A laser welding device for fabricated building components

Abstract

This invention provides a laser welding device for prefabricated building components, belonging to the field of welding technology. It solves the problem that neither high-power laser welding equipment nor low-power handheld laser welding machines can meet the welding needs of construction sites. This laser welding device for prefabricated building components includes a mobile welding mechanism comprising a tracked walking assembly and a welding assembly. The tracked walking assembly includes a chassis and two tracks. Multiple driven wheels are installed inside the chassis. Two first rotary motors are fixed at one end of the chassis. The output shafts of the first rotary motors are connected to a reducer, and a drive wheel is fixed to the output shaft of the reducer. The two tracks are connected to the two drive wheels and the multiple driven wheels. Multiple permanent magnets are uniformly fixed to the outer surface of the tracks. The welding assembly includes a laser welder, which includes a laser collimating lens group and a two-dimensional scanning galvanometer arranged sequentially along the laser walking path. This invention has the advantages of flexible deployment, rapid assembly and disassembly, and intelligent ability to handle typical assembly conditions on construction sites.

Description

Technical Field

[0001] This invention belongs to the field of welding technology and relates to a laser welding device, particularly a laser welding device for prefabricated building components. Background Technology

[0002] On-site connection of steel components in prefabricated buildings relies entirely on manual or semi-automatic gas-shielded welding, which suffers from chronic problems such as large quality fluctuations, severe welding deformation, low efficiency, and high labor intensity. Laser welding, with its high energy density, narrow heat-affected zone, small deformation, and high speed, can theoretically solve these problems perfectly.

[0003] However, existing high-power laser welding equipment is all factory-fixed heavy equipment, which is completely unable to adapt to the operation mode of frequent site changes and rapid deployment required on construction sites. Although there are low-power handheld laser welding machines on the market, their power is generally less than 3kW, which can only weld thin plates and cannot meet the deep penetration welding requirements of thick plates for building load-bearing components. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a laser welding device for prefabricated building components. The technical problem this invention aims to solve is: how to achieve flexible transportation, rapid assembly and disassembly, and intelligent welding capabilities to handle typical assembly conditions on construction sites.

[0005] The objective of this invention can be achieved through the following technical solutions: A laser welding device for prefabricated building components includes a mobile welding mechanism and a laser energy station. The mobile welding mechanism includes a tracked walking assembly and a welding assembly. The tracked walking assembly includes a chassis and two tracks. Multiple driven wheels are arranged inside the chassis. Two first rotary motors are fixed at one end of the chassis. The output shaft of the first rotary motors is connected to a reducer, and a drive wheel is fixed at the output shaft of the reducer. The two tracks are connected to the two drive wheels and multiple driven wheels. Multiple permanent magnets are uniformly fixed on the outer surface of the tracks. The welding assembly includes a laser welder, which includes a laser collimating lens group and a two-dimensional scanning galvanometer arranged sequentially along the laser path. A fixed box is fixedly installed on the top of the chassis, and a five-axis robot is fixedly installed on the top of the fixed box. The laser welder is set at the working end of the five-axis robot. The laser energy station consists of a fiber laser, a water chiller, and a main control cabinet. A second interface is fixed on one side of the laser energy station, and a first interface is fixed on one end of the chassis. A flexible composite pipeline bundle connects the first interface and the second interface. The flexible composite cable harness integrates power transmission optical fiber, servo power cable, control signal line and cooling water pipe.

[0006] The working principle of this invention is as follows: A first rotary motor drives a drive wheel to rotate via a reducer. The drive wheel drives a track to rotate cyclically around the drive wheel and multiple driven wheels. During rotation, permanent magnets on the outer surface of the track continuously adhere to the surface of the steel component, providing a stable adsorption force for the entire mobile welding mechanism. Simultaneously, the chassis moves smoothly along the weld direction due to the friction between the track and the steel component. During the movement, the laser generated by the laser energy station is transmitted to the laser welder via an optical fiber in a flexible composite pipeline bundle. After being collimated by a laser collimating lens group and focused by a two-dimensional scanning galvanometer, the laser is applied to the weld bevel to achieve deep penetration welding of thick plates. A five-axis robot drives the laser welder to perform multi-degree-of-freedom posture adjustments to adapt to welds at different positions and angles. This enables the laser welding device for prefabricated building components to be flexible, quick to assemble and disassemble, and intelligently handle typical assembly conditions on construction sites, while meeting the deep penetration welding requirements for thick plates such as load-bearing building components.

[0007] A connecting tank is fixed to the outer wall of the laser welder, and a nozzle is fixed to the output end of the connecting tank. A wire laser weld contour sensor is fixed to the outer wall of the laser welder, and an air-cooled nanosecond pulse fiber laser is fixed to the outer wall of the laser welder. The connecting tank is connected to an external gas tank.

