism I, a wire feeding mechanism II, a laser head, and a TIG welding torch. The wire feeding nozzle II of the wire feeding mechanism II, the laser head, the TIG welding torch, and the wire feeding nozzle I of the wire feeding mechanism I are sequentially arranged on the robot along the welding direction. The laser is electrically connected to a PLC that is electrically connected to the robot control cabinet, and the laser is connected to the laser head. The laser is used to emit a laser beam and transmit it to the laser head. The laser beam is reflected by a reflective mirror inside the laser head and then directed towards the weld. The reflective mirror can oscillate inside the laser head to change the path of the laser beam. The wire feeding mechanism I is used to provide welding wire to the TIG welding torch, and the wire feeding mechanism II is used to provide welding wire to the laser head.

[0007] As a further improvement of this utility model, the reflective mirror inside the laser head is driven to swing by two servo motors installed inside the laser head. The swinging of the reflective mirror changes the propagation path of the laser and is used to stir the molten pool.

[0008] As a further improvement of this utility model, it also includes a laser head control board and a laser head host computer. The laser head control board is electrically connected to the servo motor inside the laser head and the laser head host computer. The laser head host computer sets the swing information of the reflector and transmits it to the laser head control board. The laser head control board drives the reflector to swing by controlling two servo motors.

[0009] As a further improvement of this utility model, it also includes a laser host computer, which is electrically connected to the laser. The laser host computer is used to set laser parameters and transmit them to the laser. The laser receives the laser information and emits a laser beam according to the set laser information.

[0010] As a further improvement of this utility model, it also includes TIG power supply I, TIG power supply II and a teach pendant. The teach pendant is electrically connected to the robot control cabinet, the robot control cabinet is electrically connected to TIG power supply I and TIG power supply II, TIG power supply I is electrically connected to wire feeding mechanism I and TIG welding torch, and TIG power supply II is electrically connected to wire feeding mechanism II. The teach pendant is used to set the wire feeding parameters of wire feeding mechanism I and wire feeding mechanism II, the laser output and switching signals and robot path planning.

[0011] As a further improvement of this utility model, it also includes TIG control board I, TIG control board II, and TIG host computer. The TIG host computer is electrically connected to both TIG control board I and TIG control board II. TIG control board I is electrically connected to TIG power supply I, and TIG control board II is electrically connected to TIG power supply II. The TIG host computer is used to set the current information of the TIG welding torch and transmit it to TIG control board I and TIG control board II respectively. When TIG power supply I and TIG power supply II receive the light emission signal, wire feeding mechanism I and wire feeding mechanism II perform welding on the plate to be welded according to the set wire feeding parameters, and the TIG welding torch performs welding according to the set current information.

[0012] In summary, the beneficial effects of this utility model are as follows: 1. The TIG filler wire oscillating welding guide in this utility model can melt a small amount of base material on both sides in advance, reducing the possible gap between the two plates to be welded, pre-filling a small amount of welding wire, reducing the filling amount required for laser filler wire later. The TIG filler wire also plays the role of preheating the base material. Since the higher the temperature of carbon steel base material, the higher the absorption efficiency of laser, the preheating of the base material can reduce the laser power of welding, thereby improving the stability of the welding process and indirectly reducing welding energy consumption.

[0013] 2. In this invention, the TIG oscillation can stir the molten pool, reduce porosity, and make the forming more uniform and smooth.

[0014] 3. In this utility model, the laser filler wire oscillation reduces the accuracy requirements of incoming materials and workpiece assembly, while also stirring the molten pool, reducing defects such as porosity and incomplete fusion, increasing the width of the laser weld, thus reducing the difficulty of manual teaching, and improving problems such as unevenness or asymmetrical weld leg size that may occur in the early stage of TIG filler wire weld.

[0015] 4. In this utility model, the total filler amount of welding wire consists of two welding wires fed by wire feeding mechanism I3 and wire feeding mechanism II4. The welding wire fed by wire feeding mechanism I3 is generally pre-filled with a small amount of welding wire. The wire feeding speed of the welding wire fed by wire feeding mechanism II4 can be determined according to the total weld leg size and the wire feeding speed of wire feeding mechanism I3. The TIG heat input and laser heat input can be reasonably balanced and adjusted by adjusting the wire feeding speed of wire feeding mechanism I3 and wire feeding mechanism II4.

