Double-end guardrail laser welding machine

Abstract

The invention relates to the field of guardrail welding machining, and provides a double-end guardrail laser welding machine which comprises a guardrail weldment fixing mechanism arranged at the top of a horizontal rack. The laser welding device comprises two groups of five-axis servo modules, a laser and a laser welding head; the two five-axis servo modules of the same structure are symmetrically arranged on the left side and the right side of the horizontal rack, and each five-axis servo module comprises an X-axis servo module, a Y-axis servo module, a Z-axis servo module and a bidirectional servo rotating mechanism. And the welding wire feeding mechanism is arranged on the Z-axis servo module. The multi-dimensional arc welding device is characterized in that each laser welding head has five motion dimensions under the clamping of two groups of five-axis servo modules, and is compatible with a multi-dimensional arc welding function; an integral structure is adopted, so that the structure is stable, the integral structure does not shake during high-speed operation, and the working efficiency is high; the welding wire feeding mechanism is arranged on the Y-axis servo module and synchronously moves with the laser welding head in the three-dimensional space, and welding wire supply is stable and smoother.

Description

Technical Field

[0001] The invention relates to the field of guardrail welding processing, in particular to a double-head guardrail laser welding machine. Background Art

[0002] Common guardrails mainly include house guardrails, municipal guardrails, power facility guardrails, ladders, etc. Generally, guardrails have rectangular and other shape characteristics, that is, after several guardrail crossarms are arranged at intervals, their two ends are welded to the corresponding guardrail edge materials to form a rectangular or parallelogram or trapezoidal structure. Guardrail crossarms and guardrail edge materials generally use strip metals such as iron, stainless steel, and aluminum alloy as raw materials. During welding, several guardrail crossarms are arranged at intervals on the guardrail edge materials, and the guardrail crossarms are welded to the guardrail edge materials respectively. At present, most of the guardrail welding is done by manual argon arc welding, gas shielded welding, and handheld laser welding, which is labor-intensive and inefficient for workers. In order to improve work efficiency, some manufacturers use a single or two robots to weld at the same time instead of manual welding. However, the efficiency of a single robot welding method is not high. Although the efficiency of using two robots to weld at the same time is improved, the equipment structure appears to be loose and complex and the cost is high. If a high-end robot with precision and durability is selected, the overall cost is higher, which is not conducive to popularization. If you choose a common palletizing robot for guardrail welding, its welding accuracy is poor and it is difficult to meet the positioning accuracy requirements of welding. In addition, the programming and control of general robots are relatively complicated. If there are some minor abnormalities in process conversion or equipment, professional technicians are required to cooperate and solve them. It is difficult for ordinary production workers to carry out the corresponding work. Moreover, the structure is not stable enough. When running at high speed, the overall structure is prone to shaking and can only run at low speed, affecting work efficiency.

[0003] For example, the Chinese invention patent document with publication number CN 108942023 A discloses a device named "a guardrail welding device". The invention relates to a guardrail welding device, which mainly solves the problem that when manually welding guardrails of the same shape but different specifications and sizes, the labor intensity required is high, the efficiency is low, the welding effect is not regular, and the overall welding appearance is not beautiful. The equipment involved in the invention is mainly divided into three parts: a slide rail mechanism, a wire feeding mechanism, and a welding mechanism; the wire feeding mechanism, the finished wire feeder is installed on a three-degree-of-freedom planar robot arm, the reel is arranged at one end above the arm, and the wire feeding hose connected to one end adopts a push-pull wire feeding method to perform wire feeding, which can be used in occasions with a large working range. The end of the wire feeding hose is installed with a wire outlet nozzle, and a welding gun is installed in parallel. This equipment is an automated equipment. It can weld guardrails of different specifications and sizes by replacing different tooling. Since the material of the guardrails is generally carbon steel, gas shielded welding is used. On the other hand, two three-degree-of-freedom planar robots are used to weld the constructed guardrails from left to right at the same time, and the welding wire is automatically fed into the designated welding position. The parallel arranged welding guns weld the guardrails and the base material. The welding trajectory of the three-degree-of-freedom planar robot's welding gun is controlled by a programming program, so the welding effect is consistent and the efficiency is improved. The guardrail welding equipment disclosed in the invention also has the following problems: (1) The welding gun has insufficient degrees of freedom and no joint degrees of freedom, so it can only weld the top or bottom joints, but cannot weld the side seams of the guardrail crossarm and guardrail side joints; (2) The welding mechanism is a split type, that is, a three-degree-of-freedom planar robot is not fixed to the slide rail mechanism (equivalent to the frame), resulting in poor stability. When running at high speed, it is easy to shake, which is not conducive to improving work efficiency; (3) The split structure makes the structure relatively loose and not compact enough, resulting in a large volume, increasing the space occupied, and causing space waste; (4) The wire feeding distance of the welding wire is long, which is prone to jamming, causing the welding work to pause in the middle of the process. Summary of the invention

[0004] The present invention overcomes the above technical problems existing in the existing guardrail welding equipment and provides a double-head guardrail laser welding machine with higher performance and lower cost. The technical solution adopted is as follows: A double-head guardrail laser welding machine includes a horizontal frame, a laser welding device and a guardrail weldment fixing mechanism, wherein: The laser welding device is arranged on a horizontal frame; The guardrail weldment fixing mechanism is arranged on the top of the horizontal frame and is used to fix the weldment; The laser welding device includes two sets of five-axis servo modules, a laser and a laser welding head; Two groups of five-axis servo modules have the same structure and are movably arranged on the left and right sides of the horizontal frame in a left-right symmetrical manner relative to the horizontal frame. The two groups of five-axis servo modules are respectively a left-side five-axis servo module and a right-side five-axis servo module. Each group of five-axis servo modules includes an XYZ three-axis servo module and a bidirectional servo rotation mechanism. The XYZ three-axis servo module is arranged on the top left side of the horizontal frame, and is used to adjust the three-dimensional spatial position of the bidirectional servo rotating mechanism above the horizontal frame; The bidirectional servo rotation mechanism is set on the XYZ three-axis servo module, located above the guardrail weldment fixing mechanism, and is used to adjust the horizontal and vertical rotation angles of the laser welding head; The laser is arranged inside the horizontal frame and is used to generate high-energy laser for laser welding; The laser welding head is arranged on the bidirectional servo rotating mechanism, located above the guardrail weldment fixing mechanism, and is used to weld the weldments connected to each other; the laser welding head is connected to the laser through an optical fiber; The XYZ three-axis servo module includes an X-axis servo module, a Y-axis servo module, a Z-axis servo module, and a welding wire feeding mechanism for conveying welding wire to the welding seam; The X-axis servo module is vertically arranged on the left or right side of the horizontal frame so as to be movable forward and backward; The Y-axis servo module can drive the Z-axis servo module to slide left and right and is suspended above the left or right half of the horizontal frame, and one end of the module is fixed on the X-axis servo module. The Z-axis servo module can drive the bidirectional servo rotating mechanism to slide up and down and is suspended above the left or right half of the horizontal frame, and one end of the Z-axis servo module is fixed on the Y-axis servo module. The bidirectional servo rotating mechanism is suspended above the left half or the right half of the horizontal frame, and its upper end is fixed to the lower end of the Z-axis servo module; The welding wire feeding mechanism is arranged on the Z-axis servo module; The guardrail weldment fixing mechanism comprises a left positioning mechanism and a right positioning mechanism, and the left positioning mechanism and the right positioning mechanism are respectively arranged on the top of the horizontal frame in a left-right relative manner; the left positioning mechanism or the right positioning mechanism comprises a side pressure clamping profile bar, a side material bottom supporting plate bar and a cross arm material bottom supporting plate bar; the side pressure clamping profile bar for clamping the guardrail side material from the outside, the side material bottom supporting plate bar for supporting the guardrail side material from the bottom, and the cross arm material bottom supporting plate bar for supporting the guardrail side material from the bottom are arranged at intervals on the left or right side of the top of the horizontal frame in a sequence from outside to inside; in terms of height, the side material bottom supporting plate bar and the cross arm material bottom supporting plate bar are both lower than the height of the side pressure clamping profile bar; A plurality of edge material clamping cylinders are arranged on the left side of the horizontal frame. The edge material clamping cylinders are evenly distributed and arranged on the horizontal frame. The edge material clamping cylinders are arranged outside the side pressure clamping strip on the left side and are drivingly connected with the side pressure clamping strip on the left side.

[0005] Furthermore, the tops of the edge material bottom support strips and the cross arm material bottom support strips are provided with positioning adjustment longitudinal grooves whose slots are smaller than the slot bodies, which are respectively the edge material bottom support plate slots and the cross arm material bottom support plate slots. The edge material bottom support plate slots are provided with edge material head and tail positioning blocks for limiting the head or tail of the guardrail edge material; the cross arm material bottom support plate slots are provided with cross arm material head and tail positioning blocks for limiting the head and tail of the guardrail cross arm material.

