Large double-gantry laser welding equipment

Abstract

The invention discloses large double-gantry laser welding equipment, and relates to the technical field of robots. The system comprises a horizontal working platform and a portal frame above the horizontal working platform. The top end of the portal frame is rigidly connected with a Y-axis bearing force beam through two side-by-side X-axis linear motion mechanisms to jointly form an integral rigid motion frame, stable motion under a large span can be achieved only through single-side driving, and double-drive synchronous errors are fundamentally avoided structurally. A Y-axis linear motion mechanism and a Z-axis linear motion mechanism are arranged on the Y-axis bearing force beam, the tail end of the Y-axis bearing force beam is connected with a welding system through an innovative gear ring transmission rotating mechanism, and 360-degree continuous rotation of a welding gun is achieved. By means of the collaborative design of the double-gantry rigid frame and three-axis one-rotation, the problem that large span, high rigidity and tail end flexibility are difficult to consider at the same time is solved, and the robot is particularly suitable for high-quality welding of large complex structural parts.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a large-scale double-gantry laser welding equipment. Background Technology

[0002] In the welding and manufacturing of large metal structural components such as engineering machinery, ships, and aerospace frames, bridge-type gantry welding equipment is widely used due to its large working range. However, in the existing single-gantry structure, the rigidity of the crossbeam is often insufficient when facing ultra-wide workpieces. When bearing heavy welding mechanisms and moving at high speeds, deformation and vibration are prone to occur, which seriously affects the accuracy and stability of the welding path.

[0003] While existing technologies employ dual gantry or dual drive systems to improve stability—for example, the bridge-type overhead welding robot workstation disclosed in CN111805054A uses two motors to drive the two legs of the gantry separately—such dual-drive solutions place extremely high demands on motor synchronization control, increasing the complexity, cost, and failure rate of the control system. Improper control can lead to even minor synchronization errors causing the gantry to wobble, introducing new instability factors.

[0004] In addition, in terms of end effector, most common welding robots use articulated robots or simple Z-axis lifting mechanisms, which have limited posture adjustment capabilities or ranges and are difficult to handle welding tasks of complex three-dimensional spatial curve welds.

[0005] Therefore, there is an urgent need in this field for a motion system for large welding robots that can significantly improve the structural rigidity and motion stability under large spans, have flexible end-effector posture adjustment capabilities, and avoid complex synchronization control problems. Summary of the Invention

[0006] The purpose of this invention is to solve the problems of insufficient rigidity of single gantry structure, complex synchronous control of dual-drive gantry, and insufficient flexibility of end effector in the prior art, and to provide a large-scale dual-gantry laser welding equipment with stable structure, simple control and flexible movement.

[0007] The technical solution of this invention is:

[0008] Large-scale double-gantry laser welding equipment, including:

[0009] Horizontally arranged work platform 1;

[0010] Gantry 2, which is disposed above the working platform 1;

[0011] Two X-axis linear motion mechanisms 3 are arranged horizontally side by side at the top of the gantry frame 2 along the X-axis direction;

[0012] A Y-bearing force beam 4 is horizontally arranged above the gantry 2 along the Y-axis direction. Both ends of the Y-bearing force beam 4 are rigidly connected to the output ends of the two X-axis linear motion mechanisms 3, so that the two X-axis linear motion mechanisms 3 and the Y-bearing force beam 4 together form an integral rigid motion frame.

[0013] A Y-axis linear motion mechanism 5 is horizontally arranged directly above the Y-bearing force beam 4;

[0014] A Z-axis connecting frame 6 is horizontally arranged above the Y-bearing force beam 4, and the Z-axis connecting frame 6 is connected to the output end of the Y-axis linear motion mechanism 5.

[0015] A Z-axis linear motion mechanism 7 is vertically arranged along the Z-axis direction on the side of the Y-bearing force beam 4, and the Z-axis linear motion mechanism 7 is connected to the Z-axis connecting frame 6;

[0016] A rotating mechanism 8 is vertically arranged below the Z-axis connecting frame 6. The top end of the rotating mechanism 8 is connected to the output end of the Z-axis linear motion mechanism 7. The rotating mechanism 8 includes a rotating gear 8-6 that meshes with each other and a gear ring machined on a rotating sleeve 8-4 to achieve 360° continuous rotation of the welding system 9.

[0017] And a welding system 9 located at the bottom of the rotating mechanism 8.

[0018] Furthermore, the gantry 2 includes:

[0019] Two bases 2-1 arranged horizontally side by side along the X-axis;

[0020] Two X-bearing force beams 2-2 are arranged in parallel above the two bases 2-1;

[0021] Multiple columns 2-3 are used to connect the base 2-1 and the corresponding X-bearing force beam 2-2 above it. The multiple columns 2-3 are arranged vertically at equal intervals along the X-axis direction and are connected into a whole by the base 2-1 to form a box beam structure.