[0016] 5. When the TIG welding torch swings left and right, the current can be gradually varied, and the peak current and base current on both sides can be set independently. The frequency and swing amplitude can also be set independently, resulting in more uniform penetration and higher strength. This avoids defects such as burns on the back of thin plates and shallow penetration on thick plates. If gradual variation is not needed, this function can be turned off, and constant current welding can be restored. Due to the large difference in thickness between the two plates, the required heat input varies greatly. When the TIG swings, the current can be gradually varied from side to side, making the penetration more uniform and reducing the heat input. In conventional TIG constant current swing, when the current is set based on the thin plate, defects such as shallow penetration and low bonding strength are likely to occur on the thick plate side. When the current is set based on the thick plate, defects such as back burns or burn-through and excessive heat input are likely to occur on the thin plate side. This utility model overcomes the above defects.

[0017] 6. In this invention, the power can be gradually varied when the laser swings left and right, and the peak and base power can be set independently. The frequency and swing amplitude can also be set independently, resulting in more uniform penetration and higher strength. This avoids defects such as incomplete fusion at the root of thick plates and undercut. If gradual variation is not required, this function can be turned off, and constant laser power welding can be restored. Since the thickness of the two plates differs greatly, the required heat input is also different. When the laser swings, the peak power can be gradually varied left and right to make the penetration more uniform and the heat input smaller. In conventional constant laser power swing, the situation is similar to that of TIG constant current swing. This invention overcomes the above-mentioned defects.

[0018] 7. This utility model allows for the selection of various TIG and laser oscillation waveforms during welding of conventional steel materials. One of three waveforms—straight line, sine, or C-shape—can be chosen. If porosity is prone to occur during welding, one of three waveforms—horizontal "8," vertical "8," or circular—can be chosen. Appropriate process waveforms can be selected according to actual needs, making it widely applicable.

[0019] 8. Compared with pure laser welding, the laser wire filling process in this utility model can improve the process bridging ability, increase the adaptability to gaps, reduce the requirements for the accuracy of incoming materials and the accuracy of workpiece assembly, and is more suitable for general industrial manufacturing conditions. Compared with TIG wire filling welding, it has a deeper penetration, higher energy density, faster welding speed, and significantly reduced post-weld deformation, and also saves a lot of consumables such as welding wire and shielding gas. Attached Figure Description

[0020] Figure 1 This is a structural schematic diagram of the welded part of this utility model in use.

[0021] Figure 2 This is a structural block diagram of the present invention.

[0022] Figure 3 This is a schematic diagram of a weld seam welded using this utility model.

[0023] Figure 4 This is a schematic diagram of a weld with asymmetrical penetration depth using existing welding techniques.

[0024] Figure 5 This is a schematic diagram of the power and electrical parameters in this utility model.

[0025] Figure 6 This is a schematic diagram showing the angle between the present invention and the plate to be welded in its usage state.

[0026] The components include: 1. Robot; 2. Laser; 3. Wire feeding mechanism I; 4. Wire feeding mechanism II; 5. Laser head; 6. TIG welding torch; 7. Wire feeding nozzle II; 8. Wire feeding nozzle I; 9. Robot control cabinet; 10. PLC; 11. Reflecting mirror; 12. Laser head control board; 13. Laser head host computer; 14. Laser host computer; 15. TIG power supply I; 16. TIG power supply II; 17. Teach pendant; 18. TIG control board I; 19. TIG control board II; 20. TIG host computer; 21. Mounting plate. Detailed Implementation

[0027] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings, wherein the drawings... Figure 1 and attached Figure 2 In the figure, reference numeral 22 is a stiffening plate with a smaller thickness, and reference numeral 23 is a base plate with a larger thickness. The stiffening plate 22 is perpendicular to the base plate 23 and is welded together.