[0008] Using the above structure, the air-cooled nanosecond pulsed fiber laser at the front end of the welding travel direction first emits pulsed laser light into the weld area to remove floating rust and oil stains from the steel plate surface; the line laser weld contour sensor following closely behind projects laser stripes onto the cleaned bevel and collects the three-dimensional contour data of the bevel. The control system adjusts the swing amplitude and trajectory of the two-dimensional scanning galvanometer in real time based on this data; the connecting tank receives protective gas delivered by an external gas tank and sprays inert gas into the welding pool area through a nozzle to isolate air and suppress spatter, thereby realizing fully automated operation from cleaning and inspection to protective welding under dirty and rough assembly conditions on the construction site, significantly improving weld quality and first-pass yield.

[0009] Multiple non-magnetic wear-resistant plates are uniformly fixed on the outer surface of the track, and the height of the non-magnetic wear-resistant plates is greater than the height of the permanent magnet.

[0010] With the above structure, when the track moves on the surface of the steel component, the taller non-magnetic wear-resistant pallet contacts the steel plate surface before the permanent magnet, bearing the weight of the entire mobile welding mechanism and the frictional shear force during movement, thus avoiding direct collision between the permanent magnet and the steel plate, which could cause breakage or wear. At the same time, the non-magnetic material will not short-circuit the magnetic lines of force of the permanent magnet, and a small and constant gap is maintained between the permanent magnet and the steel plate, achieving a long service life of the magnet without damage while ensuring sufficient adsorption force.

[0011] The flexible composite pipeline harness is externally fitted with a wear-resistant sleeve.

[0012] With the above structure, the wear-resistant sleeve provides physical isolation and protection for the power transmission optical fiber, cable and water pipe inside the flexible composite pipeline bundle, so that it is not damaged when it is repeatedly dragged, stepped on or rubbed against the edges of steel components on the construction site, ensuring the reliability of laser energy, electrical signal and cooling medium transmission, and adapting to the harsh use environment of construction sites.

[0013] The laser energy station has four lifting rings fixed at the top four corners, a control panel fixed on one side, and four casters fixed at the bottom four corners.

[0014] Using the above structure, the tower crane can lift the laser energy station as a whole to different construction floors through four lifting rings. After landing, it can be flexibly moved to the specific work point within the floor plane using four casters. Operators can set welding parameters and monitor the welding process through the control panel, realizing the rapid vertical and horizontal transfer and convenient operation of the high-power laser energy station between various work surfaces on the construction site.

[0015] Multiple screws are fixed at the bottom of the laser energy station, and the screws are slidably connected to the mounting plate. Nuts are spirally connected to the outer wall of the screws. A sleeve is fixed at the bottom of the mounting plate. A wire-passing hole is opened inside the mounting plate. A sliding rod slides inside the sleeve. A lever is fixed at the top of the sliding rod. A snap-fit ​​hole is opened on the outer wall of the sleeve. The lever is movably snapped into the snap-fit ​​hole. An electromagnet is fixed at the bottom of the sliding rod. The electromagnet's power transmission wire passes through the sliding rod and the wire-passing hole and extends into the laser energy station, and is connected to the servo power cable.

[0016] Using the above structure, the mounting plate is disassembled and installed via screws and nuts, facilitating future maintenance and replacement. Pushing down the lever causes the sliding rod to slide down the sleeve until the bottom of the electromagnet contacts the embedded steel plate or metal fixing point on the working floor slab. After being energized, the electromagnet generates a strong magnetic force to firmly attract the fixing point, preventing the laser energy station from shifting or tipping over during welding operations. After the operation is completed and the power is turned off, the electromagnet's magnetic force disappears, and the lever can be lifted for storage. This achieves rapid fixing and disassembly of the energy station without the need for anchor bolts, adapting to the needs of frequent site relocation.

[0017] A second rotary motor is fixed on both sides of the chassis. A connecting plate is fixed on the output shaft of the second rotary motor. A foot is fixed on the bottom end of the connecting plate. A suction cup is fixed on the bottom end of the foot. An air pump is fixed on the top end of the foot. The output end of the air pump is connected to the suction cup.

[0018] With the above structure, when the mobile welding mechanism encounters obstacles such as weld reinforcement, temporary connecting plates, or is on a steeply inclined surface while moving on the surface of a steel component, the second rotary motor drives the connecting plate to rotate downwards, causing the feet to move the suction cup to adhere to the surface of the steel component. The air pump draws air to create negative pressure inside the suction cup, generating additional suction force to help the tracks stabilize the vehicle's posture. After passing through the obstacle or completing the welding section, the air pump inflates the suction cup to release the suction, and the second rotary motor reverses to retract the suction cup. This achieves the functions of obstacle crossing, anti-tipping, and posture stabilization for the mobile welding mechanism under complex working conditions.