[0022] Two connecting beams 2-4 are used to connect the two X-bearing force beams 2-2. The connecting beams 2-4 are located at the ends of the X-bearing force beams 2-2 and are arranged perpendicular to the X-bearing force beams 2-2.

[0023] Furthermore, the X-axis linear motion mechanism 3 includes:

[0024] An X-axis lead screw and nut transmission mechanism 3-1 is horizontally arranged at the top of one of the X-bearing force beams 2-2 along the X-axis direction;

[0025] An X-axis drive mechanism 3-2 provides power to the X-axis lead screw and nut transmission mechanism 3-1. The output end of the X-axis drive mechanism 3-2 is connected to the lead screw of the X-axis lead screw and nut transmission mechanism 3-1 to control the rotation and start / stop of the lead screw.

[0026] Two sets of X-axis guide rail slider mechanisms 3-3 are arranged horizontally at the top of the two X-bearing force beams 2-2 along the X-axis direction. The slider of one of the X-axis guide rail slider mechanisms 3-3 is connected to the nut of the X-axis lead screw nut transmission mechanism 3-1 as a whole. The sliders of the two sets of X-axis guide rail slider mechanisms 3-3 are connected through the Y-bearing force beam 4.

[0027] Furthermore, the X-axis drive mechanism 3-2 includes:

[0028] X-axis drive motor 3-2-1 is installed at the top of the X-bearing force beam 2-2;

[0029] The X-axis belt drive mechanism 3-2-2 has its driving pulley mounted on the output shaft of the X-axis drive motor 3-2-1, and its driven pulley mounted on the end of the lead screw of the X-axis lead screw nut drive mechanism 3-1. The driven pulley and the driving pulley are connected by the drive belt to achieve power transmission.

[0030] Furthermore, the Y-axis linear motion mechanism 5 includes:

[0031] Y-axis lead screw and nut transmission mechanism 5-1 is horizontally arranged at the top of the Y-bearing force beam 4 along the Y-axis direction;

[0032] A Y-axis drive mechanism 5-2 provides power to the Y-axis lead screw and nut transmission mechanism 5-1. The output end of the Y-axis drive mechanism 5-2 is connected to the lead screw of the Y-axis lead screw and nut transmission mechanism 5-1 to control the rotation and start / stop of the lead screw.

[0033] A Y-axis guide rail slider mechanism 5-3 is horizontally arranged at the top of the Y-bearing force beam 4 along the Y-axis direction. The slider of the Y-axis guide rail slider mechanism 5-3 is connected to the nut of the Y-axis lead screw nut transmission mechanism 5-1 to form a whole. The slider of the Y-axis guide rail slider mechanism 5-3 is connected to the Z-axis connecting frame 6.

[0034] Furthermore, the Y-axis drive mechanism 5-2 includes:

[0035] Y-axis drive motor 5-2-1 is installed at the top of the Y-bearing force beam 4;

[0036] Y-axis belt drive mechanism 5-2-2, the driving pulley of the Y-axis belt drive mechanism 5-2-2 is mounted on the output shaft of the Y-axis drive motor 5-2-1, and the driven pulley of the Y-axis belt drive mechanism 5-2-2 is mounted on the end of the lead screw of the Y-axis lead screw nut drive mechanism 5-1. The driven pulley and the driving pulley are connected by the drive belt to realize power transmission.

[0037] Furthermore, the Z-axis linear motion mechanism 7 includes:

[0038] A lifting cylinder 7-1 is vertically installed on the side of the Z-axis connecting frame 6, and the cylinder body of the lifting cylinder 7-1 is connected to the Z-axis connecting frame 6 through a connector;

[0039] A lifting seat plate 7-2 is horizontally arranged below the Y-axis guide rail slider mechanism 5-3, and the lifting seat plate 7-2 is connected to the piston rod end of the lifting cylinder 7-1.

[0040] Furthermore, the rotating mechanism 8 includes:

[0041] The adapter frame 8-1 is provided at the bottom of the lifting seat plate 7-2. The bottom of the adapter frame 8-1 is provided with a vertically arranged fixing column 8-1-1. The bottom end of the fixing column 8-1-1 is machined with external threads.

[0042] A support bearing 8-2 is coaxially nested outside the fixed column 8-1-1;

[0043] A limiting nut 8-3 is used to restrict the axial movement of the support bearing 8-2, and the limiting nut 8-3 is threadedly connected to the bottom end of the fixed column 8-1-1;

[0044] A rotating sleeve 8-4 is coaxially nested outside the support bearing 8-2. The rotating sleeve 8-4 is rotatably connected to the fixed column 8-1-1 through the support bearing 8-2. A toothed ring is machined on the side of the top end of the rotating sleeve 8-4 along the circumferential direction.