[0028] like Figure 1 , Figure 2 and Figure 5The large-plate thickness difference corner joint laser oscillating filler wire welding system shown includes a laser 2, a wire feeding mechanism I3, a wire feeding mechanism II4, a laser head 5, and a TIG welding torch 6. This invention has a mounting plate 21 at the end of the sixth axis of the robot 1. The wire feeding nozzle II7 of the wire feeding mechanism II4, the laser head 5, the TIG welding torch 6, and the wire feeding nozzle I8 of the wire feeding mechanism I3 are sequentially arranged on the mounting plate 21 at the end of the robot 1 along the welding direction. When the laser head 5 is in a vertical state, the wire feeding nozzle II7 of the wire feeding mechanism II4, the TIG welding torch 6, and the wire feeding nozzle I8 of the wire feeding mechanism I3 are all... It is tilted, with the lower end tilted towards the laser head 5. The robot control cabinet 9 of robot 1 is electrically connected to PLC 10, and the laser 2 is electrically connected to PLC 10. The laser 2 and the laser head 5 are connected by optical fiber. The laser 2 is used to emit a laser beam and transmit it to the laser head 5 through the optical fiber. The laser beam is reflected by the reflecting mirror 11 set in the laser head 5 and then directed towards the weld seam for welding the base plate 23 and the stiffening plate 22. The wire feeding mechanism I3 is used to provide welding wire to the TIG welding gun 6, and the wire feeding mechanism II4 is used to provide welding wire to the laser head 5 to fill the weld seam with wire.

[0029] like Figure 1 and Figure 2 As shown, in this invention, there are two reflective mirrors 11 inside the laser head 5, which are driven to swing by two servo motors installed inside the laser head 5. The reflective mirrors 11 can be rotatably installed inside the laser head 5 via a rotating shaft. The servo motors are connected to the rotating shafts of the reflective mirrors 11. The servo motors can be detachably installed inside the laser head 5 using screws. This invention changes the propagation path of the laser by driving the two reflective mirrors 11 to swing through the two servo motors. The change in the propagation path of the laser beam stirs the molten pool, thereby reducing defects such as porosity and incomplete fusion in the weld, increasing the width of the laser weld, reducing the difficulty of manual teaching, and improving the problem of unevenness or asymmetrical weld leg size that may occur in the wire feeding weld of the TIG welding torch 6 and wire feeding mechanism I3 in the early stage.

[0030] To control the two servo motors driving the reflector 11, this invention includes a laser head control board 12 and a laser head host computer 13. The laser head control board 12 is electrically connected to the servo motors inside the laser head 5, and the laser head control board 12 is electrically connected to the laser head host computer 13. Before welding, according to the welding requirements, the laser head host computer 13 sets the swing information of the reflector 11 and transmits the set information to the laser head control board 12. The laser head control board 12 then controls the two servo motors to drive the reflector 11 to swing. The swing information of the laser head 5 includes the swing waveform, amplitude, and frequency of the laser. The swing information of the laser head 5 in this invention is mainly set based on the material and diameter of the welding wire fed by the wire feeding mechanism II4. The swing waveform of the laser can be a straight line, sine, C-shape, horizontal figure-eight, vertical figure-eight, or circle, etc.

[0031] like Figure 2 As shown, this utility model controls the laser information by setting a laser host computer 14, which is electrically connected to the laser 2. The laser host computer 14 is used to set the laser parameters and transmit the set laser parameter information to the laser 2. The laser 2 receives the laser information and emits a laser beam according to the set laser information. The laser parameter information includes the laser power (the laser power includes: left laser power P). 左 Right laser power P 右 and the baseline power P of the laser 基 The laser gradient frequency f, the swing amplitude A, and the waveform are respectively the same as the frequency and waveform of the mechanical swing of the laser head 5.