[0006] Furthermore, the X-axis servo module includes an X-axis vertical arm, an X-axis horizontal arm, an X-axis front and rear sliding assembly, an X-axis sliding frame, an X-axis slider, an X-axis slide rail and an X-axis servo motor; wherein, The X-axis cross arm is arranged on the top of the X-axis vertical arm and extends outward above the horizontal frame; the Y-axis servo module is arranged on the X-axis cross arm; a plurality of cross arm ribs for fixing the Y-axis servo module are arranged on the rear side of the top of the X-axis cross arm, and a fiber lifting rod for guiding the optical fiber is arranged on one of the cross arm ribs; The X-axis sliding frame comprises an X-axis upper slide plate, an X-axis lower slide plate and an X-axis welding slag blocking plate; the X-axis upper slide plate and the X-axis lower slide plate are respectively arranged on the outer side of the horizontal frame; the X-axis welding slag blocking plate is arranged between the X-axis upper slide plate and the X-axis lower slide plate; The X-axis slide rail includes an X-axis upper slide rail and an X-axis lower slide rail, wherein the X-axis upper slide rail is arranged outside the X-axis upper slide plate, and the X-axis lower slide rail is arranged outside the X-axis lower slide plate; The X-axis slider includes an X-axis upper slider and an X-axis lower slider; the X-axis upper slider is slidably disposed on the outer side of the X-axis upper slide rail, and the X-axis lower slider is slidably disposed on the X-axis lower slide rail; An X-axis upper sliding plate is provided on the outer side of the X-axis upper sliding block, and an X-axis upper sliding cross arm is provided on the outer side of the X-axis upper sliding plate; An X-axis lower sliding plate is provided on the upper side of the X-axis lower sliding block; The X-axis vertical arm is vertically arranged on the lower sliding plate of the X-axis, and the X-axis vertical arm is fixed to the outward end of the upper sliding cross arm of the X-axis on one side of the horizontal frame; The X-axis forward and backward sliding assembly includes an X-axis forward and backward sliding rack and an X-axis forward and backward sliding gear; the X-axis forward and backward sliding rack is arranged on the outside of the X-axis upper slide plate and below the X-axis upper slide rail; The tail of the X-axis servo motor is fixed on the outside of the X-axis vertical arm, and the head of the X-axis servo motor passes through the X-axis upper sliding plate and is fixed on the X-axis upper sliding plate; the X-axis front and rear sliding gears are arranged on the output shaft of the X-axis servo motor head and mesh with the X-axis front and rear sliding racks; The X-axis welding slag blocking plate is provided with an X-axis drag chain support plate above the X-axis lower slider; the X-axis drag chain support plate is provided with an X-axis drag chain, one end of the X-axis drag chain is fixed on the X-axis drag chain support plate, and the other end is fixed on the X-axis vertical arm.

[0007] Further, the Y-axis servo module includes a Y-axis slide, a Y-axis sliding drive assembly, a Y-axis vertical slide plate and a YZ-axis drag chain support arm; The Y-axis slide is horizontally arranged on the X-axis cross arm, and the Y-axis slide driving assembly driving the Y-axis vertical slide to slide left and right outside the Y-axis slide is arranged inside the Y-axis slide; The Y-axis vertical slide plate is slidably arranged on the front side of the Y-axis slide seat; the Z-axis servo module is vertically arranged on the outside of the Y-axis vertical slide plate; A Y-axis slide groove is provided on the top of the Y-axis slide seat, and the upper part of the Y-axis vertical slide plate passes through the Z-axis slide groove and is transmission-connected to the Y-axis sliding drive assembly; The YZ-axis drag chain support arm is an L-shaped structure, and the YZ-axis drag chain support arm is arranged at the front edge of the Y-axis vertical slide plate; a Y-axis drag chain is arranged on the top of the Y-axis slide seat, and one end of the Y-axis drag chain is fixed on the Y-axis slide seat, and the other end is fixed on the bottom surface of the YZ-axis drag chain support arm.

[0008] Furthermore, the Z-axis servo module includes a Z-axis slide, a Z-axis screw assembly, a Z-axis slider and a Z-axis motor; the Z-axis slider is vertically arranged outside the Y-axis vertical slide, the Z-axis slide is vertically arranged outside the Z-axis slide, the Z-axis screw assembly is arranged inside the Z-axis slide, and the Z-axis motor is arranged at the upper end of the Z-axis slide and is transmission-connected with one end of the screw of the Z-axis screw assembly; A Z-axis groove is provided on the left or right side of the Z-axis slide, and the Z-axis slider can be slidably arranged on the Z-axis slide and is fixedly connected to the screw nut of the Z-axis screw assembly through the Z-axis groove; a bidirectional servo rotation mechanism is fixed at the lower end of the Z-axis slide; a Z-axis drag chain is provided on one side of the Z-axis slide, and one end of the Z-axis drag chain is fixed on the Z-axis slide and the other end is fixed on the top surface of the YZ-axis drag chain support arm.

[0009] Furthermore, the welding wire feeding mechanism includes a wire reel angled oblique arm and a stepping wire feeder, both of which are arranged on the Z-axis slide, the lower arm of the wire reel angled oblique arm is arranged on the front side of the Z-axis slide, the upper arm of the wire reel angled oblique arm is inclined at the upper rear of the Z-axis slide, a wire reel shaft is arranged transversely on the left or right side of the upper end of the wire reel angled oblique arm, and a wire reel locking pin is arranged at the outward end of the wire reel shaft to prevent the welding wire reel from falling off; The stepper wire feeder is placed at the front corner of the wire reel corner oblique arm, and its position is lower than the wire reel shaft.

[0010] Furthermore, the bidirectional servo rotation mechanism includes a vertical servo rotation mechanism that can drive the laser welding head to rotate in a vertical plane and a horizontal servo rotation mechanism that can drive the vertical servo rotation mechanism to rotate in a horizontal plane. The horizontal servo rotation mechanism is suspended at the lower end of the Z-axis servo module, and the vertical servo rotation mechanism is suspended at the lower end of the horizontal servo rotation mechanism.

[0011] Furthermore, the horizontal servo rotation mechanism includes a horizontal rotating vertical plate, a horizontal rotating fork-shaped horizontal plate and a C-axis servo motor. The horizontal rotating vertical plate is vertically arranged in the middle position of the horizontal rotating fork-shaped horizontal plate, the rear side of the horizontal rotating vertical plate is fixedly arranged on the front side of the Z-axis servo module, the rear part of the horizontal rotating fork-shaped horizontal plate is arranged on the bottom side of the horizontal rotating vertical plate, and the front half of the horizontal rotating fork-shaped horizontal plate is suspended and extended to the front side; the C-axis servo motor that drives the vertical servo rotation mechanism to rotate in the horizontal plane is vertically arranged at the fork-shaped opening at the right end of the horizontal rotating fork-shaped horizontal plate.

[0012] Furthermore, the vertical servo rotation mechanism includes a vertical rotating cross plate, a vertical rotating fork-shaped vertical plate and an A-axis servo motor; the vertical rotating cross plate is arranged below the horizontal rotating fork-shaped cross plate and is transmission-connected to the C-axis servo motor, the upper end of the vertical rotating fork-shaped vertical plate is arranged on the front side of the vertical rotating cross plate, the lower end of the vertical rotating fork-shaped vertical plate is suspended and extends downward, and the A-axis servo motor that drives the laser welding head to rotate in the vertical plane is horizontally arranged at the fork-shaped opening at the lower end of the vertical rotating fork-shaped vertical plate; a welding head fixing plate is provided on the front side of the vertical rotating fork-shaped vertical plate, and the welding head fixing plate is transmission-connected to the A-axis servo motor; the laser welding head is fixed on the front side of the welding head fixing plate.

