CN103753022A - Method of laser-welding metal materials by double lasers - Google Patents
Method of laser-welding metal materials by double lasers Download PDFInfo
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- CN103753022A CN103753022A CN201410022988.1A CN201410022988A CN103753022A CN 103753022 A CN103753022 A CN 103753022A CN 201410022988 A CN201410022988 A CN 201410022988A CN 103753022 A CN103753022 A CN 103753022A
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- 238000003466 welding Methods 0.000 title claims abstract description 83
- 238000000034 method Methods 0.000 title claims abstract description 27
- 239000007769 metal material Substances 0.000 title claims abstract description 16
- 239000000463 material Substances 0.000 claims abstract description 51
- 229910000838 Al alloy Inorganic materials 0.000 claims abstract description 33
- 230000001681 protective effect Effects 0.000 claims abstract description 7
- 238000002844 melting Methods 0.000 claims abstract description 6
- 230000008018 melting Effects 0.000 claims abstract description 6
- 229910000881 Cu alloy Inorganic materials 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 2
- 239000004411 aluminium Substances 0.000 claims description 2
- 229910052782 aluminium Inorganic materials 0.000 claims description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 2
- 229910052802 copper Inorganic materials 0.000 claims description 2
- 239000010949 copper Substances 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000007664 blowing Methods 0.000 abstract 1
- 238000004140 cleaning Methods 0.000 abstract 1
- 239000007789 gas Substances 0.000 description 20
- 230000008569 process Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011261 inert gas Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 244000137852 Petrea volubilis Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009835 boiling Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2103/00—Materials to be soldered, welded or cut
- B23K2103/08—Non-ferrous metals or alloys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/12—Working by laser beam, e.g. welding, cutting or boring in a special atmosphere, e.g. in an enclosure
- B23K26/123—Working by laser beam, e.g. welding, cutting or boring in a special atmosphere, e.g. in an enclosure in an atmosphere of particular gases
- B23K26/125—Working by laser beam, e.g. welding, cutting or boring in a special atmosphere, e.g. in an enclosure in an atmosphere of particular gases of mixed gases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/32—Bonding taking account of the properties of the material involved
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Laser Beam Processing (AREA)
Abstract
A method of laser-welding metal materials by double lasers includes the steps: 1, cleaning welding material and fixing the welding material; 2, generating two laser beams by two lasers and allowing the two laser beams to focus on the surface of the welding material; 3, laterally blowing protective gas to the surface of the welding material; 4, generating the first laser beam by the quasi-continuous laser, and melting the surface of the welding material into a bath; 5, focusing the second laser beam to the area of melted welding material; 6, allowing the laser beams to synchronously move at a given scanning speed to form a weld seam on the surface of the welding material, and finishing welding. The method has the advantages that surface microstructure of aluminum alloy can be changed, the surface of the aluminum alloy is melt into the bath to increase the rate of the aluminum alloy absorbing continuous wave laser beams, and welding quality is improved.
Description
Technical field
The invention belongs to technical field of laser processing, particularly a kind of twin-laser that adopts is implemented the method for laser weld to metal material.
Background technology
Especially aluminium alloy extensive use in modern industry of metal material, the welding demand of aluminium alloy is increasing.With respect to traditional welding method, method for laser welding has the advantages such as concentration of energy, thermal deformation is little, controllability is good.Laser Welding of Aluminum Alloys is due to its high reflectance and high thermal conductivity, and it is larger that the single laser thermal source making is implemented welding difficulty to aluminium alloy, and required power density is greater than 5 * 10 conventionally
6w/cm
2.Someone proposes to adopt Laser-MIG Composite Welding technology to implement welding (ZL201010280596.7), technique relative complex to aluminium alloy at present.Document (aluminium alloy dual-beam welding characteristic research, Chinese laser, 2007,35 (11): 1783-1788) disclose a kind of way that adopts divided beams, laser beam is divided into two bundle laser by beam splitter, aluminium alloy is implemented to welding, weldquality increases, but the two bundle laser energies that obtain by beam splitter are than unadjustable, and general row is poor.
