Welding driving device

Abstract

The invention discloses a welding driving device, which relates to the technical field of welding tools, and comprises a mounting frame, at least two X-axis linear motion modules, a Y-axis linear motion module, at least two Z-axis linear motion modules, a first rotary motion module, a second rotary motion module and a welding gun, the mounting frame is provided with at least one Y-axis fixing rod, at least two X-axis fixing rods and at least two Z-axis fixing rods, the two ends of the Y-axis fixing rod are rotatably connected with the two Z-axis fixing rods, and each Z-axis fixing rod is connected with one X-axis fixing rod; each X-axis linear motion module is arranged on one X-axis fixing rod; the Y-axis linear motion module is arranged on the Y-axis fixing rod; each Z-axis linear motion module is arranged on a Z-axis fixing rod; the output end of the first rotary motion module is connected with the Y-axis linear motion module; the second rotary motion module is connected with the output end of the Y-axis linear motion module; and the welding gun is connected with the output end of the second rotary motion module.

Description

Technical Field

[0001] This invention relates to the field of welding tooling technology, and in particular to a welding drive device. Background Technology

[0002] In modern industrial manufacturing, welding technology, as a key joining process, is widely used in many high-end manufacturing industries such as aerospace, electronic semiconductors, and precision instruments. As these industries continuously raise their requirements for product quality and performance, they are placing even more stringent standards on the precision and stability of welding processes. Especially in welding scenarios with extremely high environmental requirements, such as the packaging and welding of electronic chips and the connection of high-precision optical components, welding operations must be performed in a vacuum environment to avoid the adverse effects of impurities such as oxygen and moisture in the air on the welding quality, ensuring that the welded joint has excellent mechanical and electrical properties.

[0003] Currently, in vacuum welding equipment, the conventional approach to achieve the movement of the welding torch in a vacuum environment is to fix the motion system to the inner wall of the vacuum chamber. This design can, to a certain extent, meet the basic motion requirements of the welding torch, allowing it to move along a predetermined trajectory within the vacuum chamber to complete the welding task.

[0004] However, during the vacuuming process, the significant pressure difference between the inside and outside of the vacuum chamber exerts a substantial force on its structure. Since conventional motion systems are fixed to the inner wall of the vacuum chamber, this pressure difference causes deformation of the inner wall, leading to displacement of the fixed motion systems. This displacement causes a deviation between the actual and preset positions of the welding torch, resulting in the welding point deviating from its intended location, thus affecting the precision and accuracy of the welding process. Summary of the Invention

[0005] The main objective of this invention is to propose a welding drive device that, through a closed frame structure with three-axis linear and two-axis rotation, achieves five-degree-of-freedom linkage of the welding torch within a vacuum chamber with minimal deformation reference. This enables high-precision positioning and attitude adjustment of complex spatial welds, ensuring that the weld point and welding torch always correspond precisely, thereby improving the yield and consistency of vacuum welding.

[0006] To achieve the above objectives, the welding drive device proposed in this invention includes: The mounting frame has at least one Y-axis fixing rod, at least two X-axis fixing rods and at least two Z-axis fixing rods. The two ends of the Y-axis fixing rod are rotatably connected to the two Z-axis fixing rods respectively, and each Z-axis fixing rod is connected to one X-axis fixing rod. At least two X-axis linear motion modules, each of the X-axis linear motion modules being disposed on the X-axis fixed rod along the extension direction of the X-axis fixed rod; Y-axis linear motion module, wherein the Y-axis linear motion module is disposed on the Y-axis fixed rod along the extension direction of the Y-axis fixed rod; At least two Z-axis linear motion modules, each of the Z-axis linear motion modules being disposed on the Z-axis fixed rod along the extension direction of the Z-axis fixed rod; A first rotary motion module, the output end of which is connected to the Y-axis linear motion module; A second rotary motion module, wherein the output end of the Y-axis linear motion module is connected; and A welding torch, which is connected to the output end of the second rotary motion module; The Y-axis linear motion module drives the welding torch to move linearly along the extension direction of the Y-axis fixed rod; the X-axis linear motion module drives the Y-axis linear motion module, the Y-axis fixed rod, and the welding torch to move linearly along the extension direction of the X-axis fixed rod; the Z-axis linear motion module drives the Y-axis linear motion module, the Y-axis fixed rod, and the welding torch to move linearly along the extension direction of the Z-axis fixed rod; the first rotary motion module drives the Y-axis linear motion module, the Y-axis fixed rod, and the welding torch to rotate along the axis of the Y-axis fixed rod; and the second rotary motion module drives the welding torch to rotate along the axis of the Z-axis fixed rod.

[0007] In one embodiment, the Y-axis linear motion module includes a lead screw, a lead screw slider, and a first driving member. The lead screw is rotatably disposed on the Y-axis fixed rod along the extension direction of the Y-axis fixed rod. The lead screw slider passes through the lead screw and is threadedly connected to the lead screw slider. The output end of the first driving member is connected to the lead screw.