[0019] A third rotary motor is fixedly installed on the outer wall of the laser energy station. A lead screw is fixedly installed on the output shaft of the third rotary motor. A movable frame is threadedly connected to the lead screw. Two support components are installed at the bottom of the movable frame.

[0020] With the above structure, when the working floor is uneven or sloping after the laser energy station's casters land, the third rotary motor drives the lead screw to rotate. The lead screw drives the moving frame and its two bottom support components to move downwards and spread out to the ground. The two sets of support components form a stable triangular support structure to compensate for the ground height difference and prevent the energy station from shaking or slipping due to uneven ground.

[0021] The support assembly includes a round rod and a tension spring fixedly connected to the movable frame. A hollow cylinder is slidably connected to the outer wall of the round rod. The bottom end of the tension spring is fixedly connected to the inner wall of the hollow cylinder. Multiple fixing rods are fixedly mounted on the outer wall of the bottom end of the hollow cylinder, and a support cylinder is fixedly mounted on the bottom end of the multiple fixing rods. A mounting base is fixedly mounted on the bottom end of the round rod. A return spring is fixedly mounted on the outer wall of each of the four ends of the mounting base. A pressing rod slides inside each of the four ends of the mounting base. A friction block is fixedly mounted on the other end of the pressing rod, and the friction block abuts against the inner wall of the support cylinder.

[0022] With the above structure, when the support assembly moves downward until the support cylinder contacts the ground, the ground reaction force pushes the support cylinder and hollow cylinder upward along the round rod to compress the tension spring. The rebound force of the tension spring presses the support cylinder tightly against the ground. At the same time, the round rod continues to move downward, causing the mounting base and the compression rod to move downward. The return spring is stretched and pushes the compression rod outward, causing the friction block to press tightly against the inner wall of the support cylinder. This generates friction force to lock the axial position of the support cylinder, allowing the support cylinder to be stably supported on the ground. This adaptively compensates for uneven ground, ensuring the energy station is stably parked on slopes or uneven ground.

[0023] The top of the movable frame has an insertion slot, and a safety warning plate is inserted and fixed inside the insertion slot.

[0024] With the above structure, the safety warning board is inserted into the slot at the top of the movable frame to warn surrounding construction workers of safety information such as "laser operation in progress," preventing unauthorized personnel from accidentally entering the welding area and improving the safety of laser operations on the construction site.

[0025] Compared with existing technologies, the laser welding device for prefabricated building components has the following advantages: In this invention, a first rotary motor drives a drive wheel to rotate via a reducer. The drive wheel drives a track to rotate cyclically around the drive wheel and multiple driven wheels. Permanent magnets on the outer surface of the track continuously adhere to the surface of the steel component during rotation, providing a stable adsorption force for the entire mobile welding mechanism. Simultaneously, the chassis moves smoothly along the weld direction due to the friction between the track and the steel component. During movement, the laser generated by the laser energy station is transmitted to the laser welder via an optical fiber within a flexible composite pipeline bundle. After being collimated by a laser collimating lens group and focused by a two-dimensional scanning galvanometer, the laser is applied to the weld bevel to achieve deep penetration welding of thick plates. A five-axis robot drives the laser welder to perform multi-degree-of-freedom posture adjustments to adapt to welds at different positions and angles. This enables the laser welding device for prefabricated building components to be flexible, quick to assemble and disassemble, and intelligently handle typical assembly conditions on construction sites, while meeting the deep penetration welding requirements for thick plates such as load-bearing building components.

[0026] This invention utilizes an air-cooled nanosecond pulsed fiber laser at the forefront of the welding path to first emit pulsed laser light towards the weld area, removing surface rust and oil from the steel plate. Following closely behind, a line laser weld contour sensor projects laser stripes onto the cleaned bevel and collects three-dimensional contour data of the bevel. The control system adjusts the swing amplitude and trajectory of the two-dimensional scanning galvanometer in real time based on this data. A connecting tank receives protective gas from an external gas tank and sprays an inert gas stream into the weld pool area through a nozzle, isolating air and suppressing spatter. This achieves fully automated operation from cleaning and inspection to protective welding under dirty, rough assembly conditions on the construction site, significantly improving weld quality and first-pass yield.

[0027] In this invention, when the track moves on the surface of a steel component, the taller non-magnetic wear-resistant support plate contacts the steel plate surface before the permanent magnet, bearing the weight of the entire mobile welding mechanism and the frictional shear force during movement, thus preventing the permanent magnet from directly colliding with the steel plate and causing breakage or wear. At the same time, the non-magnetic material will not short-circuit the magnetic lines of force of the permanent magnet, and a small and constant gap is maintained between the permanent magnet and the steel plate, achieving a long service life of the magnet without damage while ensuring sufficient adsorption force.