The present invention is directed to the problems referred to above, adopt the way of twin-laser-double laser beam to implement welding to aluminium alloy, two bundle laser beams are respectively from quasi-continuous laser and continuous wave laser, two bundle laser parameters can regulate arbitrarily, quasi-continuous laser relies on its high-peak power to make aluminum alloy surface rapid melting, continuous wave laser focuses on the aluminium alloy region of having melted, and aluminium alloy significantly increases the absorptivity of laser, can improve the depth of weld and weldquality.
Summary of the invention
The object of the present invention is to provide a kind of twin-laser that adopts aluminium alloy to be implemented to the method for laser weld, this method can change the surface microscopic topographic of aluminium alloy, make aluminum alloy surface fusing form molten bath, to promote the absorptivity of aluminium alloy to continuous-wave laser beam, improve welding quality.
The invention provides a kind of twin-laser that adopts and metal material is implemented to the method for laser weld, comprise the steps:
Step 1: welding material is cleared up, and welding material is installed fixing;
Step 2: adopt twin-laser to produce two bundle laser, this two bundles Laser Focusing is in the surface of welding material;
Step 3: at the surface of welding material side-blown protective gas;
Step 4: beam of laser is occurred by quasi-continuous laser, makes welding material surface melting form molten bath;
Step 5: the second bundle continuous laser beam focuses on the welding material region of having melted;
Step 6: this two bundles laser beam, with given sweep speed synchronizing moving, forms weld seam on the surface of welding material, completes welding.
The invention has the beneficial effects as follows, this method can change the surface microscopic topographic of aluminium alloy, makes aluminum alloy surface fusing form molten bath, to promote the absorptivity of aluminium alloy to continuous-wave laser beam, improves welding quality.
Accompanying drawing explanation
For further illustrating concrete technology contents of the present invention, below in conjunction with embodiment and accompanying drawing, be described in detail as follows, wherein:
Fig. 1 is method flow schematic diagram of the present invention.
The specific embodiment
Refer to shown in Fig. 1, the invention provides a kind of twin-laser that adopts and metal material is implemented to the method for laser weld, comprise the steps:
Step 1: with sand paper, welding material is cleared up, and welding material is fixed on jig, ready.
Step 2: adopt twin-laser to produce two bundle laser, this two bundles Laser Focusing is in the surface of welding material, described twin-laser is respectively quasi-continuous laser and continuous wave laser, this quasi-continuous laser peak power output is 100-500W, pulse width is 50-200ns, repetition rate is 10kHz-30kHz, and peak power is greater than 10
5w, described continuous wave laser peak power output is 500-10000W, described welding material is aluminium alloy, copper alloy, fine aluminium or pure copper material;
Because aluminium alloy and copper alloy have higher reflectivity, for Laser Welding of Aluminum Alloys, copper alloy laser weld, be difficult for forming molten bath, solderability is poor.Quasi-continuous laser has higher peak power, can reach 10
5w/cm
2above, have under the laser beam condition of high-peak power, aluminium alloy and copper alloy surface easily form molten bath, and liquid molten bath can increase the absorptivity of welding material to laser beam energy.
Although the laser beam that quasi-continuous laser produces has very high peak power, but be limited to current technical merit, the mean power of the type laser beam is no more than 1000W conventionally, only adopt quasi-continuous laser to implement welding to aluminium alloy, copper alloy, because mean power is low, the depth of weld is less.Although and the laser beam that continuous wave laser produces can not reach larger peak power, can reach higher mean power, such as 10000W, even higher.Therefore, in conjunction with quasi-continuous laser and the two advantage of continuous wave laser, adopt continuous wave laser to produce continuous laser beam while irradiation at the same position on welding material surface, because can making welding material surface melting, quasi-continuous lasing bundle forms molten bath, liquid welding material has very high absorptivity to laser beam, the larger continuous laser beam energy absorption of power can be arrived to welding material, forms darker weld seam, can realize higher welding efficiency, also can improve the quality of welding.