[0045] A rotary motor 8-5 is vertically arranged on the top side of the adapter 8-1. The rotary motor 8-5 is used to provide power for the rotation of the rotary sleeve 8-4.

[0046] A rotating gear 8-6 is mounted on the output shaft of the rotating motor 8-5, and the rotating gear 8-6 meshes with the gear ring on the top side of the rotating sleeve 8-4.

[0047] Furthermore, the rotating mechanism 8 also includes:

[0048] The end-efficiency adjustment plate 8-7 is located below the rotating sleeve 8-4. The end-efficiency adjustment plate 8-7 has multiple threaded round holes sequentially opened from top to bottom. The threaded round holes are internally threaded with locking screws for fixing the connecting frame of the welding system 9.

[0049] The upper and lower connecting flanges are used to connect the end-acting adjusting orifice plate 8-7 to the rotating sleeve 8-4;

[0050] And a plurality of flange connectors for connecting the upper and lower connecting flanges.

[0051] Furthermore, the welding system 9 is a laser welding system.

[0052] Compared with the prior art, the present invention has the following advantages:

[0053] 1. This invention systematically solves the contradiction of balancing large span, high rigidity, high precision, and end-efficiency through the coordinated design of a double gantry structure and a three-axis rotary motion. The invention employs a box-beam gantry frame 2 composed of two bases 2-1, two X-bearing force beams 2-2, multiple columns 2-3, and connecting beams 2-4, greatly enhancing the rigidity of the overall structure and ensuring the stability and precision of the system under heavy loads and high-speed operation. By setting two parallel X-axis linear motion mechanisms 3 to synchronously drive a Y-bearing force beam 4, smooth and precise X-axis motion within a large span range is achieved, effectively avoiding the jamming and errors caused by traditional single-drive or asynchronous drives. The Y-axis linear motion mechanism 5 is independently arranged on the Y-axis... Above the bearing beam 4, the Z-axis connecting frame 6 is driven, achieving lightweight and high-precision feeding in the Y-axis direction; the lifting cylinder 7-1 is used as the core driving component of the Z-axis linear motion mechanism 7, giving the welding system 9 the ability to respond quickly and position accurately in the Z-axis direction; finally, through the innovative rotating mechanism 8, the rotating motor 8-5 drives the rotating gear 8-6 to mesh with the rotating sleeve 8-4 with a toothed ring, realizing the 360° continuous rotation of the end welding system 9, enabling it to flexibly adapt to the welding posture requirements of various complex spatial welds.

[0054] 2. The large-scale double-gantry laser welding equipment of the present invention, the whole system works in concert to form a large-scale welding robot motion solution with high rigidity, high precision, fast response and good flexibility.

[0055] 3. Unlike existing technologies that pursue dual-drive synchronization through complex electronic control, this invention creatively constructs an integral rigid motion frame from a mechanical structure perspective by rigidly connecting two X-axis linear motion mechanisms with a Y-bearing force beam. This frame can achieve smooth movement with only one-sided drive, not only achieving rigidity and stability far exceeding that of a single gantry structure, but also fundamentally eliminating the risk of dual-drive synchronization errors, simplifying system control, and improving reliability. Attached Figure Description

[0056] Figure 1 This is a front view of the large double-gantry laser welding equipment of the present invention;

[0057] Figure 2 This is a top view of the large double-gantry laser welding equipment of the present invention;

[0058] Figure 3 This is a schematic diagram of the structure of the Z-axis linear motion mechanism 7 and the rotary mechanism 8 after assembly according to the present invention;

[0059] Figure 4 This is a partially enlarged view of the assembly of the Y-bearing force beam 4, Y-axis linear motion mechanism 5, Z-axis connecting frame 6, Z-axis linear motion mechanism 7, rotating mechanism 8, and welding system 9 of the present invention.

[0060] Figure 5 This is a partial cross-sectional view of the Z-axis linear motion mechanism 7 and the rotary mechanism 8 assembled according to the present invention;

[0061] Figure 6 This is a partially enlarged view of the assembly of the present invention 3-1 with the X-axis drive mechanism 3-2 and the X-axis guide rail slider mechanism 3-3;

[0062] Figure 7 This is a partially enlarged view of the assembled Z-axis connecting frame 6, lifting cylinder 7-1, and lifting seat plate 7-2 of the present invention.