[0032] like Figure 2 As shown, this utility model includes a TIG power supply I 15, a TIG power supply II 16, and a teach pendant 17. The teach pendant 17 is electrically connected to the robot control cabinet 9, which is electrically connected to the TIG power supply I 15 and the TIG power supply II 16. The TIG power supply I 15 is electrically connected to the wire feeding mechanism I 3 and the TIG welding torch 6, and the TIG power supply II 16 is electrically connected to the wire feeding mechanism II 4. The teach pendant 17 is used to set the wire feeding parameters of the wire feeding mechanisms I 3 and II 4, the laser 2's light output and shutdown signals, the arc welding start-up and end-up signals, and the robot 1's path planning. The arc welding start-up and end-up signals and the wire feeding parameters of the wire feeding mechanisms I 3 and II 4 are transmitted to the TIG power supply I 15 and TIG power supply II 16 through the robot control cabinet 9. The TIG welding torch 6 then initiates arc welding according to the above parameters. The wire feeding mechanisms I 3 and II 4 feed wire according to the set wire feeding parameters, and the arc is terminated after welding is completed.

[0033] like Figure 2As shown, this utility model includes a TIG control board I 18, a TIG control board II 19, and a TIG host computer 20. Both TIG control boards I 18 and II 19 are electrically connected to the TIG host computer 20. TIG control board I 18 is electrically connected to TIG power supply I 15, and TIG control board II 19 is electrically connected to TIG power supply II 16. The TIG host computer 20 is used to set the current information of the TIG welding torch 6 and transmit it to TIG control boards I 18 and II 19 respectively. When TIG power supplies I 15 and II 16 receive the light emission signal set by the teach pendant 17 from the robot control cabinet 9, wire feeding mechanisms I 3 and II 4 perform welding according to the set wire feeding parameters, and the TIG welding torch 6 performs welding on the base plate 23 and stiffening plate 22 according to the set current information. The current information of the TIG welding torch 6 includes the left peak current I0. 左 Right peak current I 右 Base current I 基 The current gradient frequency, swing amplitude, and waveform must be the same as the frequency and waveform of the mechanical oscillation of the laser head 5.

[0034] In this invention, the laser emission and emission signals are transmitted to the PLC10 via the robot control cabinet 9. The PLC10 controls the laser emission and emission, and the robot path is controlled by the robot control cabinet 9 to rotate the servo motors of the robot, thereby realizing the movement of the robot end effector.

[0035] In use, this invention sets the internal oscillation parameters of the laser head 5 based on the welding wire material and diameter fed by the wire feeding mechanism II4. These parameters mainly include the oscillation waveform, amplitude, and frequency, primarily used to melt the welding wire. Furthermore, based on the material and thickness of the base plate 23 and the stiffening plate 22 to be welded, a suitable welding speed, laser head oscillation frequency, amplitude, and waveform are determined. The relative posture of the wire feeding mechanism II4 and the laser head 5 is also considered, setting appropriate filament spacing, tungsten electrode-laser beam spacing, and laser defocusing. Additionally, appropriate TIG left and right peak currents, base currents, current gradient frequency, amplitude, and waveform (wherein, the frequency and waveform must be the same as the mechanical oscillation frequency and waveform of the laser head) are set, along with the wire feeding speed of the wire feeding mechanism I3. Then, based on the welding leg size requirements and the wire feeding speed of the wire feeding mechanism I3, the wire feeding speed of the wire feeding mechanism II4 is set. Finally, the left and right laser peak power, laser base power, power gradient frequency, amplitude, and waveform (wherein, the frequency and waveform must be the same as the mechanical oscillation frequency and waveform of the laser head) are set. Figure 5 As shown.

[0036] Depending on the weld condition after welding, if the wire fed by wire feeding mechanism II4 does not melt sufficiently, appropriately increase the internal swing amplitude of laser head 5 and the left and right peak power and base power of the laser. If the penetration depth on the thick plate side is very shallow, appropriately adjust and increase the peak power on the thick plate side. If burn or burn-through defects occur on the thin plate side, appropriately reduce the peak power on the thin plate side. If the bottom width of the weld is small, appropriately adjust the swing amplitude and appropriately increase the left and right peak power and base power. Examples 1-3 below provide welding parameters for different gaps between plates, and the weld quality is relatively good. Figure 3 As shown.

[0037] Example 1: The welding material in this example is Q345 steel commonly used in industrial applications. The thickness of the base plate 23 and the stiffening plate 22 are 3mm and 10mm respectively. The corner joint is adopted with a gap of 0.2mm. The shielding gas is 99.99%Ar, the TIG gas flow rate is 15L / min, the wire feeding mechanism II4 has a gas flow rate of 20L / min, and the welding wires fed by wire feeding mechanism I3 and wire feeding mechanism II4 are both ER50-6 with a diameter of 1.2mm.