Step 3: at the surface of welding material side-blown protective gas, described side-blown protective gas, this protection gas is Ar gas, He gas or N gas, or the gas of the arbitrary proportion of Ar gas, He gas and N gas mixing;
Laser beam welding, more than welding material temperature raises rapidly and reaches boiling point, above welding material molten bath, form plasma, metal vapors etc., especially plasma has certain shielding action to laser beam, the laser energy that arrives molten bath is reduced, in addition airborne oxygen welding process easily and welding material react, welding material is oxidized.In laser beam welding, at welding material surface side-blown protective gas, can dispel plasma, and on welding material surface, form the atmosphere of inert gas, can effectively avoid the welding material oxidation of high temperature.The effect of side-blown gas has determined that side-blown gas must be inert gas, and is difficult for being ionized.Be generally Ar gas, He gas or N gas, or the mist of Ar gas, He gas, N gas arbitrary proportion.
Step 4: beam of laser is occurred by quasi-continuous laser, makes welding material surface melting form molten bath, and the pulse peak power of this beam of laser can reach 10
5w magnitude, can change the surface microscopic topographic of aluminium alloy;
Quasi-continuous lasing is produced by quasi-continuous laser, and process Optical Fiber Transmission is to laser head, after line focus, the focus of quasi-continuous lasing bundle is acted on to the surface of welding material, because quasi-continuous lasing beam pulse width only has 50-200nm, therefore can obtain very high peak power density, within the extremely short time, make welding material temperature reach fusing point, thereby form molten bath.
Step 5: the second bundle continuous laser beam focuses on the welding material region of having melted;
The continuous laser beam that in current industrial, continuous wave laser produces, although there is no the peak power that quasi-continuous laser is so high, its mean power is conventionally higher, power output is commonly 500-10000W.In conjunction with quasi-continuous lasing bundle, can more give full play to the powerful advantage of continuous laser beam, the laser solderability of aluminium alloy and copper alloy is improved, welding quality improves.
In laser beam welding, the hot spot of first, second Shu Jiguang is 0-3mm in the surperficial spacing of welding material; When spacing is 0, the center superposition of two bundle laser beams; When spacing is greater than 0, the laser beam of quasi-continuous laser is positioned at the place ahead of welding direction, and the laser beam of continuous wave laser is positioned at the rear of welding direction, and the sweep speed of described first, second Shu Jiguang is 5-60mm/s; Quasi-continuous lasing Shu Qian, continuous laser beam are rear, in order to make welding material first form molten bath under quasi-continuous lasing Shu Zuoyong, then under the effect of continuous laser beam, continuous laser beam energy is had to larger absorptivity, improve the utilization rate of laser energy, improve aluminium alloy and copper alloy Laser Welding Quality.
Step 6: this two bundles laser beam, with given sweep speed synchronizing moving, forms weld seam on the surface of welding material, completes welding.
First, second laser is produced by quasi-continuous laser and continuous wave laser respectively, by optical fiber, laser head, focus on welding material surface respectively, two processing heads are fixed on the end of same industrial robot or lathe, by adjusting two processing head spacing and relative angles, the laser beam of quasi-continuous laser output is positioned at the place ahead of welding direction, and the laser beam of continuous-wave laser output is positioned at the rear of welding direction.By computer control industrial robot or machine tool motion, make first, second laser synchronization motion, make the fusing of welding material experience, natural cooling process, form weld seam.
Because quasi-continuous lasing bundle makes aluminum alloy surface, form molten bath, aluminium alloy is significantly improved the absorptivity of continuous laser, welding process is without welding wire.Weld seam pattern is good, no significant defect, and weld seam tensile strength can reach the more than 90% of mother metal.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. adopt twin-laser metal material to be implemented to a method for laser weld, comprise the steps:
Step 1: welding material is cleared up, and welding material is installed fixing;
Step 2: adopt twin-laser to produce two bundle laser, this two bundles Laser Focusing is in the surface of welding material;
Step 3: at the surface of welding material side-blown protective gas;
Step 4: beam of laser is occurred by quasi-continuous laser, makes welding material surface melting form molten bath;
Step 5: the second bundle continuous laser beam focuses on the welding material region of having melted;
Step 6: this two bundles laser beam, with given sweep speed synchronizing moving, forms weld seam on the surface of welding material, completes welding.
