A laser weld seam tracking mechanism

Abstract

The utility model provides a kind of laser welding seam tracking mechanism, including pedestal, the front surface of the pedestal is fixedly installed with first motor, the output of the first motor is fixedly installed with installation mechanism, the output of the first motor is installed with laser welding gun by installation mechanism, during the application of this technical solution, by setting double tracking mechanism, two laser contour sensors can be scanned from the different side of weld, comprehensive capture profile information, avoid single sensor perspective limitation, improve welding path and weld form matching degree, solve the problem of complex weld adaptation difficult, welding precision insufficient in prior art;Meanwhile through the installation mechanism convenient to disassemble, operation pullout shaft and pull ring can quickly adjust or disassemble laser welding gun, shorten disassembly time, improve the adaptation efficiency of equipment to different workpieces, solve the problem of inconvenient equipment adjustment, affect production efficiency in prior art, also reduce operator's work intensity.

Description

Technical Field

[0001] This utility model relates to the field of laser welding technology, and in particular to a laser welding seam tracking mechanism. Background Technology

[0002] With the continuous advancement of industrial technology and the increasing demand for automation, specialized welding equipment is gradually being adopted in industrial production to replace manual welding, thereby improving the automation level and production efficiency of welding operations. Specialized welding equipment controls welding parameters through preset programs, reducing the interference of human factors on welding quality to a certain extent and improving the working environment for workers. However, in practical applications, the lack of flexibility and adaptability of existing specialized welding equipment becomes apparent when dealing with workpieces with complex shapes (such as irregularly shaped components or multi-curved surface connection structures) or irregular contours at the welding point (such as non-linear welds or variable cross-section welds). Because the equipment's movement trajectory and posture adjustments are largely based on preset programs, it is difficult to make timely and dynamic adjustments according to real-time contour changes at the welding point, making it impossible to accurately match the welding requirements of complex welds. Manual assistance is often required, such as manually adjusting the workpiece position and correcting the welding path. Even so, manual assistance not only increases labor costs but also makes it difficult to guarantee the accuracy of the welding position and angle, leading to significant fluctuations in welding quality. It also prolongs the welding cycle, resulting in high production costs and low production efficiency, thus restricting its widespread application in complex workpiece welding scenarios.

[0003] To address the accuracy and adaptability issues of existing welding equipment in welding complex weld seams, in-depth research has been conducted in related technical fields. Chinese Patent No. CN215846511U discloses a laser-tracking-based welding device. This device mainly includes a welding torch, a laser sensor, a first drive mechanism, and a second drive mechanism. The laser emitted by the laser sensor is positioned in front of the welding torch's running direction. The first drive mechanism drives the welding torch and laser sensor to rotate synchronously around a first drive shaft. The second drive mechanism drives the welding torch to oscillate to adjust the welding angle. This patented technology aims to improve the accuracy and quality of welding operations by pre-planning the welding trajectory through laser tracking. Theoretically, it can adapt to various welding scenarios, providing a new technical approach for welding complex weld seams.

[0004] However, in practical applications, the aforementioned laser-tracking-based welding device still has obvious defects and shortcomings, making it difficult to fully meet the industrial production demand for high-quality and high-efficiency welding. First, in terms of the installation position of the laser sensor, the device only installs the laser contour sensor on the front of the laser welding gun. This installation method means that during the welding operation, a single laser sensor cannot effectively perform pre-tracking scanning and contour recognition of the weld. Due to the relative positional limitation between the laser direction and the welding gun's running direction, the sensor has difficulty obtaining complete contour information of the weld in advance. Especially when there are abrupt changes or complex bends in the weld path, a single welding gun obviously cannot perform comprehensive and stable detection.