[0013] The working principle of the present invention is as follows: the guardrail weldment fixing mechanism is used as a fixture to clamp workpieces such as guardrail edge materials and guardrail crossarm materials to ensure that the position of the workpiece weld is stable and consistent; two groups of five-axis servo modules respectively perform synchronous or asynchronous welding on the two ends of the guardrail crossarm materials. The XYZ three-axis servo module and the two-way servo rotation mechanism in each group of five-axis servo modules constitute a five-axis linkage mechanism, which superimposes joint freedom on the basis of realizing three-dimensional freedom. Among them, the XYZ three-axis servo module corresponds to the position of the three spatial dimensions of XYZ in space, so that the driving laser welding head matches the position of the workpiece. The two-way servo rotation mechanism is used as a joint angle adjustment during welding, driving the laser welding head to perform joint movement in the horizontal and vertical directions, and can weld complex seams; the five-axis linkage mechanism can be automatically welded after being linked with the matching motion controller. When welding is performed automatically, the motion controller converts the power analog signal input on the touch screen into a voltage digital signal and transmits it to the laser. The laser emits the corresponding laser light source energy according to the received voltage signal, which is transmitted to the laser welding head through the optical fiber. The energy is then collimated and focused by the optical lens inside the laser welding head to complete the photothermal conversion process. The five-axis linkage mechanism drives the laser welding head to move to the preset coordinate position to align the weld, and then maintains the welding focal length for uniform movement up, down, left and right. According to the welding process requirements, you can choose not to fill wire during the welding process or to automatically fill wire through the wire feeding mechanism to achieve uniform and beautiful weld formation.

[0014] As can be seen from the above, compared with the prior art, the present invention also has the following advantages: (1) The laser welding head has a large degree of freedom. With the support of the XYZ three-axis servo module and the bidirectional servo rotation mechanism, each laser welding head has five movement dimensions and is compatible with multi-dimensional arc welding functions, which increases the scope of application and can weld complex special-shaped welds. It has a high cost-effectiveness in input and output and is flexible in production and supporting applications. The wire feeding mechanism is set on the Y-axis servo module and moves synchronously with the laser welding head in three-dimensional space, and the wire feeding is stable. (2) The integral structure is stable and will not shake when running at high speed, which ensures high working efficiency.

[0015] It is more convenient to replace the wire reel and the wire is transmitted smoothly.

[0016] (3) The integrated structure is compact, resulting in a relatively small volume, taking up less space and not causing waste of space; (4) The wire feeding distance is short, the wire feeding mechanism is scientifically arranged, and the wire feeding is smoother. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a front view of the double-head guardrail laser welding machine of the present invention; Figure 2 for Figure 1 Stereoscopic image of Figure 3 for Figure 1 Left view of Figure 4 for Figure 1 Right view of; Figure 5 for Figure 1 A top view of Figure 6 This is a three-dimensional diagram of the X-axis servo module; Figure 7 This is a three-dimensional diagram of the Y-axis servo module; Figure 8 This is a three-dimensional diagram of the Z-axis servo module; Fig. 9 is a three-dimensional diagram of a welding wire feeding mechanism; Fig.10 It is an exploded view of the bidirectional servo rotary mechanism; Fig.11 It is a three-dimensional diagram of the guardrail weldment fixing mechanism; Fig.12 This is the principle block diagram of the control system of the double-head guardrail laser welding machine; Fig.13 This is the controller program flow chart of the double-head guardrail laser welding machine control system; Fig.14 This is the left control program flow chart of the double-head guardrail laser welding machine control system; Fig.15 This is the right control program flow chart of the double-head guardrail laser welding machine control system.

[0018] Description of main reference numerals: horizontal frame 0, laser welding device 1, guardrail weldment fixing mechanism 2, XYZ three-axis servo module 3, bidirectional servo rotation mechanism 4, laser cabinet 5, laser welding head 6; welding wire feeding mechanism 7, touch screen 8, guardrail edge material 9, cross arm material 10; water cooling machine 13; Side pressure clamping profile 20, edge material bottom supporting strip 21, cross arm material bottom supporting strip 22, edge material clamping cylinder 23, edge material bottom supporting plate groove 24, edge material head and tail positioning block 25, cross arm material bottom supporting plate groove 26, cross arm material head and tail positioning block 27; X-axis servo module 31, Y-axis servo module 32, Z-axis servo module 33, X-axis vertical arm 311, X-axis horizontal arm 312, horizontal arm ribs 3121, optical fiber lifting rod 3122; X-axis upper slider 3131, X-axis lower slider 3132, X-axis upper sliding plate 3133, X-axis upper sliding horizontal arm 3134, X-axis lower sliding plate 3135; X-axis servo motor 314; X-axis sliding frame 315, X-axis upper slide plate 3151, X-axis lower slide plate 3152, X-axis welding slag blocking plate 3153; X-axis front and rear sliding assembly 316, X-axis front and rear sliding rack 3161, X-axis front and rear sliding gear 3162; X-axis slide rail 317, X-axis upper slide rail 3171, X-axis lower rail 3172, X-axis drag chain 318, X-axis drag chain support plate 319; Y-axis slide 321, Y-axis vertical slide plate 323; Y-axis slide 325, YZ-axis drag chain support arm 326, Y-axis drag chain 328; Z-axis slide 331, Z-axis slider 333, Z-axis motor 334; Z-axis slide 335, Z-axis drag chain fixing plate 336, Z-axis drag chain 338; Horizontally rotating vertical plate 40, horizontally rotating fork-shaped horizontal plate 41, C-axis servo motor 42, horizontal servo rotating mechanism 43, welding head fixing plate 46, vertical servo rotating mechanism 44, vertically rotating horizontal plate 45, vertically rotating fork-shaped vertical plate 47, A-axis servo motor 48; Wire reel angled arm 71, stepping wire feeder 72, wire reel shaft 74, wire reel locking pin 75; welding wire reel 7a, welding wire 7b. DETAILED DESCRIPTION

[0019] The present invention and its beneficial technical effects are further described in detail below in conjunction with the accompanying drawings and preferred embodiments. In order to facilitate the description of the positional relationship between the various components, the relative positions of the front, rear, left, right, top and bottom of the various components are shown in FIG. Figure 4 The orientation shown in the product image is the reference position. The "workpiece" involved is a general concept of "weldment". In the specific embodiment, "weldment" mainly refers to the guardrail edge material and cross arm material that need to be welded in the guardrail.

[0020] like Figure 1~Figure 5 As shown, a double-head guardrail laser welding machine preferably implemented in the present invention comprises a horizontal frame 0, a laser welding device 1 and a guardrail weldment fixing mechanism 2, wherein: The laser welding device 1 is arranged on the horizontal frame 0 and is used for laser welding the guardrail weldment placed on the horizontal frame; The guardrail weldment fixing mechanism 2 is arranged on the top of the horizontal frame 0 and is used to fix the weldment; The laser welding device 1 includes two sets of five-axis servo modules, a laser and a laser welding head 6; Two groups of five-axis servo modules have the same structure and are movably arranged on the left and right sides of the horizontal frame 0 in a symmetrical manner relative to the horizontal frame 0. The two groups of five-axis servo modules are respectively a left five-axis servo module and a right five-axis servo module. Each group of five-axis servo modules includes an XYZ three-axis servo module 3 and a bidirectional servo rotation mechanism 4. The XYZ three-axis servo module 3 is arranged on the top left side of the horizontal frame 0, and is used to adjust the three-dimensional spatial position of the bidirectional servo rotating mechanism 4 above the horizontal frame 0; The bidirectional servo rotation mechanism 4 is arranged on the XYZ three-axis servo module 3, located above the guardrail weldment fixing mechanism 2, and is used to adjust the rotation angle of the laser welding head 6 in the horizontal direction and the vertical direction; The laser is arranged inside the horizontal rack 0, and is used to generate high-energy laser for laser welding; a laser cabinet 5 is installed inside the horizontal rack 0, and two groups of lasers are arranged inside the laser cabinet 5; in order to ensure that the lasers in the laser cabinet 5 can work stably and reduce the temperature of the lasers, more than one water cooling machine 13 is arranged behind the laser cabinet 5; The laser welding head 6 is arranged on the bidirectional servo rotating mechanism 4, and is located above the guardrail weldment fixing mechanism 2, and is used to weld the weldments connected to each other; the laser welding head 6 is connected to the laser through an optical fiber; The XYZ three-axis servo module 3 includes an X-axis servo module 31, a Y-axis servo module 32, a Z-axis servo module 33 and a welding wire feeding mechanism 7 for conveying the welding wire 7b to the welding seam; The X-axis servo module 31 is vertically arranged on the left or right side of the horizontal frame 0 so as to be movable forward and backward; it is used to adjust the front and rear horizontal position of the Y-axis servo module 32, that is, to adjust the front and rear horizontal position of the laser welding head 6; at the same time, it is also used to adjust the front and rear horizontal position of the welding wire feeding mechanism 7; that is, the position corresponding to the head and tail of the guardrail edge material; The Y-axis servo module 32 can drive the Z-axis servo module 33 to slide left and right and be suspended above the left or right half of the horizontal frame 0, and one end of the Y-axis servo module 32 is fixed on the X-axis servo module 31; it is used to adjust the left and right horizontal transverse position of the Z-axis servo module 33, that is, to adjust the left and right horizontal transverse position of the laser welding head 6; at the same time, it is also used to adjust the left and right horizontal transverse position of the welding wire feeding mechanism 7; that is, the position corresponding to the head and tail of the cross arm of the guardrail; The Z-axis servo module 33 can drive the bidirectional servo rotating mechanism 4 to slide up and down and is suspended above the left or right half of the horizontal frame 0, and one end of the Z-axis servo module 33 is fixed on the Y-axis servo module 32; it is used to adjust the vertical position of the bidirectional servo rotating mechanism 4, that is, to adjust the vertical position of the laser welding head 6; at the same time, it is also used to adjust the vertical position of the welding wire feeding mechanism 7; its main function is to adjust the lifting action of the laser welding head 6; The bidirectional servo rotating mechanism 4 is suspended above the left or right half of the horizontal frame 0, and its upper end is fixed to the lower end of the Z-axis servo module 33; it is used for joint adjustment of the welding angle of the laser welding head 6; its main function is to adjust the welding position of the laser welding head 6, such as the upper side or the side, to play a role in joint adjustment; The welding wire feeding mechanism 7 is arranged on the Z-axis servo module 33; the welding wire feeding mechanism 7 can move synchronously with the Z-axis servo module 33, so that it maintains a relatively stable position with the laser welding head 6; like Fig.11 As shown, the guardrail weldment fixing mechanism 2 includes a left positioning mechanism and a right positioning mechanism, and the left positioning mechanism and the right positioning mechanism are respectively arranged on the top of the horizontal frame 0 in a left-right relative manner; the left positioning mechanism or the right positioning mechanism includes a side pressure clamping profile 20, a side material bottom supporting strip 21 and a cross arm material bottom supporting strip 22; the side pressure clamping profile 20 for clamping the guardrail side material from the outside, the side material bottom supporting strip 21 for supporting the guardrail side material from the bottom, and the cross arm material bottom supporting strip 22 for supporting the guardrail side material from the bottom are arranged at intervals on the left or right side of the top of the horizontal frame 0 in a sequence from outside to inside; in terms of height, the heights of the side material bottom supporting strip 21 and the cross arm material bottom supporting strip 22 are both lower than the height of the side pressure clamping profile 20; A plurality of edge material clamping cylinders 23 are provided on the left side of the horizontal frame 0. The edge material clamping cylinders 23 are evenly spaced and arranged on the horizontal frame 0. The edge material clamping cylinders 23 are arranged on the outside of the side pressure clamping profile 20 on the left side and are transmission-connected to the side pressure clamping profile 20 on the left side.