2. employing twin-laser according to claim 1 is implemented the method for laser weld to metal material, and wherein twin-laser is respectively quasi-continuous laser and continuous wave laser.
3. employing twin-laser according to claim 1 is implemented the method for laser weld to metal material, and wherein the pulse peak power of beam of laser is greater than 10
5w magnitude, the surface microscopic topographic of change aluminium alloy.
4. employing twin-laser according to claim 2 is implemented the method for laser weld to metal material, and wherein quasi-continuous laser peak power output is 100-1000W, and pulse width is 50-200ns, and repetition rate is 10kHz-30kHz, and peak power is greater than 10
5w.
5. employing twin-laser according to claim 2 is implemented the method for laser weld to metal material, and wherein continuous wave laser peak power output is 500-10000W.
6. employing twin-laser according to claim 1 is implemented the method for laser weld to metal material, and wherein the hot spot of first, second Shu Jiguang is 0-3mm in the surperficial spacing of welding material; The laser beam of quasi-continuous laser is positioned at the place ahead of welding direction, and the laser beam of continuous wave laser is positioned at the rear of welding direction.
7. employing twin-laser according to claim 1 is implemented the method for laser weld to metal material, and wherein the sweep speed of first, second Shu Jiguang is 560mm/s.
8. employing twin-laser according to claim 1 is implemented the method for laser weld to metal material, the protective gas that wherein blows side, and this protection gas is Ar gas, He gas or N gas, or the gas of the arbitrary proportion of Ar gas, He gas and N gas mixing.
9. employing twin-laser according to claim 1 is implemented the method for laser weld to metal material, and wherein welding material is aluminium alloy, copper alloy, fine aluminium or pure copper material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410022988.1A CN103753022B (en) | 2014-01-17 | 2014-01-17 | Adopt twin-laser metal material to be implemented to the method for laser weld |
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|---|---|---|---|
| CN201410022988.1A CN103753022B (en) | 2014-01-17 | 2014-01-17 | Adopt twin-laser metal material to be implemented to the method for laser weld |
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| Publication Number | Publication Date |
|---|---|
| CN103753022A true CN103753022A (en) | 2014-04-30 |
| CN103753022B CN103753022B (en) | 2016-05-25 |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104625403A (en) * | 2015-01-27 | 2015-05-20 | 湖南大学 | Method for restraining myriawatt-class laser welding thick plate upper surface defects |
| CN105921884A (en) * | 2015-10-29 | 2016-09-07 | 福建中科光汇激光科技有限公司 | Pulse-continuous wave compound laser machining system |
| CN106312314A (en) * | 2016-11-16 | 2017-01-11 | 南京先进激光技术研究院 | Double laser beam welding system and method |
| CN106735904A (en) * | 2016-12-20 | 2017-05-31 | 柳州振业焊接机电设备制造有限公司 | The method for laser welding of aluminium alloy |
| CN106862757A (en) * | 2017-03-20 | 2017-06-20 | 广东省焊接技术研究所（广东省中乌研究院） | A kind of double laser beam complex welding method |
| CN107414300A (en) * | 2017-08-23 | 2017-12-01 | 四川九立微波有限公司 | A kind of method of the hybrid laser welding capping of high-power PIN switch modules |
| CN108340073A (en) * | 2017-12-28 | 2018-07-31 | 上海君屹工业自动化股份有限公司 | A kind of battery modules aluminum alloy casing laser welding process |
| CN108453374A (en) * | 2018-05-10 | 2018-08-28 | 大族激光科技产业集团股份有限公司 | A kind of dual-beam laser welding method and device of aluminium alloy |