[0005] Secondly, in industrial welding scenarios, due to the high requirements for weld strength, penetration depth, and density, a single weld often cannot meet production standards, necessitating repeated welding operations. For example, for thick workpieces or structural components bearing high loads, a single weld may not achieve sufficient fusion and adequate weld cross-sectional dimensions. In such cases, the welding torch needs to be reset and the same weld seam re-welded, increasing the weld thickness by layering the molten pool to enhance the structural stability and load-bearing capacity of the weld. Furthermore, in fields with extremely stringent welding quality requirements, weld quality is inspected in real-time using visual inspection, penetration depth sensing, and other methods after a single weld. If defects such as incomplete penetration, porosity, or microcracks are found, the welding system needs to drive the welding torch to re-execute the welding process to fill the defects and optimize the weld quality. However, the aforementioned patented device, during the re-welding process after the welding torch reset, cannot perform a second weld seam re-welding due to limitations in the installation structure and working logic of its laser sensor. This limitation prevents it from performing a second weld seam re-welding that has already undergone morphological changes after the initial weld. Secondary contour scanning means that the welding torch still performs welding operations based on the weld contour data before the initial welding, which cannot adapt to the actual shape of the weld during repeated welding. This not only makes it difficult to guarantee the quality of repeated welding, but may also generate new welding defects due to the mismatch between the welding path and the actual weld, seriously affecting the overall quality and performance of the welded products. Although current welding technology has developed from traditional manual welding to automated welding equipment, and improved welding devices based on laser tracking have emerged, there are still obvious shortcomings in terms of adaptability to complex welds and accuracy in repeated welding. It cannot fully meet the demands of modern industrial production for efficient, high-precision, and high-quality welding. Therefore, further improving the design of existing welding devices to solve the above-mentioned technical defects has become a key direction for promoting the continuous development of welding technology and adapting to the higher requirements of industrial production. Utility Model Content

[0006] To address the aforementioned problems, this invention proposes a laser welding seam tracking mechanism to more accurately resolve the problems described above.

[0007] This utility model is achieved through the following technical solution:

[0008] This utility model proposes a laser welding seam tracking mechanism, including a base, a first motor fixedly mounted on the front of the base, an installation mechanism fixedly mounted on the output end of the first motor, a laser welding gun mounted on the output end of the first motor through the installation mechanism, a mounting frame mounted on the front of the laser welding gun through bolts, and a tracking mechanism fixedly mounted on both ends of the mounting frame.

[0009] The tracking mechanism includes a mounting plate, which is fixedly mounted on both ends of a mounting frame. A second motor is fixedly mounted on the front of the mounting plate, and a linear displacement module is fixedly mounted on the output end of the second motor. A tracking module is fixedly mounted on the moving end of the linear displacement module.

[0010] Furthermore, the installation mechanism includes an installation rail, which is fixedly installed on the output end of the first motor. An installation block is slidably connected inside the installation rail. A limit component is fixedly installed on one side of the installation rail. The limit end of the limit component is engaged with the installation block. The laser welding gun is fixedly installed on the front side of the installation block.

[0011] Furthermore, the limiting component includes a side frame and a locking hole. The side frame is fixedly installed on the middle of one side of the mounting rail. A limiting spring is fixedly connected inside the side frame. A movable plate is fixedly connected to the end of the limiting spring. The movable plate is slidably connected inside the side frame. A locking pin is fixedly installed on the side of the movable plate away from the limiting spring. The locking hole is opened in the middle of one side of the mounting block. The end of the locking pin is inserted into the locking hole of the mounting block. A disassembly and assembly pull-out shaft is fixedly installed on the outer side of the movable plate. The end of the disassembly and assembly pull-out shaft passes through the side frame.

[0012] Furthermore, a pull ring is fixedly installed at the outer end of the detachable pull shaft through the side frame, and the top view shape of the mounting block and the top view shape of the internal cavity of the mounting rail are both set as convex.

[0013] Furthermore, the linear displacement module includes a vertical rail, which is fixedly installed at the output end of the second motor. A lead screw is rotatably connected inside the vertical rail, and a sliding nut is threaded onto the outer surface of the lead screw. A third motor is fixedly installed on the top of the vertical rail, and the output end of the third motor is connected to the top of the lead screw via a coupling. The tracking module is fixedly installed on the front of the moving end of the sliding nut.

[0014] Furthermore, the sliding nut has a convex shape when viewed from above, the internal cavity of the vertical rail also has a convex shape, and mounting holes are provided at the four corners of the base, which are countersunk holes.

[0015] The beneficial effects of this utility model are:

[0016] 1. During the application of this technical solution, by setting up a dual tracking mechanism, two laser contour sensors can scan from different sides of the weld seam during use. Compared with the existing technology where a single laser sensor can only scan from the front, it can capture weld seam contour information more comprehensively. Especially when facing weld seams with complex shapes or irregular contours, it can obtain more complete initial contour data and real-time contour change data during the welding process. This provides a more accurate basis for the attitude adjustment and path planning of the laser welding gun, thereby effectively avoiding the problem of incomplete weld seam contour capture caused by limited scanning angle, improving the matching degree between the welding path and the actual shape of the weld seam, and solving the problem of insufficient welding accuracy caused by the limited scanning range of a single sensor in the existing technology, which is difficult to adapt to complex weld seams. This further ensures the stability of welding quality.