[0008] In one embodiment, the Y-axis linear motion module includes a first guide rail, a first slider, and a second drive member. The first guide rail is disposed on the Y-axis fixed rod along the extension direction of the Y-axis fixed rod. The first slider is slidably connected to the first guide rail, and the output end of the second drive member is connected to the first slider.

[0009] In one embodiment, the Y-axis linear motion module includes a cable chain, which is arranged along the extension direction of the Y-axis fixed rod, and the first slider is connected to the cable chain.

[0010] In one embodiment, the welding drive device includes two fixed plates, each fixed plate being connected to a Z-axis linear motion module, and the two ends of the Y-axis fixed rod being rotatably connected to the two fixed plates via bearings.

[0011] In one embodiment, the first rotary motion module includes a rotary drive component, which is disposed on a fixed plate, and the output end of the rotary drive component is rotatably connected to the Y-axis fixed rod through the fixed plate.

[0012] In one embodiment, each of the Z-axis linear motion modules includes two second guide rails, two second sliders, and a third drive member. The two second guide rails are arranged along the extension direction of the Z-axis fixing rod. Each second slider is slidably connected to one of the second guide rails. The fixing plate is connected to the two second sliders. The third drive member has two output shafts, each of which is connected to one of the second sliders. The rotary drive member is located between the two second guide rails.

[0013] In one embodiment, each of the X-axis linear motion modules includes a third guide rail, a third slider, and a fourth drive member. The third guide rail is arranged along the extension direction of the X-axis fixed rod. One side of the third slider is slidably connected to the third guide rail, and the other side of the third slider is connected to two second guide rails. The output end of the fourth drive member is connected to the third slider.

[0014] In one embodiment, the mounting frame includes four X-axis fixing rods, four Z-axis fixing rods, and four X-axis linear motion modules. Each X-axis fixing rod has two ends connected to two Z-axis fixing rods, and each X-axis linear motion module is mounted on one X-axis fixing rod along the extension direction of the X-axis fixing rod.

[0015] In one embodiment, the mounting frame further includes two mounting rods, each mounting rod being connected to one of the Z-axis fixing rods, and each mounting rod having a plurality of mounting holes; and / or The mounting frame also includes multiple reinforcing rods, with each reinforcing rod having its two ends connected to the Y-axis fixing rod and the Z-axis fixing rod, respectively.

[0016] In this technical solution, specifically during the welding process, the mounting frame is securely installed in the vacuum chamber at a position where vacuum deformation is minimized. This ensures that the fixing rods of the mounting frame (Y-axis fixing rod, X-axis fixing rod, Z-axis fixing rod) are in the correct horizontal and vertical positions, providing a stable support foundation for subsequent movements. Based on the position information of the welding point on the product to be welded, the control system precisely controls each motion module. The Y-axis linear motion module is activated, and its output end drives the welding torch to move linearly along the extension direction of the Y-axis fixing rod, initially positioning the welding torch at an approximate position corresponding to the welding point in the Y-axis direction. The X-axis linear motion module is activated, driving the Y-axis linear motion module, the Y-axis fixing rod, and the welding torch to move linearly along the extension direction of the X-axis fixing rod, further adjusting the position of the welding torch in the X-axis direction, bringing the welding torch closer to the welding point. The Z-axis linear motion module is activated, driving the Y-axis linear motion module, the Y-axis fixing rod, and the welding torch to move linearly along the extension direction of the Z-axis fixing rod, precisely adjusting the position of the welding torch in the vertical direction (Z-axis direction), ensuring that the welding torch and the welding point are accurately aligned in height. After completing the linear positioning in the above three directions, if it is necessary to adjust the angle of the welding torch to adapt to a special welding posture, start the first rotary motion module. Its output end drives the Y-axis linear motion module, the Y-axis fixed rod, and the welding torch to rotate and move along the axis of the Y-axis fixed rod, changing the angle of the welding torch in the horizontal plane. Start the second rotary motion module to drive the welding torch to rotate and move along the axis of the Z-axis fixed rod, precisely adjusting the tilt angle of the welding torch so that the welding torch is aligned with the welding point in the best posture. At this time, the welding torch can start the welding operation, ensuring that the welding torch is accurately connected to the welding point on the product to be welded. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 A schematic diagram of an embodiment of the welding drive device provided by the present invention; Figure 2 A schematic diagram of an embodiment of the mounting frame is provided for this invention; Figure 3 This invention provides a structural schematic diagram of an embodiment of the cooperation of various motion modules; Figure 4 for Figure 3 Enlarged view of section A in the middle; Figure 5 for Figure 3 Enlarged view of section B in the middle; Figure 6 for Figure 3 A magnified view of point C in the middle section.

[0019] Explanation of icon numbers: 100. Welding drive device; 1. Mounting frame; 11. Y-axis fixing rod; 12. X-axis fixing rod; 13. Z-axis fixing rod; 14. Mounting rod; 15. Reinforcing rod; 2. X-axis linear motion module; 21. Third guide rail; 22. Third slider; 3. Y-axis linear motion module; 31. First guide rail; 32. First slider; 33. Cable chain; 4. Z-axis linear motion module; 41. Second guide rail; 42. Second slider; 5. First rotary motion module; 51. Rotary drive component; 6. Welding torch; 7. Fixing plate.