[0028] This invention allows for the detachable installation of the mounting plate using screws and nuts, facilitating future maintenance and replacement. Pushing down the lever causes the sliding rod to slide down the sleeve until the bottom of the electromagnet contacts the pre-embedded steel plate or metal fixing point on the working floor slab. After being energized, the electromagnet generates a strong magnetic force to firmly attract the fixing point, preventing the laser energy station from shifting or tipping over during welding operations. After the operation is completed and the power is turned off, the electromagnet's magnetic force disappears, and the lever can be lifted for storage. This invention achieves rapid fixing and disassembly of the energy station without the need for anchor bolts, adapting to the needs of frequent site relocation.

[0029] In this invention, when the mobile welding mechanism encounters obstacles such as weld excess height, temporary connecting plates, or is on a steeply inclined surface while moving on the surface of a steel component, the second rotary motor drives the connecting plate to rotate downwards, causing the base to move the suction cup to adhere to the surface of the steel component. An air pump draws air to create negative pressure inside the suction cup, generating additional suction force to help the tracks stabilize the vehicle's posture. After passing through the obstacle or completing the welding section, the air pump inflates the suction cup to release the suction, and the second rotary motor reverses to retract the suction cup. This invention achieves the functions of obstacle crossing, anti-tipping, and posture stabilization of the mobile welding mechanism under complex working conditions.

[0030] In this invention, when the working surface of the laser energy station is uneven or sloping after the universal wheels land, the third rotary motor drives the lead screw to rotate. The lead screw drives the moving frame and its two bottom support components to move downwards and spread out to the ground. The two sets of support components form a stable triangular support structure to compensate for the ground height difference and prevent the energy station from shaking or slipping due to uneven ground. When the support components move downwards until the support cylinder contacts the ground, the ground reaction force pushes the support cylinder and hollow cylinder upwards along the round rod to compress the tension spring. The rebound force of the tension spring presses the support cylinder tightly against the ground. At the same time, the round rod continues to move downwards, driving the mounting base and the compression rod to move downwards. The reset spring is stretched and pushes the compression rod outwards, causing the friction block to press tightly against the inner wall of the support cylinder, generating friction force to lock the axial position of the support cylinder, so that the support cylinder is stably supported on the ground. This adaptively compensates for uneven ground and ensures that the energy station is stably parked on slopes or uneven ground. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0032] Figure 2 This is a schematic diagram of the structure of the movable welding mechanism of the present invention.

[0033] Figure 3 This is a schematic diagram of the bottom structure of the movable welding mechanism of the present invention.

[0034] Figure 4 This is the present invention. Figure 2 Enlarged view of the structure at point A in the middle.

[0035] Figure 5 This is a schematic diagram of the laser energy station in this invention.

[0036] Figure 6 This is a schematic diagram of the bottom structure of the laser energy station in this invention.

[0037] Figure 7 This is the present invention. Figure 6 Enlarged view of the structure at point B in the middle.

[0038] Figure 8 This is a diagram showing the positional relationship between the movable frame and the support component in this invention.

[0039] Figure 9 This is the present invention. Figure 8 Enlarged view of the structure at point C.

[0040] Figure 10 This is a schematic diagram of the electromagnet in this invention.

[0041] In the diagram, 101 is the chassis; 102 is the mounting box; 103 is the five-axis robot; 104 is the laser welder; 105 is the first rotary motor; 106 is the reducer; 107 is the drive wheel; 108 is the track; 109 is the non-magnetic wear-resistant pallet; 110 is the permanent magnet; 120 is the first interface; 130 is the connecting tank; 140 is the nozzle; 150 is the line laser weld contour sensor; 160 is the air-cooled nanosecond pulse fiber laser; 201 is the laser energy station; 202 is the lifting ring; 203 is the control panel; 204 is the caster wheel; 205 is the screw; 206 is the nut; 207 is the mounting plate; 208 is the cable pass hole; 20 9. Snap-fit ​​hole; 210. Sleeve; 220. Lever; 230. Slide rod; 240. Electromagnet; 250. Second interface; 301. Second rotary motor; 302. Connecting plate; 303. Foot; 304. Suction cup; 305. Air pump; 401. Third rotary motor; 402. Lead screw; 403. Moving frame; 404. Round rod; 405. Pulling spring; 406. Hollow cylinder; 407. Support cylinder; 408. Insertion groove; 409. Mounting base; 410. Pressing rod; 420. Return spring; 430. Friction block; 440. Fixing rod; 501. Flexible composite cable harness; 601. Safety warning plate. Detailed Implementation

[0042] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings to further illustrate the technical solutions of the present invention. However, the present invention is not limited to these embodiments.