[0017] 2. During the application of this technical solution, the easily disassembled installation mechanism allows for quick replacement or adjustment of the laser welding gun. Simply operate the pull shaft and pull ring to release the limiting position of the mounting block and mounting rail, push the mounting block to adjust its position, or remove the mounting block to disassemble the laser welding gun. Conversely, pushing the mounting block to the designated position automatically secures it via the limiting component, eliminating the need for complex disassembly and assembly procedures. This design significantly reduces the disassembly and adjustment time of the laser welding gun. Compared to the cumbersome and time-consuming disassembly and assembly of welding equipment components in existing technologies, it significantly improves the equipment's adaptability to different specifications of workpieces to be welded. It solves the problems of inconvenient adjustment of welding equipment and excessive preparation time for adapting to different workpieces, which affect production efficiency in existing technologies. Simultaneously, it reduces the workload of operators and improves overall operational convenience. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the rear view structure of this utility model;

[0020] Figure 3 This is a schematic diagram of the structure of this utility model from below;

[0021] Figure 4 This is a schematic diagram of the disassembled structure of this utility model;

[0022] Figure 5 This is a schematic diagram of the installation mechanism of this utility model.

[0023] In the diagram: 1. Base; 2. First motor; 3. Mounting mechanism; 31. Mounting rail; 32. Mounting block; 33. Limiting component; 331. Side frame; 332. Locking hole; 333. Limiting spring; 334. Movable plate; 335. Locking pin; 336. Disassembly and assembly pull-out shaft; 337. Pull ring; 4. Laser welding gun; 5. Mounting bracket; 6. Tracking mechanism; 61. Mounting plate; 62. Second motor; 63. Linear displacement module; 631. Vertical rail; 632. Lead screw; 633. Sliding nut; 634. Third motor; 64. Tracking module; 641. Fixing bracket; 642. Mounting sleeve; 643. Fourth motor; 644. Laser contour sensor; 7. Mounting hole. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Example 1

[0026] A laser welding seam tracking mechanism 6 includes a base 1, a first motor 2 fixedly mounted on the front of the base 1, an installation mechanism 3 fixedly mounted on the output end of the first motor 2, a laser welding gun 4 mounted on the output end of the first motor 2 through the installation mechanism 3, an installation frame 5 mounted on the front of the laser welding gun 4 through bolts, and a tracking mechanism 6 fixedly mounted on both ends of the installation frame 5.

[0027] The tracking mechanism 6 includes a mounting plate 61, which is fixedly mounted on both ends of the mounting frame 5. A second motor 62 is fixedly mounted on the front of the mounting plate 61. A linear displacement module 63 is fixedly mounted on the output end of the second motor 62, and a tracking module 64 is fixedly mounted on the moving end of the linear displacement module 63. During the application of this device, by setting up a base 1, a first motor 2, a mounting mechanism 3, a laser welding gun 4, a mounting frame 5, and a tracking mechanism 6, the base 1 can provide stable support for the whole system during use. After starting the first motor 2, the output end of the first motor 2 can drive the mounting mechanism 3 to rotate, and then the mounting mechanism 3 can drive the laser welding gun 4 to adjust its position and angle to meet the needs of different welding orientations. Before the laser welding gun 4 enters the welding state, the tracking mechanisms 6 at both ends of the mounting frame 5 can be started in advance. When the second motor 62 operates, it drives the linear displacement module 63 to move. The linear displacement module 63 then drives the tracking module 64 to adjust its position, allowing the tracking module 64 to accurately align with the area to be welded, thus achieving effective tracking of the weld. In this design, the first motor 2 can drive the laser welding gun 4 to adjust flexibly, ensuring the accuracy of the welding position. The tracking mechanism 6, through the cooperation of the second motor 62 and the linear displacement module 63, allows the tracking module 64 to follow the weld in real time, providing the laser welding gun 4 with a precise weld position reference, avoiding deviations caused by inaccurate weld tracking during welding. At the same time, the mounting bracket 5 connects the tracking mechanism 6 and the laser welding gun 4, making the two work more closely together, improving the overall welding stability, and solving the problems of difficult weld tracking and inflexible welding position adjustment in traditional welding, further ensuring welding quality and efficiency.