[0021] Preferably, the tops of the edge material bottom supporting strips 21 and the cross arm material bottom supporting strips 22 are provided with positioning and adjustment longitudinal grooves with slots smaller than the slot bodies, which are edge material bottom supporting plate slots 24 and cross arm material bottom supporting plate slots 26 respectively. The edge material bottom supporting plate slots 24 are provided with edge material head and tail positioning blocks 25 for limiting the head or tail of the guardrail edge material; the cross arm material bottom supporting plate slots 26 are provided with cross arm material head and tail positioning blocks 27 for limiting the head and tail of the guardrail cross arm material. The cross arm material head and tail positioning blocks 27 are arranged in pairs on the cross arm material bottom supporting plate slots 26, and each pair of cross arm material head and tail positioning blocks 27 is separated by an adjustable slot for placing the left or right end of the cross arm material, so as to limit the two ends of the cross arm material on the side. The edge material head and tail positioning blocks 25 can adjust their positions on the edge material bottom supporting strips 21 through the edge material bottom supporting plate grooves 24, thereby determining the positioning of the guardrail edge material on the edge material bottom supporting strips 21; the cross arm material head and tail positioning blocks 27 can adjust their positions on the cross arm material bottom supporting strips 22 through the cross arm material bottom supporting plate grooves 26 to change the width of the adjustable slots to adapt to cross arm materials of different widths or diameters; The working process of the guardrail weldment fixing mechanism 2 is as follows: when the guardrail weldment fixing mechanism 2 fixes the material to be welded, first, one of the guardrail edge materials is placed on the edge material bottom supporting strip 21 on the right side, and at the same time, it is pressed against the side pressure clamping strip 20 as the right side support plate of the fixture, and the front end is pressed forward against the edge material head and tail positioning block 25 as the edge material end positioning piece; then all the cross arm materials of the guardrail are spread flat into the adjustable card slot composed of the adjacent cross arm material head and tail positioning blocks 27, and the left and right ends are supported by the edge material bottom supporting strip 21; then, another edge material of the guardrail is placed on the edge material bottom supporting strip 21 on the left side, and at the same time, it is placed close to the cross arm material port, and the corresponding button is pressed to start the edge material clamping cylinder 23 to push the left guardrail edge material to the left side port of the cross arm material, so that the joint between the guardrail edge material and the cross arm material reaches a close contact state.

[0022] like Figure 6 As shown, preferably, the X-axis servo module 31 includes an X-axis vertical arm 311, an X-axis horizontal arm 312, an X-axis front and rear sliding assembly 316, an X-axis sliding frame 315, an X-axis slider, an X-axis slide rail 317 and an X-axis servo motor 314; wherein, The X-axis cross arm 312 is arranged on the top of the X-axis vertical arm 311 and extends outward above the horizontal frame 0; the Y-axis servo module 32 is arranged on the X-axis cross arm 312; a plurality of cross arm ribs 3121 for fixing the Y-axis servo module 32 are arranged on the rear side of the top of the X-axis cross arm 312; in order to facilitate the guidance of the optical fiber routing between the laser welding head 6 and the laser, a fiber optic pick rod 3122 for guiding the optical fiber is arranged on one of the cross arm ribs 3121; when the laser welding head 6 is connected to the laser through the optical fiber, the middle part of the optical fiber is hung on the optical fiber pick rod 3122 to ensure that the optical fiber is displaced with the Y-axis servo module 32; The X-axis sliding frame 315 includes an X-axis upper slide plate 3151, an X-axis lower slide plate 3152 and an X-axis welding slag blocking plate 3153; the X-axis upper slide plate 3151 and the X-axis lower slide plate 3152 are respectively arranged on the outer side of the horizontal frame 0; the X-axis welding slag blocking plate 3153 is arranged between the X-axis upper slide plate 3151 and the X-axis lower slide plate 3152; the X-axis welding slag blocking plate 3153 can prevent welding slag from falling into the movable parts of the X-axis servo module 31 to avoid mechanical damage; The X-axis slide rail 317 includes an X-axis upper slide rail 3171 and an X-axis lower slide rail 3172. The X-axis upper slide rail 3171 is arranged outside the X-axis upper slide plate 3151, and the X-axis lower slide rail 3172 is arranged outside the X-axis lower slide plate 3152. The X-axis slider includes an X-axis upper slider 3131 and an X-axis lower slider 3132; the X-axis upper slider 3131 can be slidably arranged on the outer side of the X-axis upper slide rail 3171, and the X-axis lower slider 3132 can be slidably arranged on the X-axis lower slide rail 3172; the X-axis slider adopts the form of a "double slider" to ensure its stability as a carrier of the five-axis servo module and its stability during welding displacement; further, in order to further improve the stability during welding displacement, the X-axis upper slider 3131 and the X-axis lower slider 3132 are both dovetail sliders, and the X-axis upper slide rail 3171 and the X-axis lower slide rail The rails 3172 are dovetail slide rails that match the X-axis upper slider 3131 and the X-axis lower slider 3132, wherein the X-axis upper slider 3131 is engaged with the outer side of the X-axis upper slide rail 3171, and is mainly responsible for strengthening the position limit of the X-axis servo module 31; the X-axis lower slider 3132 is engaged with the upper side of the X-axis lower slide rail 3172, and is mainly responsible for strengthening the load-bearing capacity of the X-axis servo module 31; through the different engagement combinations of the upper and lower X-axis sliders, the stability of the five-axis servo module is greatly improved, and the stability of other suspended parts in the five-axis servo module is maximized; An X-axis upper sliding plate 3133 is disposed on the outer side of the X-axis upper sliding block 3131, and an X-axis upper sliding cross arm 3134 is disposed on the outer side of the X-axis upper sliding plate 3133; An X-axis lower sliding plate 3135 is provided on the upper side of the X-axis lower sliding block 3132; The X-axis vertical arm 311 is vertically arranged on the X-axis lower sliding plate 3135, and the X-axis vertical arm 311 is fixed to the outward end of the X-axis upper sliding cross arm 3134 on the side of the horizontal frame 0; The X-axis front-to-back sliding assembly 316 includes an X-axis front-to-back sliding rack 3161 and an X-axis front-to-back sliding gear 3162; the X-axis front-to-back sliding rack 3161 is arranged outside the X-axis upper slide plate 3151 and below the X-axis upper slide rail 3171; The tail of the X-axis servo motor 314 is fixed to the outside of the X-axis vertical arm 311, and the head of the X-axis servo motor 314 passes through the X-axis upper sliding plate 3133 and is fixed on the X-axis upper sliding plate 3133; the X-axis front and rear sliding gear 3162 is arranged on the output shaft of the head of the X-axis servo motor 314 and meshes with the X-axis front and rear sliding rack 3161; The X-axis welding slag blocking plate 3153 is provided with an X-axis drag chain support plate 319 above the X-axis lower slider 3132; the X-axis drag chain support plate 319 is provided with an X-axis drag chain 318, one end of the X-axis drag chain 318 is fixed on the X-axis drag chain support plate 319, and the other end is fixed on the X-axis vertical arm 311.