[0063] In the diagram: 1. Working platform; 2. Gantry frame; 3. X-axis linear motion mechanism; 4. Y-bearing force beam; 5. Y-axis linear motion mechanism; 6. Z-axis connecting frame; 7. Z-axis linear motion mechanism; 8. Rotation mechanism; 9. Welding system;

[0064] 2-1. Base; 2-2. X-bearing force beam; 2-3. Column; 2-4. Connecting beam;

[0065] 3-1. X-axis lead screw and nut transmission mechanism; 3-2. X-axis drive mechanism; 3-3. X-axis guide rail and slider mechanism;

[0066] 3-2-1. X-axis drive motor; 3-2-2. X-axis belt drive mechanism;

[0067] 5-1. Y-axis lead screw and nut transmission mechanism; 5-2. Y-axis drive mechanism; 5-3. Y-axis guide rail and slider mechanism;

[0068] 5-2-1. Y-axis drive motor; 5-2-2. Y-axis belt drive mechanism;

[0069] 7-1. Lifting cylinder; 7-2. Lifting base plate;

[0070] 8-1. Adapter frame; 8-2. Support bearing; 8-4. Rotating sleeve; 8-5. Rotating motor; 8-6. Rotating gear; 8-7. End actuator adjustment plate. Detailed Implementation

[0071] Specific implementation method one: Combining Figures 1 to 7 This embodiment describes a large-scale double-gantry laser welding equipment, which includes:

[0072] Horizontally arranged work platform 1;

[0073] Gantry 2, which is disposed above the working platform 1;

[0074] Two X-axis linear motion mechanisms 3 are arranged horizontally side by side at the top of the gantry frame 2 along the X-axis direction;

[0075] A Y-bearing force beam 4 is horizontally arranged above the gantry 2 along the Y-axis direction. Both ends of the Y-bearing force beam 4 are rigidly connected to the output ends of the two X-axis linear motion mechanisms 3, so that the two X-axis linear motion mechanisms 3 and the Y-bearing force beam 4 together form an integral rigid motion frame.

[0076] A Y-axis linear motion mechanism 5 is horizontally arranged directly above the Y-bearing force beam 4;

[0077] A Z-axis connecting frame 6 is horizontally arranged above the Y-bearing force beam 4, and the Z-axis connecting frame 6 is connected to the output end of the Y-axis linear motion mechanism 5.

[0078] A Z-axis linear motion mechanism 7 is vertically arranged along the Z-axis direction on the side of the Y-bearing force beam 4, and the Z-axis linear motion mechanism 7 is connected to the Z-axis connecting frame 6;

[0079] A rotating mechanism 8 is vertically arranged below the Z-axis connecting frame 6. The top end of the rotating mechanism 8 is connected to the output end of the Z-axis linear motion mechanism 7. The rotating mechanism 8 includes a rotating gear 8-6 that meshes with each other and a gear ring machined on a rotating sleeve 8-4 to achieve 360° continuous rotation of the welding system 9.

[0080] And a welding system 9 located at the bottom of the rotating mechanism 8.

[0081] The core of the large-scale double-gantry laser welding equipment described in this invention lies in its integral double-gantry frame, which is rigidly connected by two X-axis linear motion mechanisms 3 and a Y-bearing force beam 4. This frame can achieve stable overall movement through single-sided drive, thus avoiding the risk of asynchronous dual-drive from a mechanical structure perspective, while achieving rigidity and stability far exceeding that of a single-gantry structure.

[0082] Furthermore, the present invention provides a reliable 360° continuous rotational degree of freedom for the end welding system 9 through an innovative gear ring drive rotation mechanism 8, enabling it to flexibly adjust its posture and adapt to complex spatial welds.

[0083] Compared with existing technologies, this invention systematically solves the contradiction of balancing large span, high rigidity, high precision and end-effector flexibility by using an integrated double gantry frame and a three-axis one-rotation design without introducing complex synchronous control.

[0084] Specific Implementation Method Two: Combining Figures 1 to 7 This embodiment describes a gantry frame 2 comprising:

[0085] Two bases 2-1 arranged horizontally side by side along the X-axis;

[0086] Two X-bearing force beams 2-2 are arranged in parallel above the two bases 2-1;

[0087] Multiple columns 2-3 are used to connect the base 2-1 and the corresponding X-bearing force beam 2-2 above it. The multiple columns 2-3 are arranged vertically at equal intervals along the X-axis direction and are connected into a whole by the base 2-1 to form a box beam structure.

[0088] Two connecting beams 2-4 are used to connect the two X-bearing force beams 2-2. The connecting beams 2-4 are located at the ends of the X-bearing force beams 2-2 and are arranged perpendicular to the X-bearing force beams 2-2.

[0089] This configuration, consisting of two bases 2-1, two X-bearing force beams 2-2, multiple columns 2-3, and two connecting beams 2-4, forms a stable box-beam frame, significantly improving the overall rigidity and deformation resistance of the gantry 2 and providing a solid and stable foundation for the entire motion system. Other components and connections are the same as in Specific Implementation Method 1.