[0028] Combination Figures 1-5 As shown, the mounting mechanism 3 includes a mounting rail 31, which is fixedly mounted on the output end of the first motor 2. A mounting block 32 is slidably connected inside the mounting rail 31. A limit component 33 is fixedly mounted on one side of the mounting rail 31, and the limiting end of the limit component 33 is engaged with the mounting block 32. The laser welding gun 4 is fixedly mounted on the front of the mounting block 32. The limit component 33 includes a side frame 331 and a locking hole 332. The side frame 331 is fixedly mounted on the middle of one side of the mounting rail 31. A limit spring 333 is fixedly connected inside the side frame 331, and a movable plate 334 is fixedly connected to the end of the limit spring 333. The movable plate 334 is slidably connected to the inside of the side frame 331. A locking pin 335 is fixedly installed on the side of the movable plate 334 away from the limiting spring 333. A locking hole 332 is opened in the middle of one side of the mounting block 32. The end of the locking pin 335 is inserted into the inside of the locking hole 332 of the mounting block 32. A disassembly and assembly pull-out shaft 336 is fixedly installed on the outside of the movable plate 334. The end of the disassembly and assembly pull-out shaft 336 passes through the side frame 331. A pull ring 337 is fixedly installed on the outer end of the disassembly and assembly pull-out shaft 336 through the side frame 331. The top view shape of the mounting block 32 and the top view shape of the internal cavity of the mounting rail 31 are both set as convex.

[0029] The technical solution described in the above-described embodiments of this application, during the application of this device, utilizes an installation mechanism 3, including an installation rail 31, an installation block 32, a limiting component 33, a side frame 331, a locking hole 332, a limiting spring 333, a movable plate 334, a locking pin 335, a disassembly and reassembly pull-out shaft 336, and a pull ring 337. This allows the installation block 32 to slide within the installation rail 31 when a laser welding gun 4 needs to be installed. Since both the installation block 32 and the internal cavity of the installation rail 31 have a convex shape when viewed from above, the stability of the installation block 32 during sliding is ensured, preventing displacement. When the installation block 32 moves to a suitable position, the limiting spring 333 inside the side frame 331 pushes the movable plate 334 to slide. The movable plate 334 then causes the locking pin 335 to insert into the locking hole 332 on one side of the installation block 32, thus fixing the installation block 32 to the installation rail 31. This completes the installation of the laser welding gun 4. If it is necessary to disassemble or adjust the laser welding gun 4, pulling the pull ring 337 will move the disassembly and assembly pull shaft 336. The disassembly and assembly pull shaft 336 will drive the movable plate 334 to compress the limit spring 333, and the locking pin 335 will be pulled out from the locking hole 332, releasing the limit on the mounting block 32. At this time, the mounting block 32 can be pushed to adjust the position or removed to disassemble the laser welding gun 4. This design makes the installation, disassembly and position adjustment of the laser welding gun 4 more convenient, without complicated tools and cumbersome steps. It can quickly complete the adaptation operation of the laser welding gun 4, reduce equipment adjustment time, and improve the response efficiency to different welding needs. At the same time, the cooperation between the convex structure and the limit component 33 can ensure the stability after installation, prevent the laser welding gun 4 from loosening during the welding process, and ensure the smooth progress of the welding operation.

[0030] Example 2

[0031] Combination Figures 1-4 As shown, the linear displacement module 63 includes a vertical rail 631, which is fixedly installed at the output end of the second motor 62. A lead screw 632 is rotatably connected inside the vertical rail 631, and a sliding nut 633 is threadedly connected to the outer surface of the lead screw 632. A third motor 634 is fixedly installed on the top of the vertical rail 631, and the output end of the third motor 634 is connected to the top of the lead screw 632 through a coupling. The tracking module 64 is fixedly installed on the front of the moving end of the sliding nut 633. The sliding nut 633 has a convex shape when viewed from above, and the internal cavity of the vertical rail 631 also has a convex shape. Mounting holes 7 are provided at the four corners of the base 1, and the mounting holes 7 are countersunk holes.