[0023] Since the X-axis servo module 31 serving as the overall load-bearing base adopts a double-layer sliding component of an X-axis upper slide 3151 and an X-axis lower slide 3152, the overall structure of the laser welding device 1 is more stable. During high-speed operation, the overall structure will not shake, and the working efficiency is high.

[0024] like Figure 7 As shown, preferably, the Y-axis servo module 32 includes a Y-axis slide 321, a Y-axis sliding drive assembly (not shown in the figure), a Y-axis vertical slide plate 323 and a YZ-axis drag chain support arm 326; The Y-axis slide 321 is horizontally arranged on the X-axis cross arm 312, and the Y-axis sliding driving assembly driving the Y-axis vertical slide 323 to slide left and right outside the Y-axis slide 321 is arranged inside the Y-axis slide 321; The Y-axis vertical slide plate 323 is slidably disposed on the front side of the Y-axis slide seat 321; the Z-axis servo module 33 is vertically disposed on the outside of the Y-axis vertical slide plate 323; A Y-axis slide groove 325 is provided on the top of the Y-axis slide seat 321, and the upper part of the Y-axis vertical slide plate 323 passes through the Z-axis slide groove 335 and is transmission-connected to the Y-axis sliding drive assembly; The YZ-axis drag chain support arm 326 is an L-shaped structure, and the YZ-axis drag chain support arm 326 is arranged at the front edge of the Y-axis vertical slide plate 323; a Y-axis drag chain 328 is arranged on the top of the Y-axis slide 321, and one end of the Y-axis drag chain 328 is fixed on the Y-axis slide 321, and the other end is fixed on the bottom surface of the YZ-axis drag chain support arm 326. In order to prevent dust, the Y-axis sliding drive assembly is generally arranged inside the Y-axis slide 321, and preferably, the Y-axis sliding drive assembly includes a Y-axis screw assembly and a Y-axis motor, and the Y-axis motor is arranged on the upper end of the Y-axis slide and is drivingly connected to one end of the screw of the Y-axis screw assembly.

[0025] like Figure 8 As shown, preferably, the Z-axis servo module 33 includes a Z-axis slide 331, a Z-axis screw assembly (not shown in the figure), a Z-axis slider 333 and a Z-axis motor 334; the Z-axis slider 333 is vertically arranged on the outside of the Y-axis vertical slide 323, the Z-axis slide 331 is vertically arranged on the outside of the Z-axis slider 333, the Z-axis screw assembly is arranged in the Z-axis slide 331, and the Z-axis motor 334 is arranged at the upper end of the Z-axis slide 331 and is transmission-connected to one end of the screw of the Z-axis screw assembly; A Z-axis groove 335 is provided on the left or right side of the Z-axis slide 331, and the Z-axis slider 333 can be slidably arranged on the Z-axis slide 331 and is fixedly connected with the screw nut of the Z-axis screw assembly through the Z-axis groove 335; the bidirectional servo rotation mechanism 4 is fixed on the lower end of the Z-axis slide 331; a Z-axis drag chain 338 is provided on one side of the Z-axis slide 331, and one end of the Z-axis drag chain 338 is fixed on the Z-axis slide 331 and the other end is fixed on the top surface of the YZ-axis drag chain support arm 326.

[0026] like Fig. 9As shown, preferably, the welding wire feeding mechanism 7 includes a wire reel angled oblique arm 71 and a stepping wire feeder 72, both of which are arranged on the Z-axis slide 331, the lower arm of the wire reel angled oblique arm 71 is arranged on the front side of the Z-axis slide 331, the upper arm of the wire reel angled oblique arm 71 is inclined at the upper rear of the Z-axis slide 331, and a transversely arranged wire reel shaft 74 is provided on the left or right side of the upper end of the wire reel angled oblique arm 71, and a wire reel locking pin 75 is provided on the outward end of the wire reel shaft 74 to prevent the welding wire reel 7a from falling off; when in use, the welding wire reel 7a is passed on the wire reel shaft 74, so that the welding wire reel 7a is suspended above the Z-axis slide 331, which is conducive to the transfer of the welding wire to the laser welding head 6, and then the wire reel locking pin 75 is inserted to limit the welding wire reel 7a; The stepping wire feeder 72 is placed at the front corner of the wire reel angled arm 71, and its position is lower than the wire reel shaft 74. This structure of the welding wire feeding mechanism 7 not only makes it more convenient to replace the welding wire reel 7a, but also can increase the smoothness of welding wire transmission by utilizing the consistency between the dead weight of the welding wire and the wire feeding guide.

[0027] like Fig.10 As shown, preferably, the bidirectional servo rotation mechanism 4 includes a vertical servo rotation mechanism 44 that can drive the laser welding head 6 to rotate in a vertical plane and a horizontal servo rotation mechanism 43 that can drive the vertical servo rotation mechanism 44 to rotate in a horizontal plane. The horizontal servo rotation mechanism 43 is suspended at the lower end of the Z-axis servo module 33, and the vertical servo rotation mechanism 44 is suspended at the lower end of the horizontal servo rotation mechanism 43.

[0028] Preferably, the horizontal servo rotation mechanism 43 includes a horizontal rotating vertical plate 40, a horizontal rotating fork-shaped horizontal plate 41 and a C-axis servo motor 42. The horizontal rotating vertical plate 40 is vertically arranged in the middle position of the horizontal rotating fork-shaped horizontal plate 41, the rear side of the horizontal rotating vertical plate 40 is fixedly arranged on the front side of the Z-axis servo module 33, the rear part of the horizontal rotating fork-shaped horizontal plate 41 is arranged on the bottom side of the horizontal rotating vertical plate 40, and the front half of the horizontal rotating fork-shaped horizontal plate 41 is suspended and extended to the front side; the C-axis servo motor 42 that drives the vertical servo rotation mechanism 44 to rotate in the horizontal plane is vertically arranged at the fork-shaped opening at the right end of the horizontal rotating fork-shaped horizontal plate 41.

[0029] Preferably, the vertical servo rotation mechanism 44 includes a vertical rotating transverse plate 45, a vertical rotating fork-shaped vertical plate 47 and an A-axis servo motor 48; the vertical rotating transverse plate 45 is arranged below the horizontal rotating fork-shaped transverse plate 41 and is transmission-connected to the C-axis servo motor 42, the upper end of the vertical rotating fork-shaped vertical plate 47 is arranged on the front side of the vertical rotating transverse plate 45, and the lower end of the vertical rotating fork-shaped vertical plate 47 is suspended and extends downward, and the A-axis servo motor 48 that drives the laser welding head 6 to rotate in the vertical plane is horizontally arranged at the fork-shaped opening at the lower end of the vertical rotating fork-shaped vertical plate 47; a welding head fixing plate 46 is provided on the front side of the vertical rotating fork-shaped vertical plate 47, and the welding head fixing plate 46 is transmission-connected to the A-axis servo motor 48; the laser welding head 6 is fixed on the front side of the welding head fixing plate 46.

[0030] In this embodiment, the X-axis servo module 31, the Y-axis servo module 32, and the Z-axis servo module 33 in the XYZ three-axis servo module 3 correspond to the positions of the three spatial dimensions of space XYZ, so that the laser welding head 6 is driven to correspond to the position of the workpiece; the horizontal servo rotation mechanism 43 and the vertical servo rotation mechanism 44 in the bidirectional servo rotation mechanism 4 are used as joint angle adjustments during welding, driving the laser welding head 6 to perform joint movements in the horizontal and vertical directions, forming a multi-degree-of-freedom welding structure with 5 axes on each side and a total of 10 axes, which can weld complex special-shaped seams.

[0031] In this embodiment, the X-axis drag chain 318, the Y-axis drag chain (328), and the Z-axis drag chain 338 are used to protect the corresponding motor pipelines.