[0038] The welding speed is 1.2 m / min, the laser head oscillation frequency is 2.5 Hz, the oscillation amplitude is 2.0 mm, and a sinusoidal waveform is selected. The distance between the vertical projection point of the TIG tungsten needle tip on the test plate surface and the center point of the laser beam spot on the test plate is 8 mm. The laser power base value is 4.0 kW, the laser left peak power is 5.0 kW, the laser right peak power is 3.5 kW, the power gradient frequency is 2.5 Hz, a sinusoidal oscillation waveform is selected, the defocusing amount is 0 mm, the filament spacing is 0 mm, the oscillation frequency is 120 Hz, the oscillation amplitude is 1.5 mm, and a linear oscillation waveform is selected. The wire feeding mechanism II4 has a wire feeding speed of 2.5 m / min. The TIG1 base value current is 110 A, the left peak current is 150 A, the right peak current is 90 A, the current gradient frequency is 2.5 Hz, a sinusoidal oscillation waveform is selected, and the wire feeding speed is 1.0 m / min.

[0039] Example 2: The material is Q345 steel commonly used in industrial applications. The thickness of the base plate 23 and the stiffening plate 22 are 3mm and 10mm respectively. The corner joint is adopted with a gap of 0.5mm. The shielding gas is 99.99%Ar. The TIG gas flow rate is 15L / min. The gas flow rate of the wire feeding mechanism II4 is 20L / min. The welding wires fed by the wire feeding mechanisms I3 and II4 are both ER50-6 with a diameter of 1.2mm.

[0040] The welding speed is 1.2 m / min, the laser head oscillation frequency is 2.5 Hz, the oscillation amplitude is 2.2 mm, and a sinusoidal waveform is selected. The distance between the vertical projection point of the TIG tungsten needle tip on the test plate surface and the center point of the laser beam spot on the test plate is 8 mm. The laser power base value is 4.0 kW, the laser left peak power is 5.0 kW, the laser right peak power is 3.5 kW, the power gradient frequency is 2.5 Hz, a sinusoidal oscillation waveform is selected, the defocusing amount is 0 mm, the filament spacing is 0 mm, the oscillation frequency is 120 Hz, the oscillation amplitude is 1.5 mm, and a linear oscillation waveform is selected. The wire feeding mechanism II4 has a wire feeding speed of 3.0 m / min. The TIG1 base value current is 110 A, the left peak current is 150 A, the right peak current is 90 A, the current gradient frequency is 2.5 Hz, a sinusoidal oscillation waveform is selected, and the wire feeding speed is 1.5 m / min.

[0041] Example 3: The material is Q345 steel commonly used in industrial applications. The thickness of the base plate 23 and the stiffening plate 22 are 3mm and 10mm respectively. The corner joint is adopted with a gap of 0.8mm. The shielding gas is 99.99%Ar. The TIG gas flow rate is 15L / min. The gas flow rate of the wire feeding mechanism II4 is 20L / min. The welding wires fed by the wire feeding mechanisms I3 and II4 are both ER50-6 with a diameter of 1.2mm.

[0042] The welding speed is 1.0 m / min, the laser head oscillation frequency is 2.5 Hz, the oscillation amplitude is 2.2 mm, and a sinusoidal waveform is selected. The distance between the vertical projection point of the TIG tungsten needle tip on the test plate surface and the center point of the laser beam spot on the test plate is 8 mm. The laser power base value is 4.0 kW, the laser left peak power is 5.0 kW, the laser right peak power is 3.5 kW, the power gradient frequency is 2.5 Hz, a sinusoidal oscillation waveform is selected, the defocusing amount is 0 mm, the filament spacing is 0 mm, the oscillation frequency is 120 Hz, the oscillation amplitude is 1.5 mm, and a linear oscillation waveform is selected. The wire feeding mechanism II4 has a wire feeding speed of 3.0 m / min. The TIG1 base value current is 110 A, the left peak current is 150 A, the right peak current is 90 A, the current gradient frequency is 2.5 Hz, a sinusoidal oscillation waveform is selected, and the wire feeding speed is 1.8 m / min.