[0032] In the above-described embodiments of this application, during the application of this device, a linear displacement module 63 and a base 1 are provided. The linear displacement module 63 includes a vertical rail 631, a lead screw 632, a sliding nut 633, a third motor 634, and a coupling. The base 1 has countersunk mounting holes 7 at its four corners, allowing the device to be fixed in the working position first through the mounting holes 7. The countersunk holes prevent the heads of the mounting bolts from protruding and affecting the surrounding components or overall stability. After the third motor 634 is started, the output end of the third motor 634 drives the lead screw 632 inside the vertical rail 631 to rotate through the coupling. When the lead screw 632 rotates, it drives the sliding nut 633, which is threaded on its outer surface, to move. Because the top view shape of the sliding nut 633 is similar to the internal cavity of the vertical rail 631... All cross-sectional shapes are convex, ensuring that the sliding nut 633 does not deviate during movement and maintains a stable trajectory. The tracking module 64 is fixed to the front of the moving end of the sliding nut 633 and moves synchronously with it, thus achieving precise adjustment of the tracking module 64's position. This design allows for precise control of the tracking module 64's movement through the cooperation of the third motor 634 and the lead screw 632, meeting the positional requirements of the tracking module 64 for different weld seam tracking. The convex structure further ensures the stability of the movement process, preventing the tracking module 64 from deviating and affecting scanning accuracy. At the same time, the countersunk mounting holes 7 of the base 1 make the device more secure, reducing the interference of device shaking during welding and improving the overall reliability and tracking accuracy of the device.

[0033] The working principle and advantages of this utility model are as follows: First, the mechanism is installed and fixed. The entire mechanism is fixed in the designated position required for welding operation through the countersunk mounting holes 7 at the four corners of the base 1. The countersunk design can avoid the protruding heads of the mounting bolts from affecting the overall installation stability of the mechanism and interference with surrounding components, providing basic support for the stable operation of subsequent components, and avoiding the displacement of the mechanism during welding, which would affect the welding accuracy. After the base 1 is fixed, the mounting block 32 is pushed to slide inside the mounting rail 31, so that the laser welding gun 4 moves with the mounting block 32 to the preset installation position. During use, the pull ring 337 can be pulled to drive the movable plate 334 to compress the limit spring 333. At this time, the locking pin 335 moves outward. After the mounting block 32 is installed, the pull ring 337 is released. At this time, the limit spring 333 resets, and the movable plate 334 drives the locking pin 335 to move under the force of the limit spring 333. The end of the locking pin 335 is inserted into the inner side of the locking hole 332 in the middle of one side of the mounting block 32, so that the mounting block 32 and the mounting rail 31 are relatively fixed, thereby completing the installation and fixing of the laser welding gun 4. If it is necessary to disassemble or adjust the position of the laser welding gun 4 later, pull the pull ring 337 at the outer end of the disassembly and assembly pull shaft 336. The disassembly and assembly pull shaft 336 drives the movable plate 334 to slide inside the side frame 331. The movable plate 334 compresses the limit spring 333, and at the same time the locking pin 335 is pulled out from the locking hole 332, releasing the limit on the mounting block 32. Then the mounting block 32 can be pushed to adjust the position or the mounting block 32 can be removed to complete the disassembly of the laser welding gun 4.