[0032] In this embodiment, the side pressure clamping profile 20 is used in conjunction with the edge material bottom supporting strip 21 and the cross arm material bottom supporting strip 22. The edge material bottom supporting strip 21 supports the guardrail edge material, and the cross arm material bottom supporting strip 22 supports the cross arm material. The side pressure clamping profile 20 on the left side directly pushes and clamps the guardrail edge material, and the side pressure clamping profiles 20 on the left and right sides indirectly clamp the cross arm material through the guardrail edge material. The guardrail edge material head (or the tail of the guardrail edge material) is positioned by the edge material head and tail positioning block 25; the cross arm material is positioned by the cross arm material head and tail positioning block 27. This clamping and positioning method is suitable for positioning and clamping workpieces in the shape of rectangles, parallelograms, trapezoids, etc. The guardrail edge material can be a round tube or a square tube. Due to the use of two groups of five-axis servo modules on the left and right, the two guardrail edge materials of the guardrail can be welded synchronously or asynchronously at the same time. It has strong adaptability to non-standard workpiece sizes and is easy to operate, and can meet the welding needs of various angles and orientations.

[0033] When welding guardrails, there are many types of joints on each guardrail, and the length and layout of the front and back welds are different. It is not easy to quickly switch between these multiple welding paths and corresponding welding parameters on a single double-head guardrail laser welding machine. In order to solve this difficulty, we first made some improvements to the program architecture of the motion controller, integrating the storage and call functions of multiple sets of welding recipes. When using, just press read on the touch screen to use it. Each set of recipes can be obtained through training. For example, new products can be added through very easy-to-understand teaching programming. At this time, just align the welding head with the welding start and end positions and press record once to record the welding path. In addition, for products such as guardrails that have multiple repeated characteristic welds, a path array function has been specially developed to achieve fast programming. After programming, select the save location on the recipe management page and press Save. This path will be stored and managed and can be read out at any time for the corresponding product.

[0034] The automatic start button 12 is installed in parallel in the left and right operating areas of the horizontal rack 0. The start button can be quickly selected during operation, and the operation is simple and practical. In order to make the operation more convenient, 5 automatic start buttons 12 are installed in parallel in the left and right operating areas of the horizontal rack 0.

[0035] The double-head guardrail laser welding machine needs to be controlled by the double-head guardrail laser welding machine control system to achieve automatic welding, such as Fig.12As shown, the control system of the double-head guardrail laser welding machine includes a human-machine interface, a motion controller, a remote IO control module for remote control, and a 10-axis multi-transmission servo drive; the human-machine interface for human-machine interaction is electrically connected to the motion controller that controls the action of the double-head guardrail laser welding machine through the ETHERNET bus, and the motion controller and the 10-axis multi-transmission servo drive are electrically connected through the ECAT bus. Among them, the human-machine interface is preferably a touch screen 8, and the touch screen 8 is arranged on one side of the horizontal frame 0. The 10-axis multi-transmission servo drive is electrically connected to the corresponding servo motors in the X-axis servo module 31, Y-axis servo module 32, Z-axis servo module 33, horizontal servo rotation mechanism 43, and vertical servo rotation mechanism 44 on the left and right sides respectively; the left X motor in the figure corresponds to the X-axis servo motor used by the left X-axis servo module 31, the left Y motor corresponds to the Y-axis servo motor used by the left Y-axis servo module 32, the left Z motor corresponds to the Z-axis servo motor used by the left Z-axis servo module 33, the left C motor corresponds to the C-axis servo motor used by the left horizontal servo rotation mechanism 43, and the left A motor corresponds to the A-axis servo motor used by the left vertical servo rotation mechanism 44. Similarly, the right X motor in the figure corresponds to the X-axis servo motor used by the right X-axis servo module 31, the right Y motor corresponds to the Y-axis servo motor used by the right Y-axis servo module 32, the right Z motor corresponds to the Z-axis servo motor used by the right Z-axis servo module 33, the right C motor corresponds to the C-axis servo motor used by the right horizontal servo rotation mechanism 43, and the right A motor corresponds to the A-axis servo motor used by the right vertical servo rotation mechanism 44.

[0036] The clamping action of the edge material clamping cylinder 23 can be automatically controlled or manually controlled. The side pressure clamping profile 20 is driven to move by controlling the electromagnetic valve, and the electromagnetic valve controls the edge material clamping cylinder 23 to be connected to the high-pressure air source.

[0037] The welding parameters are input through the human-machine interface. After the welding parameters are transmitted to the motion controller, the motion controller sends commands to the servo drive of each "axis" in the "10 axes" according to the parameters. The servo drive then drives the corresponding servo motor to operate; the speed control, position positioning, linear interpolation motion and circular interpolation motion of each servo motor are realized, the laser welding head 6 is driven to make the corresponding welding trajectory, and the laser control output is performed during the movement to realize the automatic welding of the guardrail.

[0038] After the guardrail weldment fixing mechanism 2 fixes the material to be welded, press the automatic start button 12, and the left and right two groups of five-axis servo modules will drive the two welding heads to automatically complete the laser welding of all the seams on the front of the guardrail (the automatic wire filling function of each section of the weld can be preset according to the process requirements). If the seams on the back need to be welded, the workpiece must be turned over and placed on a fixed reference. After selecting the welding path on the back on the touch screen, start the automatic operation to complete the laser welding of the back seams. After welding is completed, the left and right two groups of five-axis servo modules will move to the set standby position to facilitate the placement of workpieces. The equipment operation is one-button operation, which is simple and fast.

[0039] The process control diagram of the double-head guardrail laser welding machine control system is as follows Figure 13~Figure 15 As shown, after pressing the automatic start button 12 to start the program, the welding process of the motion controller is as follows: Step S1: After starting the program, each servo axis returns to the origin, that is, the motion controller sends a reset command to the 10-axis multi-transmission servo driver, so that the corresponding X-axis, Y-axis, Z-axis, C-axis and A-axis in the two groups of five-axis servo modules are reset to zero first; Step S2: The cylinder clamp clamps the workpiece, that is, the motion controller sends an action command to the cylinder clamp driver, driving the side pressure clamping profiles 20 on the left and right sides to move inward and press / clamp the workpiece, thereby limiting the position of the workpiece; Step S3-start the automatic program, start the corresponding automatic welding program; then judge whether the left station start condition and the right station start condition meet the requirements; if the left station start condition meets the requirements, start the left automatic program, if not, end the left program; if the requirements are met, start the left automatic program, if not, end the left program; similarly, if the right station start condition meets the requirements, start the right automatic program, if not, end the right program; since the left automatic program and the right automatic program have the same process structure, the left automatic program and the right automatic program are combined and described in the form of no distinction between left and right to save space: Step S4: The X / Y axis first moves to the standby point, that is, the motion controller sends an action command to the 10-axis multi-transmission servo driver to drive the X-axis servo motor 314 and the Y-axis motor to move the X-axis slider and the Y-axis slide 321 to the corresponding coordinate position; Step S5: the C / A axis moves to the standby point, that is, the motion controller sends an action command to the 10-axis multi-transmission servo driver to drive the C-axis servo motor 42 and the A-axis servo motor 48 to move the laser welding head 6 to the corresponding coordinate position; Step S6: the Z axis moves to the standby point, i.e. the motion controller sends an action command to the 10-axis multi-transmission servo driver to drive the Z axis motor 334 to move the Y axis servo module 32 to the corresponding coordinate position in the vertical direction, i.e. the laser welding head 6 moves to the corresponding coordinate position in the vertical direction; Step S7: The X / Y axis moves to the welding starting point, i.e., the motion controller sends an action command to the 10-axis multi-transmission servo driver to drive the X-axis servo motor 314 and the Y-axis motor to move the X-axis slider and the Y-axis slide 321 to the position of the corresponding welding starting point; Step S8: The C / A axis moves to the welding starting point, that is, the motion controller sends an action command to the 10-axis multi-transmission servo driver to drive the C-axis servo motor 42 and the A-axis servo motor 48 to move the laser welding head 6 to the position of the corresponding welding starting point; Step S9: the Z axis moves to the welding starting point, i.e. the motion controller sends an action command to the 10-axis multi-transmission servo driver to drive the Z axis motor 334 to move the Y axis servo module 32 to the corresponding coordinate position in the vertical direction, i.e. the laser welding head 6 moves to the corresponding welding starting point in the vertical direction; Step S10: whether to set circular interpolation, that is, judging from the human-machine interface whether there is an instruction to set circular interpolation, if yes, go to step S11, if not, go to step S13; Step S11: Start the laser program and the circular interpolation motion. At this time, the motion controller sends a reset command to the servo drive of each "axis", so that the servo motors corresponding to the X-axis, Y-axis, Z-axis, C-axis and A-axis can coordinate the motion according to the program; Step S12: the circular interpolation motion is completed, the laser program is turned off, and then the process goes to step S15; Step S13: Start the laser program and start the linear interpolation motion. At this time, the motion controller sends a reset command to the servo drive of each "axis", so that the servo motors corresponding to the X-axis, Y-axis, Z-axis, C-axis and A-axis can coordinate the actions according to the program; Step S14: Linear interpolation movement is completed, the laser program is turned off, and then step S15 is entered; Step S15: Check whether there is a next process. If the process is not finished, loop back to step S7. If the process is finished, go to step S16. Step S16 - whether there is a next section of the workpiece. If the workpiece needs to be welded further, the cycle returns to step S7. If the process is completed, the welding is completed.