[0020] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0023] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0024] The present invention proposes a welding drive device 100.

[0025] Please see Figure 1 , Figure 2 and Figure 3 In one embodiment of the present invention, the welding drive device 100 includes a mounting frame 1, at least two X-axis linear motion modules 2, a Y-axis linear motion module 3, at least two Z-axis linear motion modules 4, a first rotary motion module 5, a second rotary motion module, and a welding torch 6. The mounting frame 1 has at least one Y-axis fixing rod 11, at least two X-axis fixing rods 12, and at least two Z-axis fixing rods 13. The two ends of the Y-axis fixing rod 11 are rotatably connected to the two Z-axis fixing rods 13, and each Z-axis fixing rod 13 is connected to one X-axis fixing rod 12. Each X-axis linear motion module 2 is disposed on the X-axis fixing rod 12 along the extension direction of the X-axis fixing rod 12. The Y-axis linear motion module 3 is disposed on the Y-axis fixing rod 11 along the extension direction of the Y-axis fixing rod 11. Each Z-axis linear motion module 4 is disposed on the Z-axis fixing rod 13 along the extension direction of the Z-axis fixing rod 13. The output end of the first rotary motion module 5 is connected to... The Y-axis linear motion module 3 is connected; the second rotary motion module is connected to the output end of the Y-axis linear motion module 3; the welding torch 6 is connected to the output end of the second rotary motion module; wherein, the Y-axis linear motion module 3 is used to drive the welding torch 6 to move linearly along the extension direction of the Y-axis fixed rod 11, the X-axis linear motion module 2 is used to drive the Y-axis linear motion module 3, the Y-axis fixed rod 11 and the welding torch 6 to move linearly along the extension direction of the X-axis fixed rod 12, the Z-axis linear motion module 4 is used to drive the Y-axis linear motion module 3, the Y-axis fixed rod 11 and the welding torch 6 to move linearly along the extension direction of the Z-axis fixed rod 13, the first rotary motion module 5 is used to drive the Y-axis linear motion module 3, the Y-axis fixed rod 11 and the welding torch 6 to rotate along the axis of the Y-axis fixed rod 11, and the second rotary motion module is used to drive the welding torch 6 to rotate along the axis of the Z-axis fixed rod 13.

[0026] In this technical solution, specifically during the welding process, the mounting frame 1 is securely installed in the vacuum chamber at a position where vacuum deformation is minimized. This ensures that each fixing rod of the mounting frame 1 (Y-axis fixing rod 11, X-axis fixing rod 12, and Z-axis fixing rod 13) is in the correct horizontal and vertical orientation, providing a stable support foundation for subsequent movements. Based on the position information of the welding points on the product to be welded, the control system precisely controls each motion module. Start the Y-axis linear motion module 3, whose output end drives the welding torch 6 to move linearly along the extension direction of the Y-axis fixed rod 11, initially positioning the welding torch 6 to a position roughly corresponding to the welding point in the Y-axis direction. Start the X-axis linear motion module 2, which drives the Y-axis linear motion module 3, the Y-axis fixed rod 11, and the welding torch 6 to move linearly along the extension direction of the X-axis fixed rod 12, further adjusting the position of the welding torch 6 in the X-axis direction, making the welding torch 6 closer to the welding point. Start the Z-axis linear motion module 4, which drives the Y-axis linear motion module 3, the Y-axis fixed rod 11, and the welding torch 6 to move linearly along the extension direction of the Z-axis fixed rod 13, precisely adjusting the position of the welding torch 6 in the vertical direction (Z-axis direction), ensuring that the welding torch 6 and the welding point are accurately aligned in height. After completing the linear positioning in the above three directions, if it is necessary to adjust the angle of the welding torch 6 to adapt to a special welding posture, the first rotary motion module 5 is activated. Its output end drives the Y-axis linear motion module 3, the Y-axis fixed rod 11, and the welding torch 6 to rotate and move along the axis of the Y-axis fixed rod 11, changing the angle of the welding torch 6 in the horizontal plane. The second rotary motion module is activated to drive the welding torch 6 to rotate and move along the axis of the Z-axis fixed rod 13, precisely adjusting the tilt angle of the welding torch 6 so that the welding torch 6 is aligned with the welding point in the best posture. At this time, the welding torch 6 can start the welding operation, ensuring that the welding torch 6 is accurately connected to the welding point on the product to be welded.