[0034] After the mechanism installation is completed, the pre-welding preparation and initial weld seam scanning adjustment stage begins. Based on the weld seam requirements of the workpiece to be welded, the operating parameters of the first motor 2, second motor 62, third motor 634, and fourth motor 643 are preset via the control terminal. Simultaneously, the scanning frequency and data transmission frequency of the laser contour sensor 644 are set to ensure that the operating parameters of each component match the requirements of the weld seam. After the equipment is started, the fourth motor 643 starts first, its output driving the laser contour sensor 644 to rotate, adjusting the scanning angle of the laser contour sensor 644 so that it can cover the initial scanning range of the weld seam. At the same time, the second motor 62 starts, its output... The linear displacement module 63 is rotated, further adjusting its overall orientation. This, combined with the fourth motor 643, enables multi-dimensional adjustment of the scanning angle of the laser contour sensor 644. Subsequently, the third motor 634 starts, its output driving the lead screw 632 to rotate inside the vertical rail 631 via a coupling. A bellows cover can be installed on the outside of the lead screw 632 for dust protection, preventing metal shavings and dust generated during welding from adhering to its surface and affecting its transmission accuracy. As the lead screw 632 rotates, the sliding nut 633, threadedly connected to it, slides along the internal cavity of the vertical rail 631. The sliding nut 633 drives the tracking module 64 to move along the length of the vertical rail 631. The height of the laser contour sensor 644 is adjusted. Both the internal cavity of the vertical rail 631 and the sliding nut 633 are convex, which restricts the sliding direction of the sliding nut 633 within the vertical rail 631, preventing deflection during movement and ensuring the stability of the tracking module 64's movement. This, in turn, guarantees the accuracy of the laser contour sensor 644's scanning position. Through the coordinated operation of the second motor 62, the third motor 634, and the fourth motor 643, the laser contour sensor 644 is moved to a position capable of fully scanning the weld. After activation, the laser contour sensor 644 scans the initial contour of the weld and transmits the acquired contour data in real time to... The control terminal receives data and generates a welding path adjustment command, which is then sent to the first motor 2. The first motor 2 starts, and its output drives the mounting mechanism 3 to rotate. The mounting mechanism 3 drives the laser welding gun 4 to rotate around the output of the first motor 2 as the rotation axis, adjusting the overall welding angle of the laser welding gun 4 so that the welding direction of the laser welding gun 4 matches the initial contour of the weld. This completes the position and angle adjustment before welding. The mounting bracket 5 is installed on the front of the laser welding gun 4 with bolts, and tracking mechanisms 6 are fixedly installed at both ends. The laser contour sensors 644 on the two tracking mechanisms 6 can perform pre-tracking scanning and contour recognition from different sides of the weld to obtain more complete initial contour data of the weld.

[0035] After initial adjustments, the real-time tracking and adjustment phase of the welding process begins. The laser welding gun 4 is activated to start welding. During welding, the tracking mechanism 6 continuously scans the weld seam in real time. The laser contour sensor 644 continuously acquires real-time contour data of the weld seam and transmits it to the control terminal. The control terminal compares the real-time contour data with the preset weld seam contour data. When it detects that the weld seam contour has changed due to thermal deformation or other factors during the welding process, it immediately generates an adjustment command. If it is necessary to adjust the scanning position of the laser contour sensor 644 to adapt to the changed weld seam contour, the control terminal sends a command to the second motor 62, the third motor 634, or the fourth motor 643. The second motor 62 starts, driving the linear displacement module 63 to rotate, adjusting the horizontal orientation of the laser contour sensor 644. The third motor... When motor 634 starts, it drives the lead screw 632 to rotate. The bellows cover on the outside of the lead screw 632 extends and retracts synchronously with the rotation of the lead screw 632, continuously playing a dustproof role. The sliding nut 633, which is threaded to the lead screw 632, slides along the internal cavity of the vertical rail 631 to adjust the height of the laser contour sensor 644. The fourth motor 643 starts, driving the laser contour sensor 644 to rotate itself and adjust the scanning angle. Through the above adjustments, it is ensured that the laser contour sensor 644 can always accurately acquire the contour data of the weld after the change. If it is necessary to adjust the welding position and angle of the laser welding gun 4, the control terminal sends a command to the first motor 2. The first motor 2 drives the mounting mechanism 3 and the laser welding gun 4 to rotate, correcting the welding angle of the laser welding gun 4 in real time, so that the welding path of the laser welding gun 4 is always consistent with the real-time contour of the weld.