[0040] See also Figure 1~Figure 5 , below, taking the welding of a rectangular guardrail as an example, the operation method of the present invention is as follows: (1) Operate on the left and right side edge material bottom support strips 21 respectively: adjust the positions of the two edge material head and tail positioning blocks 25 on the edge material bottom support strips 21 through the edge material bottom support plate slots 24; (2) Then, respectively operate on the cross-arm material bottom support strips 22 on the left and right sides: the positions of the head and tail positioning blocks 27 of the cross-arm material can be adjusted on the cross-arm material bottom support strips 22 through the cross-arm material bottom support strip grooves 26, so that the width of the adjustable slot formed by each pair of adjacent cross-arm material head and tail positioning blocks 27 matches the width of the cross-arm material; (3) Perform the following operations on the left and right side edge material support strips 21: Place the cut edge material of the guardrail on the edge material support strips 21, with the head end against the inner side of the corresponding edge material head and tail positioning block 25; (4) Then, the cross arm materials are placed on the cross arm material bottom support strips 22 on the left and right sides respectively: the cross arm materials are placed one by one on the cross arm material bottom support strips 22, and both ends of each cross arm material are placed in the adjustable slots formed by the adjacent cross arm material head and tail positioning blocks 27 to limit the position; thus, the basic shape of the guardrail is formed; (5) Start the edge material clamping cylinder 23 to push the side pressure clamping profile 20 inward, so that the side pressure clamping profile 20 can push the guardrail edge material to the two ends of the cross arm material, so that the two end surfaces of the cross arm material and the corresponding positions of the guardrail edge material are closely attached together; (6) Then, after pressing the automatic start button 12, the welding operation is performed according to the welding process of the motion controller described above; (7) After welding on the upper side, turn over the guardrail that was welded for the first time and repeat step (5) to complete the welding.

[0041] Since the left and right sides can weld synchronously without interfering with each other, the overall structure is relatively compact, so it is relatively space-saving and has a higher work efficiency. Under the condition of the same output, the number of workers can be greatly reduced.

[0042] In the above description, the contents that are commonly used in the prior art, such as the transmission connection parts and mechanical processing technology related to the X-axis front and rear sliding assembly, the Y-axis sliding drive assembly, the Z-axis screw assembly, the cylinder drive, the motor rotation drive, etc., the laser and the laser welding head are finished products that can be purchased on the market, and in order to save space, they are not repeated. Other processing technologies and parts not disclosed can be processed according to the conventional technology of the prior art.

[0043] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. However, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A double-head guardrail laser welding machine, comprising a horizontal frame (0), a laser welding device (1) and a guardrail weldment fixing mechanism (2), wherein: The laser welding device (1) is arranged on a horizontal frame (0); The guardrail weldment fixing mechanism (2) is arranged on the top of the horizontal frame (0) and is used to fix the weldment; Features: The laser welding device (1) comprises two sets of five-axis servo modules, a laser and a laser welding head (6); The two groups of five-axis servo modules have the same structure and are movably arranged on the left and right sides of the horizontal frame (0) in a symmetrical manner relative to the horizontal frame (0), the two groups of five-axis servo modules are respectively a left-side five-axis servo module and a right-side five-axis servo module, and each group of five-axis servo modules includes an XYZ three-axis servo module (3) and a bidirectional servo rotation mechanism (4); An XYZ three-axis servo module (3) is arranged on the top left side of the horizontal frame (0) and is used to adjust the three-dimensional spatial position of the bidirectional servo rotation mechanism (4) above the horizontal frame (0); A bidirectional servo rotation mechanism (4) is arranged on the XYZ three-axis servo module (3), located above the guardrail weldment fixing mechanism (2), and is used to adjust the rotation angle of the laser welding head (6) in the horizontal direction and the vertical direction; The laser is arranged inside the horizontal frame (0) and is used to generate high-energy laser for laser welding; The laser welding head (6) is arranged on the bidirectional servo rotating mechanism (4), located above the guardrail weldment fixing mechanism (2), and is used to weld weldments that are connected to each other; the laser welding head (6) is connected to the laser via an optical fiber; The XYZ three-axis servo module (3) comprises an X-axis servo module (31), a Y-axis servo module (32), a Z-axis servo module (33), and a welding wire feeding mechanism (7) for conveying the welding wire (7b) to the welding seam; The X-axis servo module (31) is vertically arranged on the left side or right side of the horizontal frame (0) so as to be movable forward and backward; The Y-axis servo module (32) can drive the Z-axis servo module (33) to slide left and right and is suspended above the left half or right half of the horizontal frame (0), and one end of the Y-axis servo module (32) is fixed on the X-axis servo module (31); The Z-axis servo module (33) can drive the bidirectional servo rotating mechanism (4) to slide up and down and is suspended above the left half or the right half of the horizontal frame (0), and one end of the Z-axis servo module (33) is fixed on the Y-axis servo module (32); The bidirectional servo rotating mechanism (4) is suspended above the left half or the right half of the horizontal frame (0), and its upper end is fixed to the lower end of the Z-axis servo module (33); The welding wire feeding mechanism (7) is arranged on the Z-axis servo module (33).

2. The double-head guardrail laser welding machine according to claim 1 is characterized in that: The guardrail weldment fixing mechanism (2) comprises a left positioning mechanism and a right positioning mechanism, and the left positioning mechanism and the right positioning mechanism are respectively arranged on the top of the horizontal frame (0) in a left-right relative manner; the left positioning mechanism or the right positioning mechanism both comprises a side pressure clamping profile strip (20), a side material bottom supporting strip (21) and a cross arm material bottom supporting strip (22); the side pressure clamping profile strip (20) for clamping the guardrail side material from the outside, the side material bottom supporting strip (21) for supporting the guardrail side material from the bottom, and the cross arm material bottom supporting strip (22) for supporting the guardrail side material from the bottom are arranged in a sequence from the outside to the inside at intervals on the left side or right side of the top of the horizontal frame (0); in terms of height, the side material bottom supporting strip (21) and the cross arm material bottom supporting strip (22) are both lower than the side pressure clamping profile strip (20); A plurality of edge material clamping cylinders (23) are arranged on the left side of the horizontal frame (0). The edge material clamping cylinders (23) are evenly spaced and arranged on the horizontal frame (0). The edge material clamping cylinders (23) are arranged outside the side pressure clamping profile strip (20) on the left side and are drivingly connected to the side pressure clamping profile strip (20) on the left side.

3. The double-head guardrail laser welding machine according to claim 2 is characterized in that: The tops of the edge material bottom supporting strips (21) and the cross arm material bottom supporting strips (22) are provided with positioning adjustment longitudinal grooves with groove openings smaller than the groove bodies, which are edge material bottom supporting plate grooves (24) and cross arm material bottom supporting plate grooves (26), respectively. The edge material bottom supporting plate grooves (24) are provided with edge material head and tail positioning blocks (25) for limiting the head or tail of the guardrail edge material; the cross arm material bottom supporting plate grooves (26) are provided with a plurality of cross arm material head and tail positioning blocks (27) for limiting the head and tail of the guardrail cross arm material; The cross arm material head and tail positioning blocks (27) are arranged in pairs on the cross arm material bottom support plate groove (26), and each pair of cross arm material head and tail positioning blocks (27) is separated by an adjustable slot for placing the left end or the right end of the cross arm material.