[0027] Through the coordinated operation of linear motion modules along the X, Y, and Z axes and two rotary motion modules, the welding torch 6 can achieve precise position and angle adjustment in three-dimensional space. This effectively avoids the problem of displacement of the welding torch 6 caused by pressure difference-induced deformation of the inner wall when the motion system is fixed to the vacuum chamber wall in traditional methods. This significantly improves the accuracy of welding point positioning, ensuring that the welding point falls accurately in the predetermined position, thereby guaranteeing the quality of product welding and improving product reliability. The welding drive device 100 possesses multiple degrees of freedom, enabling not only linear movement but also rotational motion, flexibly adapting to various complex welding posture requirements of the products being welded. Whether it's planar welding or three-dimensional welding requiring specific angles, it can easily handle the task, improving the versatility and adaptability of welding, reducing the need to change equipment or adjust workpieces due to welding posture limitations, and increasing production efficiency. The mounting frame 1 provides a stable support structure for the entire motion system. The various motion modules work together through a reasonable connection method, ensuring good stability and reliability of the entire device during operation. In a vacuum environment, it can guarantee long-term stable operation, reducing production interruptions and quality problems caused by equipment failure, and lowering production costs.

[0028] Specifically, in one embodiment, the Y-axis linear motion module 3 includes a lead screw, a lead screw slider, and a first driving member. The lead screw is rotatably mounted on the Y-axis fixed rod 11 along its extension direction. The lead screw slider passes through the lead screw and is threadedly connected to it. The output end of the first driving member is connected to the lead screw. The lead screw is rotatably mounted on the surface of the Y-axis fixed rod 11 along its extension direction. Its two ends are fixedly supported by bearing seats (such as deep groove ball bearings or angular contact bearings) to form a rotating shaft system. The surface of the lead screw is machined with trapezoidal threads or ball threads, and the torque is converted into axial linear motion through rotational motion. The lead screw slider passes through the lead screw, and its inner hole is machined with a nut structure (trapezoidal nut or ball nut) that matches the lead screw thread. It forms a mechanical connection with the lead screw through a threaded pair. The outer side of the slider is provided with a connecting flange or mounting hole for fixing the rotary motion module. By converting the rotational motion of the lead screw into the linear motion of the lead screw slider, precise displacement in the Y-axis direction is achieved. The first driving component is a servo motor or a stepper motor. Its output end is directly connected to one end of the lead screw via a coupling (such as a flexible coupling or a diaphragm coupling), or indirectly connected via a reducer (such as a planetary reducer) to increase the output torque. Limit switches or mechanical stops can be provided at both ends of the Y-axis fixed rod 11 to limit the travel range of the lead screw slider and prevent overtravel from damaging the module or colliding with other components.

[0029] Please see Figure 3 and Figure 4In another embodiment, the Y-axis linear motion module 3 includes a first guide rail 31, a first slider 32, and a second driving member. The first guide rail 31 is disposed on the Y-axis fixing rod 11 along the extension direction of the Y-axis fixing rod 11. The first slider 32 is slidably connected to the first guide rail 31. The output end of the second driving member is connected to the first slider 32. The first guide rail 31 is fixedly disposed on its surface along the extension direction of the Y-axis fixing rod 11. Its cross-sectional shape can be rectangular, V-shaped, or dovetail-shaped. The surface is precision machined to form a guide surface with high hardness and low roughness. Mechanical limit blocks or hydraulic buffers are provided at both ends of the guide rail to prevent the first slider 32 from overtraveling and impacting. When the precision-machined guide rail surface is in contact with the slider, the straightness error is small, ensuring that the slider's movement trajectory is strictly consistent with the Y-axis direction, reducing welding offset. The low-roughness guide surface allows the guide rail to maintain a low wear rate under long-term high-load friction, reducing the maintenance frequency. The first slider 32 is slidably connected to the first guide rail 31, directly contacting the guide rail surface to form a sliding friction pair (sliding guide rail). A flange or quick clamp is provided on the top or side of the slider for fixing the first rotary motion module 5 or the welding torch 6. The second driving component is a linear motor or servo motor, which directly drives the first slider 32 to slide on the first guide rail 31, thereby driving the first rotary motion module 5 and the welding torch 6 to move linearly along the Y-axis fixed rod 11 simultaneously. The Y-axis linear motion module 3 uses the guide rail and slider as core transmission components. By optimizing the friction pair type, driving method, and structural layout, it achieves high-precision, high-rigidity, and highly adaptable linear motion in the Y-axis direction, while also considering lightweight, easy maintenance, and cost controllability, providing a reliable driving solution for welding.