[0090] Specific implementation method three: Combining Figures 1 to 7 This embodiment describes the X-axis linear motion mechanism 3, which includes:

[0091] An X-axis lead screw and nut transmission mechanism 3-1 is horizontally arranged at the top of one of the X-bearing force beams 2-2 along the X-axis direction;

[0092] An X-axis drive mechanism 3-2 provides power to the X-axis lead screw and nut transmission mechanism 3-1. The output end of the X-axis drive mechanism 3-2 is connected to the lead screw of the X-axis lead screw and nut transmission mechanism 3-1 to control the rotation and start / stop of the lead screw.

[0093] Two sets of X-axis guide rail slider mechanisms 3-3 are arranged horizontally at the top of the two X-bearing force beams 2-2 along the X-axis direction. The slider of one of the X-axis guide rail slider mechanisms 3-3 is connected to the nut of the X-axis lead screw nut transmission mechanism 3-1 as a whole. The sliders of the two sets of X-axis guide rail slider mechanisms 3-3 are connected through the Y-bearing force beam 4.

[0094] This configuration employs an X-axis lead screw and nut transmission mechanism 3-1 in conjunction with two sets of X-axis guide rail and slider mechanisms 3-3, and a single X-axis drive mechanism 3-2 synchronously drives the two gantry beams via a Y-bearing force beam 4. This ensures high precision, high stability, and excellent synchronization of the system during long-stroke motion in the X-axis direction. Other components and connections are the same as in specific implementation methods one or two.

[0095] Specific implementation method four: Combination Figures 1 to 7 This embodiment describes the X-axis drive mechanism 3-2, which includes:

[0096] X-axis drive motor 3-2-1 is installed at the top of the X-bearing force beam 2-2;

[0097] The X-axis belt drive mechanism 3-2-2 has its driving pulley mounted on the output shaft of the X-axis drive motor 3-2-1, and its driven pulley mounted on the end of the lead screw of the X-axis lead screw nut drive mechanism 3-1. The driven pulley and the driving pulley are connected by the drive belt to achieve power transmission.

[0098] With this configuration, the X-axis drive motor 3-2-1 transmits power to the lead screw of the X-axis lead screw and nut transmission mechanism 3-1 via the X-axis belt transmission mechanism 3-2-2. This transmission method has the advantages of buffering, vibration reduction, and strong adaptability to center distance, making power transmission more stable and reliable, and the layout is flexible. Other components and connections are the same as in specific implementation methods one, two, or three.

[0099] Specific Implementation Method Five: Combining Figures 1 to 7 This embodiment describes a Y-axis linear motion mechanism 5 comprising:

[0100] Y-axis lead screw and nut transmission mechanism 5-1 is horizontally arranged at the top of the Y-bearing force beam 4 along the Y-axis direction;

[0101] A Y-axis drive mechanism 5-2 provides power to the Y-axis lead screw and nut transmission mechanism 5-1. The output end of the Y-axis drive mechanism 5-2 is connected to the lead screw of the Y-axis lead screw and nut transmission mechanism 5-1 to control the rotation and start / stop of the lead screw.

[0102] A Y-axis guide rail slider mechanism 5-3 is horizontally arranged at the top of the Y-bearing force beam 4 along the Y-axis direction. The slider of the Y-axis guide rail slider mechanism 5-3 is connected to the nut of the Y-axis lead screw nut transmission mechanism 5-1 to form a whole. The slider of the Y-axis guide rail slider mechanism 5-3 is connected to the Z-axis connecting frame 6.

[0103] In this configuration, the Y-axis lead screw and nut transmission mechanism 5-1 and the Y-axis guide rail slider mechanism 5-3 are integrated at the top of the Y-bearing force beam 4 and driven by the Y-axis drive mechanism 5-2, which in turn moves the Z-axis connecting frame 6. This separate design effectively reduces the mass of the moving parts and improves the motion acceleration, speed response, and positioning accuracy in the Y-axis direction. Other components and connections are the same as in specific embodiments one, two, three, or four.

[0104] Specific Implementation Method Six: Combination Figures 1 to 7 This embodiment describes a Y-axis drive mechanism 5-2 comprising:

[0105] Y-axis drive motor 5-2-1 is installed at the top of the Y-bearing force beam 4;

[0106] Y-axis belt drive mechanism 5-2-2, the driving pulley of the Y-axis belt drive mechanism 5-2-2 is mounted on the output shaft of the Y-axis drive motor 5-2-1, and the driven pulley of the Y-axis belt drive mechanism 5-2-2 is mounted on the end of the lead screw of the Y-axis lead screw nut drive mechanism 5-1. The driven pulley and the driving pulley are connected by the drive belt to realize power transmission.