[0043] Unless otherwise specified in the above description, all parts are existing technology or can be implemented using existing technology. Furthermore, the specific embodiments described in this utility model are merely preferred embodiments of the invention and are not intended to limit the scope of this utility model. That is, all equivalent changes and modifications made within the scope of this utility model patent should be considered within the technical scope of this utility model.

Claims

1. A laser oscillating filler wire welding system for corner joints of large-plate thickness differences, characterized in that, The system includes a laser (2), wire feeding mechanism I (3), wire feeding mechanism II (4), laser head (5), and TIG welding torch (6). The wire feeding nozzle II (7) of wire feeding mechanism II (4), laser head (5), TIG welding torch (6), and wire feeding nozzle I (8) of wire feeding mechanism I (3) are sequentially arranged on the robot (1) along the welding direction. The laser (2) is electrically connected to the PLC (10) which is electrically connected to the robot control cabinet (9), and the laser (2) is connected to the laser head (5). The laser (2) is used to emit a laser beam and transmit it to the laser head (5). The laser beam is reflected by a reflective lens (11) inside the laser head (5) and then directed toward the weld. The reflective lens (11) can swing inside the laser head (5) to change the path of the laser beam. The wire feeding mechanism I (3) is used to provide welding wire to the TIG welding torch (6), and the wire feeding mechanism II (4) is used to provide welding wire to the laser head (5).

2. The laser oscillating filler wire welding system for large plate thickness difference corner joints according to claim 1, characterized in that, The reflective mirror (11) inside the laser head (5) is driven to swing by two servo motors located inside the laser head (5). The swinging of the reflective mirror (11) changes the propagation path of the laser and is used to stir the molten pool.

3. The laser oscillating filler wire welding system for large plate thickness difference corner joints according to claim 2, characterized in that, It also includes a laser head control board (12) and a laser head host computer (13). The laser head control board (12) is electrically connected to the servo motor in the laser head (5) and the laser head host computer (13). The laser head host computer (13) sets the swing information of the reflector (11) and transmits it to the laser head control board (12). The laser head control board (12) drives the reflector (11) to swing by controlling two servo motors.

4. The laser oscillating filler wire welding system for large plate thickness difference corner joints according to claim 2, characterized in that, It also includes a laser host computer (14), which is electrically connected to the laser (2). The laser host computer (14) is used to set laser parameters and transmit them to the laser (2). The laser (2) receives the laser information and emits a laser beam according to the set laser information.

5. The laser oscillating filler wire welding system for large plate thickness difference corner joints according to claim 1, characterized in that, It also includes TIG power supply I (15), TIG power supply II (16) and teach pendant (17). The teach pendant (17) is electrically connected to the robot control cabinet (9). The robot control cabinet (9) is electrically connected to TIG power supply I (15) and TIG power supply II (16). TIG power supply I (15) is electrically connected to wire feeding mechanism I (3) and TIG welding torch (6). TIG power supply II (16) is electrically connected to wire feeding mechanism II (4). The teach pendant (17) is used to set the wire feeding parameters of wire feeding mechanism I (3) and wire feeding mechanism II (4), the laser output and off signals and the robot (1) path planning.

6. The laser oscillating filler wire welding system for large plate thickness difference corner joints according to claim 5, characterized in that, It also includes TIG control board I (18), TIG control board II (19) and TIG host computer (20). TIG host computer (20) is electrically connected to TIG control board I (18) and TIG control board II (19). TIG control board I (18) is electrically connected to TIG power supply I (15). TIG control board II (19) is electrically connected to TIG power supply II (16). TIG host computer (20) is used to set the current information of TIG welding torch (6) and transmit it to TIG control board I (18) and TIG control board II (19) respectively. When TIG power supply I (15) and TIG power supply II (16) receive the light emission signal, wire feeding mechanism I (3) and wire feeding mechanism II (4) perform welding on the plate to be welded according to the set wire feeding parameters and TIG welding torch (6) performs welding according to the set current information.

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