[0030] Please see Figure 3 and Figure 4In one embodiment, the Y-axis linear motion module 3 includes a cable chain 33, which is arranged along the extension direction of the Y-axis fixed rod 11. The first slider 32 is connected to the cable chain 33. The cable chain 33 is a closed plastic or metal link structure, arranged parallel to the extension direction of the Y-axis fixed rod 11 on one side or below the guide rail. Its fixed end is fixed to the end or middle of the Y-axis fixed rod 11 by a bracket, and its moving end is fixedly connected to the first slider 32. A hollow channel is formed inside the cable chain 33 to accommodate and protect welding power lines, signal lines, air pipes, or liquid pipes. The closed link structure of the cable chain 33 can prevent metal spatter, high-temperature welding slag, or coolant generated during welding from entering the pipeline, avoiding faults such as cable insulation damage, signal interference, or air blockage. The high-strength material of the links (such as reinforced nylon or stainless steel) can withstand the weight of the pipeline and the tensile force during movement, extending the service life of the pipeline. The flexible link design of the cable chain 33 allows it to reciprocate synchronously with the first slider 32, ensuring that the pipeline is not subject to excessive bending or entanglement during high-speed movement or sudden stops. The rigid connection between the moving end and the slider (such as bolt fixing or snap-fit ​​connection) ensures that the cable chain 33 moves synchronously with the slider, avoiding pipeline breakage or equipment downtime due to lag. The cable chain 33 centrally stores scattered pipelines, reducing cluttered wiring outside the module and saving installation space. The parallel arrangement to the guide rail avoids interference between pipelines and welding torch 6 or workpieces, improving operational safety.

[0031] Please see Figure 3 and Figure 6In one embodiment, the welding drive device 100 includes two fixed plates 7, each fixed plate 7 being connected to a Z-axis linear motion module 4. The two ends of the Y-axis fixed rod 11 are rotatably connected to the two fixed plates 7 via bearings. The fixed plates 7 are rigid metal plates (such as aluminum alloy or stainless steel), rectangular or L-shaped, with mounting holes, positioning grooves, or reinforcing ribs on their surfaces. Each fixed plate 7 is fixedly connected to the moving platform (or slider) of a Z-axis linear motion module 4 via bolts or pins, forming a support base perpendicular to the Z-axis direction. Simultaneously, the side of the fixed plate 7 has bearing mounting holes for positioning the rotation axis of the Y-axis fixed rod 11. The metal material and reinforcing rib design prevent the fixed plates 7 from deforming easily when bearing the weight of the Y-axis fixed rod 11 and the welding torch 6, ensuring stable rotational movement. The two fixed plates 7 are symmetrically arranged on both sides of the Z-axis module, forming a two-point support structure, increasing torsional stiffness and preventing radial runout of the Y-axis fixed rod 11 due to off-center loading. The mounting plate 7 can be reserved with sensor mounting positions (such as encoders and limit switches) to facilitate future upgrades to rotation angle monitoring functions. The Y-axis fixing rod 11 is a hollow or solid column rod, with both ends rotatably connected to the bearing mounting holes of the two mounting plates 7 via deep groove ball bearings or crossed roller bearings. The inner ring of the bearing is interference-fitted with the Y-axis fixing rod 11, and the outer ring is clearance-fitted with the hole of the mounting plate 7, and is axially positioned by a shaft retaining ring or end cap. Each mounting plate 7 is connected to the moving platform of the Z-axis linear motion module 4 by high-strength bolts. The bolt preload is controlled by a torque wrench to ensure connection rigidity. At the same time, a positioning pin is added between the mounting plate 7 and the moving platform to achieve quick and accurate alignment. The rotation of the Y-axis fixing rod 11 and the Z-axis linear motion cooperate to allow the welding torch 6 to achieve a combination of rotation and linear motion in space, expanding the applicable range of welding processes. The double mounting plates 7 directly utilize the moving platform of the Z-axis module as support, without the need for an additional frame, making them suitable for installation in space-constrained welding operation positions.

[0032] Please see Figure 3 and Figure 6In one embodiment, the first rotary motion module 5 includes a rotary drive component 51, which is disposed on a fixed plate 7. The output end of the rotary drive component 51 is rotatably connected to the Y-axis fixed rod 11 through the fixed plate 7. The rotary drive component 51 is a servo motor, stepper motor, or direct drive motor, and its body is fixed to the outside of the fixed plate 7 (away from the Y-axis fixed rod 11) by bolts. The motor output shaft extends along the Y-axis direction. Vibration isolation pads (such as rubber damping rings or metal spring washers) are added between the motor housing and the fixed plate 7 to isolate vibrations generated during welding. The servo motor, combined with an encoder, can achieve closed-loop control of the rotation angle, with high positioning accuracy, meeting the trajectory tracking requirements of precision welding (such as chip packaging and medical devices). The vibration isolation pads greatly reduce the amplitude of motor vibration transmitted to the Y-axis fixed rod 11, avoiding fluctuations in the weld pool caused by vibration. The outer side of the fixing plate 7 is equipped with a motor mounting flange, which is fastened to the motor base with high-strength bolts. The bolt preload is controlled by a torque wrench. Reinforcing ribs (such as triangular ribs) are added between the flange and the main body of the fixing plate 7 to improve local rigidity. The reinforcing rib design minimizes deformation when the motor torque is transmitted to the fixing plate 7, preventing axial displacement of the Y-axis fixing rod 11 due to deformation of the fixing plate 7. The end of the motor output shaft is connected to one end of the Y-axis fixing rod 11 via a coupling (such as a plum blossom-shaped flexible coupling or a diaphragm coupling). The two ends of the coupling are positioned with keyways and flat keys to the output shaft and the Y-axis fixing rod 11, respectively, and are axially locked by shaft end pressure plates (or nuts). Through the integrated design and precision transmission structure of the rotary drive component 51, high-precision, high-dynamic, and high-reliability rotation of the Y-axis fixing rod 11 is achieved, forming a compact collaborative system with the Z-axis linear motion module 4, significantly improving the performance of the welding drive device 100 in complex trajectory welding, high-speed dynamic response, and space utilization.