| CN108672931A (en) * | 2018-07-18 | 2018-10-19 | 武汉锐科光纤激光技术股份有限公司 | A kind of ear nail welder |
| CN110769615A (en) * | 2019-09-17 | 2020-02-07 | 昆山市柳鑫电子有限公司 | Ceramic copper-clad plate conductive micropore and preparation method thereof |
| WO2020187260A1 (en) * | 2019-03-18 | 2020-09-24 | 中国科学院上海光学精密机械研究所 | Laser welding method |
| CN111843210A (en) * | 2020-08-14 | 2020-10-30 | 福建祥鑫股份有限公司 | Laser welding method for 7-series aluminum alloy plate with thickness larger than 40mm |
| CN112355474A (en) * | 2015-02-09 | 2021-02-12 | 司浦爱激光技术英国有限公司 | Laser welding method using micro-welding piece pattern |
| CN114289868A (en) * | 2021-12-31 | 2022-04-08 | 南京萃智激光应用技术研究院有限公司 | Short-pulse laser-assisted continuous laser welding processing device and processing method |
| CN114309939A (en) * | 2022-01-07 | 2022-04-12 | 武汉锐科光纤激光技术股份有限公司 | Copper-based sheet material belt laser welding method and laser welding equipment |
| CN115889820A (en) * | 2022-11-16 | 2023-04-04 | 云耀深维(江苏)科技有限公司 | Dual-laser additive manufacturing method and device |
| CN116571886A (en) * | 2023-05-12 | 2023-08-11 | 武汉锐科光纤激光技术股份有限公司 | Laser welding device, welding control method, and welding control device |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104625403A (en) * | 2015-01-27 | 2015-05-20 | 湖南大学 | Method for restraining myriawatt-class laser welding thick plate upper surface defects |
| CN112355474B (en) * | 2015-02-09 | 2023-04-25 | 通快激光英国有限公司 | Laser welding method using micro weldment pattern |
| CN112355474A (en) * | 2015-02-09 | 2021-02-12 | 司浦爱激光技术英国有限公司 | Laser welding method using micro-welding piece pattern |
| CN105921884A (en) * | 2015-10-29 | 2016-09-07 | 福建中科光汇激光科技有限公司 | Pulse-continuous wave compound laser machining system |
| CN106312314B (en) * | 2016-11-16 | 2019-01-15 | 南京先进激光技术研究院 | double laser beam welding system and method |
| CN106312314A (en) * | 2016-11-16 | 2017-01-11 | 南京先进激光技术研究院 | Double laser beam welding system and method |
| CN106735904A (en) * | 2016-12-20 | 2017-05-31 | 柳州振业焊接机电设备制造有限公司 | The method for laser welding of aluminium alloy |
| CN106862757A (en) * | 2017-03-20 | 2017-06-20 | 广东省焊接技术研究所（广东省中乌研究院） | A kind of double laser beam complex welding method |
| CN107414300A (en) * | 2017-08-23 | 2017-12-01 | 四川九立微波有限公司 | A kind of method of the hybrid laser welding capping of high-power PIN switch modules |
| CN108340073A (en) * | 2017-12-28 | 2018-07-31 | 上海君屹工业自动化股份有限公司 | A kind of battery modules aluminum alloy casing laser welding process |
| CN108453374A (en) * | 2018-05-10 | 2018-08-28 | 大族激光科技产业集团股份有限公司 | A kind of dual-beam laser welding method and device of aluminium alloy |
| CN108672931A (en) * | 2018-07-18 | 2018-10-19 | 武汉锐科光纤激光技术股份有限公司 | A kind of ear nail welder |
| CN108672931B (en) * | 2018-07-18 | 2023-09-08 | 武汉锐科光纤激光技术股份有限公司 | Ear nail welding device |
| WO2020187260A1 (en) * | 2019-03-18 | 2020-09-24 | 中国科学院上海光学精密机械研究所 | Laser welding method |
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| CN111843210A (en) * | 2020-08-14 | 2020-10-30 | 福建祥鑫股份有限公司 | Laser welding method for 7-series aluminum alloy plate with thickness larger than 40mm |
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| CN114309939A (en) * | 2022-01-07 | 2022-04-12 | 武汉锐科光纤激光技术股份有限公司 | Copper-based sheet material belt laser welding method and laser welding equipment |
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| CN115889820B (en) * | 2022-11-16 | 2024-10-29 | 云耀深维(江苏)科技有限公司 | Dual-laser additive manufacturing method and device |
| CN116571886A (en) * | 2023-05-12 | 2023-08-11 | 武汉锐科光纤激光技术股份有限公司 | Laser welding device, welding control method, and welding control device |
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