4. The double-head guardrail laser welding machine according to claim 1 is characterized in that: The X-axis servo module (31) comprises an X-axis vertical arm (311), an X-axis horizontal arm (312), an X-axis front and rear sliding assembly (316), an X-axis sliding frame (315), an X-axis slider, an X-axis slide rail (317) and an X-axis servo motor (314); wherein: The X-axis cross arm (312) is arranged on the top of the X-axis vertical arm (311) and protrudes in the air above the horizontal frame (0); the Y-axis servo module (32) is arranged on the X-axis cross arm (312); a plurality of cross arm ribs (3121) for fixing the Y-axis servo module (32) are arranged on the rear side of the top of the X-axis cross arm (312), and a fiber lifting rod (3122) for guiding the optical fiber is arranged on one of the cross arm ribs (3121); The X-axis sliding frame (315) comprises an X-axis upper slide plate (3151), an X-axis lower slide plate (3152) and an X-axis welding slag blocking plate (3153); the X-axis upper slide plate (3151) and the X-axis lower slide plate (3152) are arranged one above the other on the outside of the horizontal frame (0); the X-axis welding slag blocking plate (3153) is arranged between the X-axis upper slide plate (3151) and the X-axis lower slide plate (3152); The X-axis slide rail (317) comprises an X-axis upper slide rail (3171) and an X-axis lower slide rail (3172), wherein the X-axis upper slide rail (3171) is arranged outside the X-axis upper slide plate (3151), and the X-axis lower slide rail (3172) is arranged outside the X-axis lower slide plate (3152); The X-axis slider comprises an X-axis upper slider (3131) and an X-axis lower slider (3132); the X-axis upper slider (3131) is slidably disposed on the outside of the X-axis upper slide rail (3171), and the X-axis lower slider (3132) is slidably disposed on the X-axis lower slide rail (3172); An X-axis upper sliding plate (3133) is provided on the outer side of the X-axis upper sliding block (3131), and an X-axis upper sliding cross arm (3134) is provided on the outer side of the X-axis upper sliding plate (3133); An X-axis lower sliding plate (3135) is provided on the upper side of the X-axis lower sliding block (3132); The X-axis vertical arm (311) is vertically arranged on the X-axis lower sliding plate (3135), and the X-axis vertical arm (311) is fixed to the outward end of the X-axis upper sliding cross arm (3134) on one side of the horizontal frame (0); The X-axis front-to-back sliding assembly (316) comprises an X-axis front-to-back sliding rack (3161) and an X-axis front-to-back sliding gear (3162); the X-axis front-to-back sliding rack (3161) is arranged outside the X-axis upper slide plate (3151) and below the X-axis upper slide rail (3171); The tail of the X-axis servo motor (314) is fixed to the outside of the X-axis vertical arm (311), and the head of the X-axis servo motor (314) passes through the X-axis upper sliding plate (3133) and is fixed on the X-axis upper sliding plate (3133); the X-axis front and rear sliding gear (3162) is arranged on the output shaft of the head of the X-axis servo motor (314) and meshes with the X-axis front and rear sliding rack (3161); The X-axis welding slag blocking plate (3153) is provided with an X-axis drag chain support plate (319) above the X-axis lower slider (3132); an X-axis drag chain (318) is provided on the X-axis drag chain support plate (319); one end of the X-axis drag chain (318) is fixed on the X-axis drag chain support plate (319), and the other end is fixed on the X-axis vertical arm (311).

5. The double-head guardrail laser welding machine according to claim 4 is characterized in that: The Y-axis servo module (32) comprises a Y-axis slide seat (321), a Y-axis sliding drive assembly, a Y-axis vertical slide plate (323) and a YZ-axis drag chain support arm (326); The Y-axis slide (321) is horizontally arranged on the X-axis cross arm (312), and a Y-axis sliding drive assembly driving the Y-axis vertical slide (323) to slide left and right outside the Y-axis slide (321) is arranged inside the Y-axis slide (321); The Y-axis vertical slide plate (323) is slidably arranged on the front side of the Y-axis slide seat (321); the Z-axis servo module (33) is vertically arranged on the outside of the Y-axis vertical slide plate (323); A Y-axis slide groove (325) is provided on the top of the Y-axis slide seat (321), and the upper part of the Y-axis vertical slide plate (323) passes through the Z-axis slide groove (335) and is transmission-connected to the Y-axis sliding drive assembly; The YZ-axis drag chain support arm (326) is an L-shaped structure, and the YZ-axis drag chain support arm (326) is arranged on the front edge of the Y-axis vertical slide plate (323); a Y-axis drag chain (328) is arranged on the top of the Y-axis slide seat (321), and one end of the Y-axis drag chain (328) is fixed on the Y-axis slide seat (321), and the other end is fixed on the bottom surface of the YZ-axis drag chain support arm (326).

6. The double-head guardrail laser welding machine according to claim 5 is characterized in that: The Z-axis servo module (33) comprises a Z-axis slide seat (331), a Z-axis screw rod assembly, a Z-axis slide block (333) and a Z-axis motor (334); The Z-axis slider (333) is vertically arranged outside the Y-axis vertical slider (323), the Z-axis slide seat (331) is vertically arranged outside the Z-axis slider (333), the Z-axis screw rod assembly is arranged inside the Z-axis slide seat (331), and the Z-axis motor (334) is arranged at the upper end of the Z-axis slide seat (331) and is transmission-connected to one end of the screw rod of the Z-axis screw rod assembly; A Z-axis slide groove (335) is provided on the left or right side of the Z-axis slide seat (331); a Z-axis slider (333) is slidably arranged on the Z-axis slide seat (331) and passes through the Z-axis slide groove (335) to be fixedly connected to a screw nut of a Z-axis screw assembly; a bidirectional servo rotation mechanism (4) is fixed to the lower end of the Z-axis slide seat (331); A Z-axis drag chain (338) is provided on one side of the Z-axis slide seat (331), one end of the Z-axis drag chain (338) is fixed on the Z-axis slide seat (331), and the other end is fixed on the top surface of the YZ-axis drag chain support arm (326).

7. The double-head guardrail laser welding machine according to claim 6 is characterized in that: The welding wire feeding mechanism (7) comprises a wire reel angled oblique arm (71) and a stepping wire feeder (72) both of which are arranged on a Z-axis slide (331); the lower arm of the wire reel angled oblique arm (71) is arranged on the front side of the Z-axis slide (331); the upper arm of the wire reel angled oblique arm (71) is inclined above and behind the Z-axis slide (331); a wire reel shaft (74) is arranged transversely on the left or right side of the upper end of the wire reel angled oblique arm (71); and a wire reel locking pin (75) is arranged on the outward end of the wire reel shaft (74) to prevent the welding wire reel (7a) from falling off; The stepping wire feeder (72) is arranged at the front corner of the wire reel corner oblique arm (71), and its position is lower than the wire reel shaft (74).

8. The double-head guardrail laser welding machine according to any one of claims 1 to 7, characterized in that: The bidirectional servo rotating mechanism (4) comprises a vertical servo rotating mechanism (44) capable of driving the laser welding head (6) to rotate in a vertical plane, and a horizontal servo rotating mechanism (43) capable of driving the vertical servo rotating mechanism (44) to rotate in a horizontal plane, wherein the horizontal servo rotating mechanism (43) is suspended at the lower end of the Z-axis servo module (33), and the vertical servo rotating mechanism (44) is suspended at the lower end of the horizontal servo rotating mechanism (43).

9. The double-head guardrail laser welding machine according to claim 8, characterized in that: The horizontal servo rotation mechanism (43) comprises a horizontal rotation vertical plate (40), a horizontal rotation fork-shaped horizontal plate (41) and a C-axis servo motor (42); the horizontal rotation vertical plate (40) is vertically arranged at the middle position of the horizontal rotation fork-shaped horizontal plate (41); the rear side of the horizontal rotation vertical plate (40) is fixedly arranged on the front side of the Z-axis servo module (33); the rear part of the horizontal rotation fork-shaped horizontal plate (41) is arranged on the bottom side of the horizontal rotation vertical plate (40); and the front half of the horizontal rotation fork-shaped horizontal plate (41) is suspended and extends forward; the C-axis servo motor (42) that drives the vertical servo rotation mechanism (44) to rotate in a horizontal plane is vertically arranged at the fork-shaped opening at the right end of the horizontal rotation fork-shaped horizontal plate (41).

10. The double-head guardrail laser welding machine according to claim 9, characterized in that: The vertical servo rotation mechanism (44) comprises a vertical rotation transverse plate (45), a vertical rotation fork-shaped vertical plate (47) and an A-axis servo motor (48); the vertical rotation transverse plate (45) is arranged below the horizontal rotation fork-shaped transverse plate (41) and is transmission-connected to the C-axis servo motor (42); the upper end of the vertical rotation fork-shaped vertical plate (47) is arranged at the front side of the vertical rotation transverse plate (45); the lower end of the vertical rotation fork-shaped vertical plate (47) is suspended and extends downward; the A-axis servo motor (48) that drives the laser welding head (6) to rotate in a vertical plane is horizontally arranged at the fork-shaped opening at the lower end of the vertical rotation fork-shaped vertical plate (47); a welding head fixing plate (46) is provided at the front side of the vertical rotation fork-shaped vertical plate (47); the welding head fixing plate (46) is transmission-connected to the A-axis servo motor (48); the laser welding head (6) is fixed at the front side of the welding head fixing plate (46).

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