[0033] Please see Figure 3 and Figure 5In one embodiment, each Z-axis linear motion module 4 includes two second guide rails 41, two second sliders 42, and a third drive member. The two second guide rails 41 are arranged along the extension direction of the Z-axis fixing rod 13. Each second slider 42 is slidably connected to one of the second guide rails 41. The fixing plate 7 is connected to the two second sliders 42. The third drive member has two output shafts, each of which is connected to one of the second sliders 42. The rotary drive member 51 is located between the two second guide rails 41. The two second guide rails 41 are arranged parallel to each other along the extension direction of the Z-axis fixing rod 13. The surfaces of the guide rails are precision ground. Each second slider 42 is slidably connected to one of the second guide rails 41. The slider has a pre-tightening mechanism (such as a spring sheet or a corrugated sleeve) inside to eliminate the gap between the slider and the guide rail. The two second sliders 42 are rigidly connected to the fixing plate 7 by bolts, forming an integrated load-bearing structure of guide rails, sliders, and fixing plate 7. The dual-rail structure enhances the bending stiffness of the fixed plate 7 in the Z-axis direction, enabling it to withstand the weight of the welding torch 6 and the welding reaction force without significant deformation. The two sliders are symmetrically arranged on both sides of the fixed plate 7. When the welding torch 6 deviates from the Z-axis center, the contact stress distribution between the guide rail and the slider is uniform, preventing motion jamming caused by excessive wear on one side of the guide rail. The third drive component is a dual-output-axis servo motor, dual-output-axis stepper motor, or dual-output-axis linear motor. Its two output shafts extend along the Z-axis direction, and the ends of the output shafts are connected to a second slider 42 via couplings. The drive component integrates a dual-axis synchronous controller (or is controlled by an external PLC), adjusting the speed and torque of the two output shafts in real time through encoder feedback to ensure synchronous movement of the two second sliders 42. The rotary drive component 51 (such as a servo motor or direct-drive motor) is located between the two second guide rails 41. Its body is fixed to the fixed plate 7 with bolts, and its output shaft extends along the Y-axis direction and is connected to the Y-axis fixing rod 11. The rotary drive component 51 and the dual guide rails overlap in the Z-axis direction, shortening the overall axial length of the module and saving installation space. After the rotary drive component 51 is embedded in the gap between the two guide rails, the projected area of ​​the module in the Z-axis direction is reduced, and no additional drive component mounting bracket is required, reducing material costs. The third drive component drives the two second sliders 42 to move synchronously, causing the fixed plate 7 to move linearly along the Z-axis, realizing the height adjustment of the welding torch 6; the rotary drive component 51 drives the fixed plate 7 to rotate around the Y-axis (angle range 0° to 180°), realizing the posture adjustment of the welding torch 6. After the module integrates the linear motion of the Z-axis and the rotational motion of the Y-axis, the welding torch 6 can be freely positioned in space to meet the requirements of high-precision welding.

[0034] Please see Figure 3 and Figure 6In one embodiment, each of the X-axis linear motion modules 2 includes a third guide rail 21, a third slider 22, and a fourth drive component. The third guide rail 21 is arranged along the extension direction of the X-axis fixed rod 12. One side of the third slider 22 is slidably connected to the third guide rail 21, and the other side of the third slider 22 is connected to two second guide rails 41. The output end of the fourth drive component is connected to the third slider 22. The third guide rail 21 is fixedly installed along the extension direction of the X-axis fixed rod 12. One side of the third slider 22 is slidably connected to the third guide rail 21, and the other side is rigidly connected to the bottom of the two second guide rails 41 (Z-axis guide rails) by bolts, forming an integrated load-bearing structure of X-axis guide rail-slider-Z-axis guide rail. The fourth driving component is a servo motor, stepper motor, or linear motor. Its output end is connected to the third slider 22 via a coupling (such as a diaphragm coupling) or direct drive (such as a linear motor mover). When directly driven by a linear motor, the third slider 22 meets the rapid positioning requirements of high-speed welding. The driving component has a built-in overload protection module (such as current threshold detection). When the Z-axis module experiences a sudden increase in motion resistance due to off-center load, the driving component automatically stops and alarms to prevent mechanical damage. The bottoms of the two second guide rails 41 (Z-axis guide rails) are rigidly connected to the horizontal surface of the third slider 22 via bolts. The extension direction (vertical direction) of the Z-axis guide rail is perpendicular to the extension direction (horizontal direction) of the X-axis guide rail, forming a three-dimensional orthogonal motion frame. The Z-axis guide rail is directly integrated onto the X-axis slider, eliminating the need for additional adapter plates or brackets, thus shortening the overall height of the module and saving installation space. The fourth driving component drives the third slider 22 to move along the X-axis guide rail, causing the Z-axis guide rail assembly (including the Z-axis module) to move synchronously, thereby achieving the horizontal positioning of the welding torch 6. The third driving component in the Z-axis module drives the fixing plate 7 to move along the Z-axis guide rail, thereby achieving the vertical positioning of the welding torch 6. Through the integrated design of the X-axis guide rail, slider structure and Z-axis guide rail, a high-precision, high-rigidity and high-dynamic welding drive module is constructed, which significantly improves the positioning and orientation capability of the welding torch 6 in the XZ plane. At the same time, the compact structure and redundant design reduce the installation cost and improve reliability.