[0043] like Figures 1-10 As shown, the laser welding device for this prefabricated building component includes a mobile welding mechanism and a laser energy station 201. The mobile welding mechanism includes a tracked walking assembly and a welding assembly. The tracked walking assembly includes a chassis 101 and two tracks 108. Multiple driven wheels are provided inside the chassis 101. Two first rotary motors 105 are fixed at one end of the chassis 101. The output shaft of the first rotary motor 105 is connected to a reducer 106, and a drive wheel 107 is fixed at the output shaft of the reducer 106. The two tracks 108 are connected to the two drive wheels 107 and multiple driven wheels. Multiple permanent magnets 110 are uniformly fixed on the outer surface of the tracks 108. The welding assembly includes a laser welder 104, which includes a laser collimating lens group and a two-dimensional scanning galvanometer arranged sequentially along the laser path. A fixed box 102 is fixedly mounted on the top of the chassis 101, and a five-axis robot 103 is fixedly mounted on the top of the fixed box 102. A laser welder 104 is set at the working end of the five-axis robot 103. The laser energy station 201 consists of a fiber laser, a water chiller and a main control cabinet. A second interface 250 is fixed on one side of the laser energy station 201, and a first interface 120 is fixed on one end of the chassis 101. A flexible composite cable bundle 501 is connected between the first interface 120 and the second interface 250. The flexible composite cable harness 501 integrates power transmission optical fiber, servo power cable, control signal line and cooling water pipe.

[0044] The first rotary motor 105 drives the drive wheel 107 to rotate via the reducer 106. The drive wheel 107 drives the track 108 to rotate cyclically around the drive wheel 107 and multiple driven wheels. The permanent magnets 110 on the outer surface of the track 108 continuously adhere to the surface of the steel component during rotation, providing a stable adsorption force for the entire mobile welding mechanism. At the same time, the friction between the track 108 and the steel component drives the chassis 101 to move smoothly along the weld direction. During the movement, the laser generated by the laser energy station 201 passes through the flexible composite cable bundle 50. The energy transmission fiber optic cable 1 transmits energy to the laser welder 104, which is then collimated by the laser collimating lens group and focused by the swinging two-dimensional scanning galvanometer before acting on the weld bevel to achieve deep penetration welding of thick plates. The five-axis robot 103 drives the laser welder 104 to perform multi-degree-of-freedom posture adjustments to adapt to welds at different positions and angles. This makes the laser welding device for the prefabricated building components flexible to move and quickly disassemble and assemble, and can intelligently handle typical assembly conditions on the construction site, while meeting the deep penetration welding requirements of thick plates such as load-bearing building components.

[0045] A connecting tank 130 is fixedly mounted on the outer wall of the laser welder 104, and a nozzle 140 is fixedly mounted on the output end of the connecting tank 130. A wire laser weld contour sensor 150 is fixedly mounted on the outer wall of the laser welder 104, and an air-cooled nanosecond pulse fiber laser 160 is fixedly mounted on the outer wall of the laser welder 104. The connecting tank 130 is connected to an external gas tank.

[0046] In this embodiment, the air-cooled nanosecond pulsed fiber laser 160 at the front end of the welding travel direction first emits pulsed laser to the weld area to remove floating rust and oil stains from the steel plate surface; the line laser weld contour sensor 150 following behind projects laser stripes onto the cleaned bevel and collects the three-dimensional contour data of the bevel. The control system adjusts the swing amplitude and trajectory of the two-dimensional scanning galvanometer in real time based on the data; the connecting tank 130 receives the protective gas delivered by the external gas tank and sprays the inert gas flow into the welding pool area through the nozzle 140 to isolate the air and suppress spatter, thereby realizing the fully automated operation from cleaning and inspection to protective welding under dirty and rough assembly conditions on the construction site, significantly improving the weld quality and first-pass yield.

[0047] Multiple non-magnetic wear-resistant plates 109 are uniformly fixed on the outer surface of the track 108, and the height of the non-magnetic wear-resistant plates 109 is greater than the height of the permanent magnet 110.

[0048] In this embodiment, when the track 108 walks on the surface of the steel component, the non-magnetic wear-resistant pallet 109, which is taller, contacts the surface of the steel plate before the permanent magnet 110. It bears the weight of the entire mobile welding mechanism and the frictional shear force during walking, thus preventing the permanent magnet 110 from directly colliding with the steel plate and causing it to break or wear. At the same time, the non-magnetic material will not short-circuit the magnetic lines of force of the permanent magnet 110, and a small and constant gap is maintained between the permanent magnet 110 and the steel plate. Under the premise of ensuring sufficient adsorption force, the magnet can be used for a long life without damage.

[0049] The flexible composite pipeline harness 501 is externally fitted with a wear-resistant sleeve.

[0050] In this embodiment, the wear-resistant sleeve provides physical isolation and protection for the power transmission optical fiber, cable and water pipe inside the flexible composite pipeline bundle 501, so that it is not damaged when it is repeatedly dragged, stepped on or rubbed against the edges of steel components on the construction site, ensuring the reliability of the transmission of laser energy, electrical signals and cooling medium, and adapting to the harsh use environment of the construction site.