[0107] With this configuration, the Y-axis drive motor 5-2-1 drives the Y-axis lead screw through the Y-axis belt transmission mechanism 5-2-2, achieving a highly efficient and stable transmission mode consistent with the X-axis. This facilitates the modular and standardized design of the system drive unit and reduces manufacturing and maintenance costs. Other components and connections are the same as in specific implementation methods one, two, three, four, or five.

[0108] Specific implementation method seven: Combination Figures 1 to 7 This embodiment describes a Z-axis linear motion mechanism 7 comprising:

[0109] A lifting cylinder 7-1 is vertically installed on the side of the Z-axis connecting frame 6, and the cylinder body of the lifting cylinder 7-1 is connected to the Z-axis connecting frame 6 through a connector;

[0110] A lifting seat plate 7-2 is horizontally arranged below the Y-axis guide rail slider mechanism 5-3, and the lifting seat plate 7-2 is connected to the piston rod end of the lifting cylinder 7-1.

[0111] This configuration, using a lifting cylinder 7-1 as the Z-axis drive source and connecting it to the rotating mechanism 8 via a lifting base plate 7-2, results in a compact structure, high driving force, and rapid response, enabling the welding system 9 to achieve fast and precise lifting and positioning in the Z-axis direction. Other components and connections are the same as in specific implementation methods one, two, three, four, five, or six.

[0112] Specific implementation method eight: Combination Figures 1 to 7 This embodiment describes a rotating mechanism 8 comprising:

[0113] The adapter frame 8-1 is provided at the bottom of the lifting seat plate 7-2. The bottom of the adapter frame 8-1 is provided with a vertically arranged fixing column 8-1-1. The bottom end of the fixing column 8-1-1 is machined with external threads.

[0114] A support bearing 8-2 is coaxially nested outside the fixed column 8-1-1;

[0115] A limiting nut 8-3 is used to restrict the axial movement of the support bearing 8-2, and the limiting nut 8-3 is threadedly connected to the bottom end of the fixed column 8-1-1;

[0116] A rotating sleeve 8-4 is coaxially nested outside the support bearing 8-2. The rotating sleeve 8-4 is rotatably connected to the fixed column 8-1-1 through the support bearing 8-2. A toothed ring is machined on the side of the top end of the rotating sleeve 8-4 along the circumferential direction.

[0117] A rotary motor 8-5 is vertically arranged on the top side of the adapter 8-1. The rotary motor 8-5 is used to provide power for the rotation of the rotary sleeve 8-4.

[0118] A rotating gear 8-6 is mounted on the output shaft of the rotating motor 8-5, and the rotating gear 8-6 meshes with the gear ring on the top side of the rotating sleeve 8-4.

[0119] With this configuration, the rotary motor 8-5 drives the rotary gear 8-6, which meshes with the gear ring at the top of the rotary sleeve 8-4, causing the entire rotary sleeve 8-4 to rotate around the fixed column 8-1-1. This provides the welding system 9 at the end with continuous and controllable circumferential rotational freedom, greatly enhancing its attitude adjustment capability. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, or seven.

[0120] Specific Implementation Method Nine: Combining Figures 1 to 7 This embodiment further includes, as described in the description of the rotating mechanism 8, the following:

[0121] The end-efficiency adjustment plate 8-7 is located below the rotating sleeve 8-4. The end-efficiency adjustment plate 8-7 has multiple threaded round holes sequentially opened from top to bottom. The threaded round holes are internally threaded with locking screws for fixing the connecting frame of the welding system 9.

[0122] The upper and lower connecting flanges are used to connect the end-acting adjusting orifice plate 8-7 to the rotating sleeve 8-4;

[0123] And, a plurality of flange connectors for connecting the upper and lower connecting flanges.

[0124] This configuration, with multiple threaded holes on the end-effector adjustment plate 8-7, along with locking screws, provides multi-level height adjustment for the welding system 9 connecting frame, enhancing the system's adaptability to different workpiece sizes and weld positions, and improving process flexibility. Other components and connections are the same as in specific implementation methods one, two, three, four, five, six, seven, or eight.

[0125] Specific Implementation Method Ten: Combining Figures 1 to 7 This embodiment describes a laser welding system 9.

[0126] With this configuration, welding system 9 employs a laser welding system, which boasts advantages such as high energy density, fast welding speed, minimal thermal deformation, and a large weld depth-to-width ratio. It is particularly suitable for manufacturing large, thick-walled structural components where high welding quality and efficiency are required. Other components and connections are identical to those in specific implementation methods one, two, three, four, five, six, seven, eight, or nine.