[0035] Please see Figure 1 , Figure 2 and Figure 3In one embodiment, the mounting frame 1 includes four X-axis fixing rods 12, four Z-axis fixing rods 13, and four X-axis linear motion modules 2. Each X-axis fixing rod 12 is connected at both ends to two Z-axis fixing rods 13, and each X-axis linear motion module 2 is positioned along the extension direction of one X-axis fixing rod 12. The four X-axis fixing rods 12 are arranged in a rectangular array (parallel and symmetrical in pairs), extending horizontally (X-axis direction). Each X-axis fixing rod 12 is rigidly connected at both ends to the corresponding ends of two Z-axis fixing rods 13, forming a frame structure. After the four X-axis fixing rods 12 are connected via the Z-axis fixing rods 13, the frame forms a closed loop in the XY plane, increasing torsional stiffness and enabling it to withstand the reaction force generated during welding without significant deformation. The rectangular array layout evenly distributes the load across the four X-axis fixing rods 12, avoiding localized stress concentration and extending the frame's service life. Each X-axis fixing rod 12 can independently support one X-axis linear motion module 2. All four modules can be driven simultaneously to stably move the welding torch 6 for welding, significantly improving reliability. Four Z-axis fixing rods 13 are perpendicular to the extension direction (Z-axis direction) of the X-axis fixing rods 12, with their ends connected to the ends of two X-axis fixing rods 12 respectively, forming a vertical support structure for the frame. The extension direction of the Z-axis fixing rods 13 is perpendicular to the extension direction of the X-axis fixing rods 12, constituting a three-dimensional orthogonal coordinate system. The four Z-axis fixing rods 13 form symmetrical support. When the welding torch 6 applies an off-center load in the Z-axis direction, the overall center of gravity of the frame remains within the support range of the four Z-axis fixing rods 13, preventing overload on one side of the Z-axis fixing rod 13 and preventing the frame from tipping over or deforming. Each X-axis linear motion module 2 is independently set along the extension direction of the corresponding X-axis fixing rod 12. Its third guide rail 21 is fixed to the upper surface of the X-axis fixing rod 12, and its third slider 22 is connected to the Z-axis guide rail assembly (including the Z-axis module). A fourth driving component drives the slider to move along the X-axis. When one linear motion module fails, the other three modules can still maintain basic welding functions, avoiding machine downtime and significantly improving production continuity. The four X-axis linear motion modules 2 drive four Z-axis guide rail assemblies to move along the X-axis, while the Z-axis module within each Z-axis guide rail assembly drives the welding torch 6 to move along the Z-axis, forming a parallel motion system. Through the symmetrical configuration of the four X-axis fixing rods 12, four Z-axis fixing rods 13, and four X-axis linear motion modules 2, a highly stable, efficient, and flexible welding installation frame 1 is constructed, significantly improving the positioning accuracy and motion coordination capability of the welding torch 6. Simultaneously, the redundant design reduces downtime risks, providing core support for large-scale automated welding production.

[0036] Please see Figure 1 and Figure 2In one embodiment, the mounting frame 1 further includes two mounting rods 14, each mounting rod 14 being connected to a Z-axis fixing rod 13, and each mounting rod 14 having multiple mounting holes. The mounting frame 1 also includes multiple reinforcing rods 15, with both ends of each reinforcing rod 15 connected to the Y-axis fixing rod 11 and the Z-axis fixing rod 13, respectively. The two mounting rods 14 are arranged parallel to each other along the Z-axis direction, and both ends of each mounting rod 14 are rigidly connected to the corresponding ends of the two Z-axis fixing rods 13 (e.g., by bolting or welding), forming a vertical auxiliary support structure for the frame. Multiple mounting holes are evenly distributed on the surface of each mounting rod 14 along its extension direction (Z-axis direction) for fixing the mounting frame 1. Multiple reinforcing rods 15 are distributed diagonally or crosswise. The two ends of each reinforcing rod 15 are connected to the corresponding positions of the Y-axis fixing rod 11 and the Z-axis fixing rod 13 (e.g., by hinge or welding) to form a triangular or rhomboid reinforcing structure. The number of reinforcing rods 15 is determined according to the frame size and load requirements. Multiple reinforcing rods 15, together with the X-axis fixing rod 12 and the Z-axis fixing rod 13, form multiple sets of triangular truss structures, which improve the torsional stiffness of the frame in the XZ plane and can resist the dynamic torque generated during welding. Through the coordinated configuration of two mounting rods 14 and multiple reinforcing rods 15, a highly expandable, highly stable, and long-life welding mounting frame 1 is constructed, which significantly improves the positioning accuracy and dynamic response capability of the welding torch 6.