[0051] Four lifting rings 202 are fixed at the four corners of the top of the laser energy station 201, and a control panel 203 is fixed on one side of the laser energy station 201. Four casters 204 are fixed at the four corners of the bottom of the laser energy station 201.

[0052] In this embodiment, the tower crane can lift the laser energy station 201 as a whole to different construction floors through four lifting rings 202. After landing, it can be flexibly moved to the specific work point within the floor plane using four casters 204. The operator can set welding parameters and monitor the welding process through the control panel 203, realizing the rapid vertical and horizontal transfer and convenient operation of the high-power laser energy station between various work surfaces on the construction site.

[0053] Multiple screws 205 are fixedly installed at the bottom of the laser energy station 201, and the multiple screws 205 are slidably connected to the mounting plate 207. Nuts 206 are spirally connected to the outer wall of the screws 205. A sleeve 210 is fixedly installed at the bottom of the mounting plate 207. A wire hole 208 is opened inside the mounting plate 207. A slide rod 230 slides inside the sleeve 210. A lever 220 is fixedly installed at the top of the slide rod 230. A snap-fit ​​hole 209 is opened on the outer wall of the sleeve 210. The lever 220 is movably snapped into the snap-fit ​​hole 209. An electromagnet 240 is fixedly installed at the bottom of the slide rod 230. The power transmission wire of the electromagnet 240 passes through the slide rod 230 and the wire hole 208 and extends into the laser energy station 201, and is connected to the servo power cable.

[0054] In this embodiment, the mounting plate 207 is installed in a disassembly manner using screws 205 and nuts 206, which facilitates later maintenance and replacement. Pushing down the lever 220 causes the slide bar 230 to slide down along the sleeve 210 until the bottom of the electromagnet 240 contacts the embedded steel plate or metal fixing point on the working floor slab. After being energized, the electromagnet 240 generates a strong magnetic force to firmly attract the fixing point, so that the laser energy station 201 does not shift or overturn during the welding operation. After the operation is completed and the power is turned off, the magnetic force of the electromagnet 240 disappears, and the lever 220 can be lifted to store it. The energy station can be quickly fixed and released without the need for anchor bolts, which can meet the needs of frequent site changes.

[0055] A second rotary motor 301 is fixed on both sides of the chassis 101. A connecting plate 302 is fixed on the output shaft of the second rotary motor 301. A foot 303 is fixed on the bottom end of the connecting plate 302. A suction cup 304 is fixed on the bottom end of the foot 303. An air pump 305 is fixed on the top end of the foot 303. The output end of the air pump 305 is connected to the suction cup 304.

[0056] In this embodiment, when the mobile welding mechanism encounters obstacles such as weld excess height, temporary connecting plates, or is on a steeply inclined surface while moving on the surface of a steel component, the second rotary motor 301 drives the connecting plate 302 to rotate downwards, causing the foot 303 to drive the suction cup 304 to adhere to the surface of the steel component. The air pump 305 draws air to create a negative pressure inside the suction cup 304, generating additional suction force to help the track 108 stabilize the vehicle's posture. After passing through the obstacle or completing the welding section, the air pump 305 inflates the suction cup 304 to release the suction, and the second rotary motor 301 reverses to retract the suction cup 304, thus realizing the obstacle-crossing, anti-tipping, and posture stabilization functions of the mobile welding mechanism under complex working conditions.

[0057] A third rotary motor 401 is fixedly installed on the outer wall of the laser energy station 201. A lead screw 402 is fixedly installed on the output shaft of the third rotary motor 401. A movable frame 403 is threadedly connected to the lead screw 402. Two support components are provided at the bottom of the movable frame 403.

[0058] In this embodiment, when the working layer ground is uneven or sloping after the universal wheel 204 of the laser energy station 201 lands, the third rotary motor 401 drives the lead screw 402 to rotate. The lead screw 402 drives the moving frame 403 and its two support components at the bottom to move downward and spread to the ground. The two sets of support components form a stable triangular support structure to compensate for the ground height difference and prevent the energy station from shaking or slipping due to uneven ground.

[0059] The support assembly includes a round rod 404 and a tension spring 405 fixedly connected to the movable frame 403. A hollow cylinder 406 is slidably connected to the outer wall of the round rod 404. The bottom end of the tension spring 405 is fixedly connected to the inner wall of the hollow cylinder 406. Multiple fixing rods 440 are fixedly provided on the outer wall of the bottom end of the hollow cylinder 406, and a support cylinder 407 is fixedly provided at the bottom end of the multiple fixing rods 440. A mounting base 409 is fixedly provided at the bottom end of the round rod 404. A return spring 420 is fixedly provided on the outer wall of each of the four ends of the mounting base 409. A pressing rod 410 is slidably provided inside each of the four ends of the mounting base 409. A friction block 430 is fixedly provided at the other end of the pressing rod 410. The friction block 430 abuts against the inner wall of the support cylinder 407.