[0127] Working principle

[0128] Combination Figures 1 to 7 Explanation of the working principle of the large-scale double-gantry laser welding equipment described in this invention:

[0129] During operation, the workpiece to be welded is fixed on the horizontally arranged work platform 1. After the system starts, the X-axis drive mechanism 3-2 operates, driving the Y-bearing force beam 4 and its mounted Y-axis linear motion mechanism 5, Z-axis connecting frame 6, Z-axis linear motion mechanism 7, rotating mechanism 8, and welding system 9 to perform precise linear reciprocating motion along the X-axis via the X-axis screw and nut transmission mechanism 3-1 and the Y-axis guide rail and slider mechanism 5-3. Subsequently, the Y-axis drive mechanism 5-2 operates, driving the Z-axis connecting frame 6 and its subsequent components to perform precise linear reciprocating motion along the Y-axis via the Y-axis screw and nut transmission mechanism 5-1 and the Y-axis guide rail and slider mechanism 5-3. When the welding torch height needs to be adjusted, the lifting cylinder 7-1 of the Z-axis linear motion mechanism 7 actuates, driving the lifting seat plate 7-2 via the piston rod, causing the rotating mechanism 8 and welding system 9 to rise and fall along the Z-axis. Simultaneously, when the welding trajectory requires a change in the welding torch angle, the rotary motor 8-5 of the rotating mechanism 8 starts, engaging with the gear ring on the rotating sleeve 8-4 via the rotating gear 8-6, driving the rotating sleeve 8-4 and the welding system 9 connected to its end to rotate circumferentially. Through the coordinated operation of the linear motion along the X, Y, and Z axes and the rotational motion around the Z axis, the welding system 9 achieves precise positioning at any location within the three-dimensional space of a large workpiece and flexible adjustment of the optimal welding posture, thereby completing a high-quality, high-efficiency automated welding operation.

[0130] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A large-scale double-gantry laser welding equipment, characterized in that, include: A horizontally arranged work platform (1); A gantry frame (2) is installed above the work platform (1); Two X-axis linear motion mechanisms (3) are arranged horizontally side by side at the top of the gantry (2) along the X-axis direction; A Y-bearing force beam (4) is horizontally arranged above the gantry (2) along the Y-axis direction. Both ends of the Y-bearing force beam (4) are rigidly connected to the output ends of the two X-axis linear motion mechanisms (3), so that the two X-axis linear motion mechanisms (3) and the Y-bearing force beam (4) together form an integral rigid motion frame. A Y-axis linear motion mechanism (5) is arranged horizontally above the Y-bearing force beam (4); A Z-axis connecting frame (6) is horizontally arranged above the Y-bearing force beam (4), and the Z-axis connecting frame (6) is connected to the output end of the Y-axis linear motion mechanism (5); A Z-axis linear motion mechanism (7) is vertically arranged on the side of the Y-bearing force beam (4) along the Z-axis direction, and the Z-axis linear motion mechanism (7) is connected to the Z-axis connecting frame (6); A rotating mechanism (8) is arranged vertically below the Z-axis connecting frame (6). The top of the rotating mechanism (8) is connected to the output end of the Z-axis linear motion mechanism (7). The rotating mechanism (8) includes meshing rotating gears (8-6) and a gear ring machined on a rotating sleeve (8-4) to achieve 360° continuous rotation of the welding system (9). And a welding system (9) located at the bottom of the rotating mechanism (8).

2. The large-scale double-gantry laser welding equipment according to claim 1, characterized in that, The gantry (2) includes: Two bases arranged horizontally side by side along the X-axis (2-1); Two X-bearing force beams (2-2) are arranged in parallel above the two bases (2-1); Multiple columns (2-3) are used to connect the base (2-1) and the corresponding X-bearing force beam (2-2) above it. The multiple columns (2-3) are arranged vertically at equal intervals along the X-axis direction, and the columns (2-3) are connected into a whole by the base (2-1) to form a box beam structure. Two connecting beams (2-4) are used to connect the two X-bearing force beams (2-2). The connecting beams (2-4) are located at the ends of the X-bearing force beams (2-2) and are arranged perpendicular to the X-bearing force beams (2-2).

3. The large-scale double-gantry laser welding equipment according to claim 2, characterized in that, The X-axis linear motion mechanism (3) includes: An X-axis lead screw and nut transmission mechanism (3-1) is horizontally arranged at the top of one of the X-bearing force beams (2-2) along the X-axis direction. An X-axis drive mechanism (3-2) provides power to the X-axis lead screw and nut transmission mechanism (3-1). The output end of the X-axis drive mechanism (3-2) is connected to the lead screw of the X-axis lead screw and nut transmission mechanism (3-1) to control the rotation and start / stop of the lead screw. Two sets of X-axis guide rail slider mechanisms (3-3) are arranged horizontally at the top of the two X-bearing force beams (2-2) along the X-axis direction. The slider of one of the X-axis guide rail slider mechanisms (3-3) is connected to the nut of the X-axis lead screw nut transmission mechanism (3-1) to form a whole. The sliders of the two sets of X-axis guide rail slider mechanisms (3-3) are connected through the Y-bearing force beam (4).