[0037] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A welding drive device, characterized in that, include: The mounting frame has at least one Y-axis fixing rod, at least two X-axis fixing rods and at least two Z-axis fixing rods. The two ends of the Y-axis fixing rod are rotatably connected to the two Z-axis fixing rods respectively, and each Z-axis fixing rod is connected to one X-axis fixing rod. At least two X-axis linear motion modules, each of the X-axis linear motion modules being disposed on the X-axis fixed rod along the extension direction of the X-axis fixed rod; Y-axis linear motion module, wherein the Y-axis linear motion module is disposed on the Y-axis fixed rod along the extension direction of the Y-axis fixed rod; At least two Z-axis linear motion modules, each of the Z-axis linear motion modules being disposed on the Z-axis fixing rod along the extension direction of the Z-axis fixing rod; A first rotary motion module, the output end of which is connected to the Y-axis linear motion module; The second rotary motion module is connected to the output end of the Y-axis linear motion module; as well as A welding torch, which is connected to the output end of the second rotary motion module; The Y-axis linear motion module drives the welding torch to move linearly along the extension direction of the Y-axis fixed rod; the X-axis linear motion module drives the Y-axis linear motion module, the Y-axis fixed rod, and the welding torch to move linearly along the extension direction of the X-axis fixed rod; the Z-axis linear motion module drives the Y-axis linear motion module, the Y-axis fixed rod, and the welding torch to move linearly along the extension direction of the Z-axis fixed rod; the first rotary motion module drives the Y-axis linear motion module, the Y-axis fixed rod, and the welding torch to rotate along the axis of the Y-axis fixed rod; and the second rotary motion module drives the welding torch to rotate along the axis of the Z-axis fixed rod.

2. The welding drive device as described in claim 1, characterized in that, The Y-axis linear motion module includes a lead screw, a lead screw slider, and a first driving member. The lead screw is rotatably mounted on the Y-axis fixed rod along the extension direction of the Y-axis fixed rod. The lead screw slider passes through the lead screw and is threadedly connected to the lead screw slider. The output end of the first driving member is connected to the lead screw.

3. The welding drive device as described in claim 1, characterized in that, The Y-axis linear motion module includes a first guide rail, a first slider, and a second driving component. The first guide rail is disposed on the Y-axis fixed rod along the extension direction of the Y-axis fixed rod. The first slider is slidably connected to the first guide rail. The output end of the second driving component is connected to the first slider.

4. The welding drive device as described in claim 3, characterized in that, The Y-axis linear motion module includes a cable chain, which is arranged along the extension direction of the Y-axis fixed rod, and the first slider is connected to the cable chain.

5. The welding drive device as described in any one of claims 1 to 4, characterized in that, The welding drive device includes two fixed plates, each of which is connected to a Z-axis linear motion module. The two ends of the Y-axis fixed rod are rotatably connected to the two fixed plates via bearings.

6. The welding drive device as described in claim 5, characterized in that, The first rotary motion module includes a rotary drive component, which is disposed on a fixed plate. The output end of the rotary drive component is rotatably connected to the Y-axis fixed rod through the fixed plate.

7. The welding drive device as described in claim 6, characterized in that, Each Z-axis linear motion module includes two second guide rails, two second sliders, and a third drive member. The two second guide rails are arranged along the extension direction of the Z-axis fixed rod. Each second slider is slidably connected to one of the second guide rails. The fixed plate is connected to the two second sliders. The third drive member has two output shafts, each of which is connected to one of the second sliders. The rotary drive member is located between the two second guide rails.

8. The welding drive device as described in claim 7, characterized in that, Each of the X-axis linear motion modules includes a third guide rail, a third slider, and a fourth drive unit. The third guide rail is arranged along the extension direction of the X-axis fixed rod. One side of the third slider is slidably connected to the third guide rail, and the other side of the third slider is connected to the two second guide rails. The output end of the fourth drive unit is connected to the third slider.

9. The welding drive device as described in any one of claims 1 to 4, characterized in that, The mounting frame includes four X-axis fixing rods, four Z-axis fixing rods, and four X-axis linear motion modules. Each X-axis fixing rod is connected to two Z-axis fixing rods at both ends, and each X-axis linear motion module is mounted on one X-axis fixing rod along the extension direction of the X-axis fixing rod.

10. The welding drive device according to any one of claims 1 to 4, characterized in that, The mounting frame further includes two mounting rods, each mounting rod being connected to one of the Z-axis fixing rods, and each mounting rod having multiple mounting holes; and / or The mounting frame also includes multiple reinforcing rods, with each reinforcing rod having its two ends connected to the Y-axis fixing rod and the Z-axis fixing rod, respectively.

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