[0060] In this embodiment, when the support assembly moves downward until the support cylinder 407 contacts the ground, the ground reaction force pushes the support cylinder 407 and the hollow cylinder 406 upward along the round rod 404 to compress the tension spring 405. The rebound force of the tension spring 405 presses the support cylinder 407 tightly against the ground. At the same time, the round rod 404 continues to move downward, driving the mounting base 409 and the compression rod 410 to move downward. The reset spring 420 is stretched and pushes the compression rod 410 outward, so that the friction block 430 presses tightly against the inner wall of the support cylinder 407, generating friction to lock the axial position of the support cylinder 407, so that the support cylinder 407 is stably supported on the ground, adaptively compensating for uneven ground, and ensuring the stable parking of the energy station on slopes or uneven ground.

[0061] The top of the movable frame 403 has an insertion slot 408, and a safety warning plate 601 is inserted and fixed inside the insertion slot 408.

[0062] In this embodiment, the safety warning board 601 is inserted into the insertion slot 408 at the top of the movable frame 403 to warn surrounding construction personnel of safety information such as "laser operation in progress," preventing unauthorized personnel from accidentally entering the welding area and improving the safety of laser operations on the construction site.

[0063] Working principle of the invention: Pre-construction assembly: At the prefabricated building construction site, the laser energy station 201 is first hoisted to the floor to be constructed using a tower crane via four lifting rings 202. After landing, the laser energy station 201 is pushed to the work position using four casters 204 at the bottom. Then, the two ends of the flexible composite cable bundle 501, which integrates power transmission fiber, servo power cable, control signal line and cooling water pipe, are respectively plugged into the second interface 250 of the laser energy station 201 and the first interface 120 of the chassis 101 to complete the rapid establishment of the energy and signal link.

[0064] Equipment stabilization: Stabilize the laser energy station 201 according to the ground conditions of the working layer. Push the lever 220 downward to make the slide bar 230 slide down the sleeve 210 until the electromagnet 240 at the bottom of the slide bar 230 contacts the embedded steel plate or metal fixing point of the working layer floor slab. Lock the lever 220 into the locking hole 209 on the outer wall of the sleeve 210 to lock the height. After power is turned on, the power transmission wire of the electromagnet 240 draws power from the servo power cable through the inside of the slide bar 230 and the wire hole 208 on the mounting plate 207. The electromagnet 240 generates a strong magnetic force to firmly attract the fixing point and prevent the laser energy station 201 from shifting or tipping over during operation. If the working surface is uneven or sloping, the third rotary motor 401 is started, driving the lead screw 402 to rotate, which in turn moves the moving frame 403 and its two support components at the bottom downwards. After the support cylinder 407 contacts the ground, the ground reaction force pushes the support cylinder 407 and the hollow cylinder 406 to slide upwards along the round rod 404 and compress the tension spring 405. The rebound force of the tension spring 405 presses the support cylinder 407 tightly against the ground. At the same time, the round rod 404 continues to move downwards with the moving frame 403, causing the mounting base 409 and the pressing rod 410 to move downwards. The reset spring 420 is stretched and pushes the pressing rod 410 outwards, so that the friction block 430 presses tightly against the inner wall of the support cylinder 407. The friction force locks the axial position of the support cylinder 407. The two sets of support components and the universal wheel 204 form a stable triangular support structure. At this time, the safety warning plate 601, which is inserted into the insertion slot 408 at the top of the moving frame 403, rises to a conspicuous position to warn the surrounding construction personnel of the laser operation area.