[0036] After a single welding operation is completed, if repeated welding is required, such as due to weld strength, penetration depth, or density requirements, or if defects such as incomplete penetration, porosity, or microcracks are detected, the control terminal sends a command to reset the laser welding gun 4. During the reset process of the laser welding gun 4, the tracking mechanism 6 restarts, and the laser contour sensor 644 performs a second scan of the weld seam, which has undergone morphological changes since the initial welding, following the pre-welding scanning procedure. The control terminal then starts the second motor 62, the third motor 634, and the fourth motor 643. When the third motor 634 drives the lead screw 632 to rotate, the bellows cover continues to assist in dust prevention, preventing dust from affecting the transmission of the lead screw 632, thereby ensuring the accuracy of the laser contour sensor 644's position adjustment. The position and angle of the laser contour sensor 644 are adjusted to align with the changed weld seam. After the laser contour sensor 644 is activated, it acquires the weld seam contour data required for secondary welding and transmits it to the control terminal. The control terminal regenerates the welding path and adjusts the parameters based on the contour data from the secondary scan. Then, following the real-time tracking and adjustment process during welding, the first motor 2, the second motor 62, the third motor 634, the fourth motor 643, and the laser welding gun 4 are activated to perform secondary welding. If multiple welding operations are required, the above-mentioned repeated welding process is repeated until the welding quality requirements are met. The fixing bracket 641 in the tracking module 64 fixes the tracking module 64 to the moving end of the sliding nut 633, and the mounting sleeve 642 is used to fix the fourth motor 643 to ensure the fourth motor... To ensure the stability of the laser welding gun 643 during operation and prevent motor vibration from affecting the scanning accuracy of the laser contour sensor 644, further guaranteeing the accuracy of weld seam scanning data, the laser welding seam tracking mechanism 6 features a mounting block 32 that can be easily disassembled and adjusted, which works in conjunction with the mounting rail 31. This makes the disassembly, assembly, and position adjustment of the laser welding gun 4 more convenient, allowing for the replacement or adjustment of the laser welding gun 4 according to the needs of different workpieces to be welded. This solves the problem of poor equipment adaptability in traditional manual welding and avoids the drawbacks of cumbersome adjustments for dedicated welding equipment. Multiple motors work together to adjust the position and angle of the laser contour sensor 644, and the mounting bracket 5 is used to set up tracking mechanisms 6 on both sides of the laser welding gun 4, changing the existing laser tracking welding device which only tracks the front of the welding gun. The structure with a single laser sensor allows two laser contour sensors 644 to scan from different sides of the weld, acquiring more complete weld contour data. This avoids the problem in existing devices where a single sensor can only capture the weld contour from the front and cannot obtain a complete picture. It provides timely and accurate data support for welding torch posture adjustment and path planning. At the same time, a bellows cover is installed on the outside of the lead screw 632 to help prevent dust and maintain the transmission accuracy of the lead screw 632 over a long period of time, avoiding dust interference with the operation of the linear displacement module 63. Through real-time tracking and dynamic adjustment, it solves the problem that dedicated welding equipment is difficult to adjust to real-time changes when facing complex welds, improving the flexibility and adaptability of the equipment for welding complex welds, while avoiding the increased costs and insufficient accuracy caused by manual adjustment.During repeated welding, the laser contour sensor 644 can perform a secondary scan of the changed weld seam, which solves the problem that the existing laser tracking welding device cannot perform a secondary scan of the changed weld seam when the welding torch is reset for welding. This ensures that the welding torch is based on real-time and accurate weld seam contour data, avoids new defects caused by the mismatch between the welding path and the actual weld seam, ensures the quality of repeated welding, and thus improves the overall welding quality and efficiency.

[0037] In this technical solution, the main electronic components are specified as follows: the first motor 2, the second motor 62, and the third motor 634 are all 60 stepper motors, model 42HS40-1704, with a rated voltage of 12-24V, a rated current of 1.7A, and a torque of 0.4N·m. Each motor is equipped with a planetary gearbox reducer with a reduction ratio of 5-20:1 to improve torque or adjust and reduce speed. The motors are also equipped with a 1000-line encoder, which can realize flexible adjustment of rotation and stepless speed regulation. The controller uses an STM32F103ZET6 microcontroller, which is installed in the mounting box reserved on the side of the base 1. The controller is equipped with a 2.4-inch TFT color display screen with a resolution of 320×240.

[0038] Regarding auxiliary sensors, a laser displacement sensor of model OS137-10 is installed next to the laser welding gun 4, with a detection range of 0-100mm and an accuracy of ±0.01mm, used to monitor the weld penetration. A photoelectric sensor of model E3Z-LS63 is installed on the side of the vertical rail 631, with a detection distance of 5-30mm, used to limit the movement of the sliding nut 633.

[0039] The circuit connection method is as follows: the external 220V AC power supply is converted to 24V DC power supply through the MSP-60-24 switching power supply, which powers each motor, controller and sensor. The controller is connected to each motor through the A4988 stepper motor driver. The encoder signal terminal is directly connected to the GPIO pin of the controller. The signal output terminals of the laser displacement sensor and photoelectric sensor communicate with the controller through the RS485 bus. The display screen is connected to the controller through the SPI interface. The controller receives the sensor feedback signal, calculates it through the internal program and outputs control commands to drive the motor driver to adjust the motor speed and direction, realize the position adjustment of the tracking module 64 and the attitude control of the welding gun, and complete the weld seam tracking operation.