4. The large-scale double-gantry laser welding equipment according to claim 3, characterized in that, The X-axis drive mechanism (3-2) includes: An X-axis drive motor (3-2-1) is installed at the top of the X-bearing force beam (2-2). The X-axis belt drive mechanism (3-2-2) has its driving pulley mounted on the output shaft of the X-axis drive motor (3-2-1), and its driven pulley mounted on the end of the lead screw of the X-axis lead screw nut drive mechanism (3-1). The driven pulley and the driving pulley are connected by a drive belt to achieve power transmission.

5. The large-scale double-gantry laser welding equipment according to claim 1, characterized in that, The Y-axis linear motion mechanism (5) includes: Y-axis lead screw and nut transmission mechanism (5-1) is horizontally arranged at the top of the Y-bearing force beam (4) along the Y-axis direction. A Y-axis drive mechanism (5-2) provides power to the Y-axis lead screw and nut transmission mechanism (5-1). The output end of the Y-axis drive mechanism (5-2) is connected to the lead screw of the Y-axis lead screw and nut transmission mechanism (5-1) to control the rotation and start / stop of the lead screw. A Y-axis guide rail slider mechanism (5-3) is horizontally arranged at the top of the Y-bearing force beam (4) along the Y-axis direction. The slider of the Y-axis guide rail slider mechanism (5-3) is connected to the nut of the Y-axis lead screw nut transmission mechanism (5-1) to form a whole. The slider of the Y-axis guide rail slider mechanism (5-3) is connected to the Z-axis connecting frame (6).

6. The large-scale double-gantry laser welding equipment according to claim 5, characterized in that, The Y-axis drive mechanism (5-2) includes: Y-axis drive motor (5-2-1) installed at the top of the Y-bearing force beam (4); The Y-axis belt drive mechanism (5-2-2) has its driving pulley mounted on the output shaft of the Y-axis drive motor (5-2-1), and its driven pulley mounted on the end of the lead screw of the Y-axis lead screw nut drive mechanism (5-1). The driven pulley and the driving pulley are connected by a drive belt to achieve power transmission.

7. The large double-gantry laser welding equipment according to any one of claims 1, 5, or 6, characterized in that, The Z-axis linear motion mechanism (7) includes: A lifting cylinder (7-1) is vertically arranged on the side of the Z-axis connecting frame (6), and the cylinder body of the lifting cylinder (7-1) is connected to the Z-axis connecting frame (6) through a connector; A lifting seat plate (7-2) is horizontally arranged below the Y-axis guide rail slider mechanism (5-3), and the lifting seat plate (7-2) is connected to the piston rod end of the lifting cylinder (7-1).

8. The large-scale double-gantry laser welding equipment according to claim 7, characterized in that, The rotating mechanism (8) includes: The adapter frame (8-1) is provided at the bottom of the lifting seat plate (7-2). The bottom of the adapter frame (8-1) is provided with a vertically arranged fixing column (8-1-1). The bottom end of the fixing column (8-1-1) is machined with external threads. A support bearing (8-2) is coaxially nested outside the fixed column (8-1-1); A limiting nut (8-3) is used to restrict the axial movement of the support bearing (8-2), and the limiting nut (8-3) is threaded to the bottom end of the fixed column (8-1-1); A rotating sleeve (8-4) is coaxially nested outside the support bearing (8-2). The rotating sleeve (8-4) is rotatably connected to the fixed column (8-1-1) through the support bearing (8-2). A toothed ring is machined on the side of the top end of the rotating sleeve (8-4) along the circumferential direction. A rotary motor (8-5) is vertically arranged on the top side of the adapter (8-1), and the rotary motor (8-5) is used to provide power for the rotation of the rotary sleeve (8-4); A rotating gear (8-6) is mounted on the output shaft of the rotating motor (8-5), and the rotating gear (8-6) meshes with the gear ring on the top side of the rotating sleeve (8-4).

9. The large-scale double-gantry laser welding equipment according to claim 8, characterized in that, The rotating mechanism (8) further includes: An end-effector adjustment plate (8-7) is provided below the rotating sleeve (8-4). The end-effector adjustment plate (8-7) has multiple threaded round holes sequentially opened from top to bottom. The threaded round holes are threaded with locking screws for fixing the connecting frame of the welding system (9). The upper and lower connecting flanges are used to connect the end-acting adjusting orifice plate (8-7) to the rotating sleeve (8-4); And a plurality of flange connectors for connecting the upper and lower connecting flanges.

10. The large-scale double-gantry laser welding equipment according to claim 1, characterized in that, The welding system (9) is a laser welding system.

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