[0040] The scope of protection of this application does not involve improvements to the electronic components of the device or equipment. Therefore, the working principles of each electronic component are not described in detail here. The electronic components in this application are all conventional electronic components used in the prior art. They are all conventional technical means in the prior art, and the application of the prior art is very mature. Therefore, they will not be elaborated here.

[0041] Of course, there may be other implementations of this utility model. Based on this implementation, other implementations obtained by those skilled in the art without any creative effort are all within the scope of protection of this utility model.

Claims

1. A laser weld seam tracking mechanism (6), characterized by Includes a base (1), on the front of the base (1) a first motor (2) is fixedly installed, on the output end of the first motor (2) a mounting mechanism (3) is fixedly installed, on the output end of the first motor (2) a laser welding gun (4) is installed through the mounting mechanism (3), on the front of the laser welding gun (4) a mounting bracket (5) is installed by bolts, and on both ends of the mounting bracket (5) a tracking mechanism (6) is fixedly installed; The tracking mechanism (6) includes a mounting plate (61), which is fixedly mounted on both ends of the mounting frame (5). A second motor (62) is fixedly mounted on the front of the mounting plate (61). A linear displacement module (63) is fixedly mounted on the output end of the second motor (62). A tracking module (64) is fixedly mounted on the moving end of the linear displacement module (63).

2. A laser weld seam tracking mechanism (6) according to claim 1, characterized in that The installation mechanism (3) includes an installation rail (31), which is fixedly installed at the output end of the first motor (2). An installation block (32) is slidably connected inside the installation rail (31). A limiting component (33) is fixedly installed on one side of the installation rail (31). The limiting end of the limiting component (33) is engaged with the installation block (32). The laser welding gun (4) is fixedly installed on the front side of the installation block (32).

3. The laser welding seam tracking mechanism (6) according to claim 2, characterized in that, The limiting component (33) includes a side frame (331) and a locking hole (332). The side frame (331) is fixedly installed on the middle of one side of the mounting rail (31). A limiting spring (333) is fixedly connected inside the side frame (331). A movable plate (334) is fixedly connected to the end of the limiting spring (333). The movable plate (334) is slidably connected to the inside of the side frame (331). A locking pin (335) is fixedly installed on the side of the movable plate (334) away from the limiting spring (333). The locking hole (332) is opened in the middle of one side of the mounting block (32). The end of the locking pin (335) is inserted into the inside of the locking hole (332) of the mounting block (32). A disassembly and assembly pull-out shaft (336) is fixedly installed on the outside of the movable plate (334). The end of the disassembly and assembly pull-out shaft (336) passes through the side frame (331).

4. The laser welding seam tracking mechanism (6) according to claim 3, characterized in that, The outer end of the detachable pull-out shaft (336) is fixedly installed with a pull ring (337) through the side frame (331). The top view shape of the mounting block (32) and the top view shape of the internal cavity of the mounting rail (31) are both set as convex.

5. A laser weld seam tracking mechanism (6) according to claim 1, characterized in that The linear displacement module (63) includes a vertical rail (631), which is fixedly installed at the output end of the second motor (62). A lead screw (632) is rotatably connected inside the vertical rail (631), and a sliding nut (633) is threadedly connected to the outer surface of the lead screw (632). A third motor (634) is fixedly installed on the top of the vertical rail (631), and the output end of the third motor (634) is connected to the top of the lead screw (632) through a coupling. The tracking module (64) is fixedly installed on the front of the moving end of the sliding nut (633).

6. A laser weld seam tracking mechanism (6) according to claim 5, characterized in that The sliding nut (633) has a convex shape when viewed from above, and the internal cavity cross-section of the vertical rail (631) also has a convex shape. The four corners of the base (1) are provided with mounting holes (7), which are countersunk holes.

7. A laser weld seam tracking mechanism (6) according to claim 6, characterized in that The tracking module (64) includes a mounting bracket (641), which is fixedly installed on the moving end of the sliding nut. A mounting sleeve (642) is fixedly installed on the outer side of the mounting bracket (641), and a fourth motor (643) is fixedly installed inside the mounting sleeve (642). A laser contour sensor (644) is fixedly installed at the output end of the fourth motor (643).

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