[0065] Laser welding: When the mobile welding mechanism is in place, the chassis 101 and two tracks 108 are placed across the surface of the steel component to be welded. Multiple non-magnetic wear-resistant plates 109 and multiple permanent magnets 110 are fixed on the outer surface of the tracks 108. The height of the non-magnetic wear-resistant plates 109 is greater than that of the permanent magnets 110. Therefore, the wear-resistant plates 109 contact the steel plate before the permanent magnets 110 and bear the weight of the mechanism. The permanent magnets 110 and the steel plate maintain a small and constant gap, and a continuous adsorption force is generated through the magnetic lines of force. After the welding operation begins, the first rotary motor 105 drives the drive wheel 107 to rotate via the reducer 106. The drive wheel 107 drives the track 108 to rotate cyclically around the drive wheel 107 and multiple driven wheels inside the chassis 101. During the rotation, the permanent magnets 110 on the outer surface of the track 108 sequentially enter the adsorption area opposite to the steel component, continuously providing a stable adsorption force for the entire mobile welding mechanism. At the same time, relying on the friction between the non-magnetic wear-resistant support plate 109 and the steel component, the chassis 101 is driven to move smoothly along the weld direction. During the movement, the high-power laser generated by the fiber laser in the laser energy station 201 is transmitted to the laser welder 104 through the energy transmission fiber in the flexible composite pipeline bundle 501. The laser is collimated by the laser collimating lens group and focused by the two-dimensional scanning galvanometer at high frequency, and finally acts on the weld bevel with a set oscillation trajectory and energy distribution to achieve deep penetration welding of thick plates. The five-axis robot 103 drives the laser welder 104 to perform multi-degree-of-freedom posture adjustments to adapt to welds in different positions and angles, such as horizontal, horizontal, vertical, and overhead. In the welding direction, the air-cooled nanosecond pulsed fiber laser 160, acting as a pre-weld laser cleaning module, first emits pulsed laser light into the weld area, instantly removing surface rust and oil from the steel plate, exposing fresh metal. Following closely behind, the line laser weld contour sensor 150 projects laser stripes onto the cleaned bevel, rapidly acquiring the three-dimensional contour data of the bevel and feeding the data back to the main control cabinet in real time. The main control cabinet adjusts the laser oscillation amplitude and trajectory of the two-dimensional scanning galvanometer and the travel speed of the first rotary motor 105 in real time based on the actual width, gap, and misalignment of the bevel, achieving adaptive welding. The connecting tank 130 receives protective gas from an external gas tank and sprays an inert gas stream into the welding pool area through the nozzle 140. This isolates the air and suppresses spatter, protecting the high-temperature molten pool and weld formation. When the mobile welding mechanism encounters obstacles such as weld reinforcement or temporary connecting plates while moving on the surface of the steel component, or is on a steeply inclined surface, the second rotary motors 301 on both sides of the chassis 101 drive the connecting plate 302 to rotate downwards, causing the feet 303 to drive the suction cups 304 to adhere to the surface of the steel component. The air pump 305 draws air to create a negative pressure inside the suction cups 304, generating additional suction force to assist the tracks 108 in stabilizing the vehicle's posture. After passing through an obstacle or completing the welding section, the air pump 305 inflates the suction cup 304 to release the suction, and the second rotary motor 301 reverses to retract the suction cup 304. After a single weld is completed, if it is necessary to continue welding the next weld, the five-axis robot 103 adjusts the position of the laser welder 104, and the track walking component drives the robot body to move to the starting point of the next weld, repeating the above cleaning, scanning, and adaptive welding process.

[0066] Welding completed: After all welding operations are completed, disconnect the power supply to the electromagnet 240, lift the lever 220 to store the electromagnet 240 in the sleeve 210; the third rotary motor 401 reverses to drive the support assembly to rise and detach from the ground; the flexible composite cable bundle 501 is pulled out from the first interface 120 and the second interface 250 and coiled and stored; the laser energy station 201 is transferred to the next work surface by the tower crane or casters 204.

[0067] In summary, by setting up the laser energy station 201 and cooperating with the mobile welding mechanism, flexible transportation and rapid assembly / disassembly between different floors of the prefabricated building construction site are realized. It can also intelligently cope with typical rough assembly conditions on the construction site and meet the deep penetration welding requirements of thick plates of building load-bearing components.

[0068] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A laser welding device for prefabricated building components, characterized in that, The system includes a mobile welding mechanism and a laser energy station (201). The mobile welding mechanism includes a tracked walking assembly and a welding assembly. The tracked walking assembly includes a chassis (101) and two tracks (108). The chassis (101) has multiple driven wheels inside. Two first rotary motors (105) are fixed at one end of the chassis (101). The output shaft of the first rotary motor (105) is connected to a reducer (106), and the output shaft of the reducer (106) is fixed with a drive wheel (107). The two tracks (108) are connected to the two drive wheels (107) and multiple driven wheels. Multiple permanent magnets (110) are uniformly fixed on the outer surface of the tracks (108). The welding assembly includes a laser welder (104), which includes a laser collimating lens group and a two-dimensional scanning galvanometer arranged sequentially along the laser travel path; A fixed box (102) is fixedly mounted on the top of the chassis (101), and a five-axis robot (103) is fixedly mounted on the top of the fixed box (102). The laser welder (104) is located at the working end of the five-axis robot (103). The laser energy station (201) consists of a fiber laser, a water chiller and a main control cabinet. A second interface (250) is fixed on one side of the laser energy station (201), and a first interface (120) is fixed on one end of the chassis (101). A flexible composite cable bundle (501) is connected between the first interface (120) and the second interface (250). The laser generated by the laser energy station (201) is transmitted to the laser welder (104) through the energy transmission fiber in the flexible composite pipeline bundle (501). After being collimated by the laser collimating lens group and focused by the swinging two-dimensional scanning galvanometer, the laser is applied to the weld bevel to achieve deep penetration welding of thick plates. The five-axis robot (103) drives the laser welder (104) to perform multi-degree-of-freedom posture adjustment to adapt to welds at different positions and angles. The flexible composite cable harness (501) integrates an optical fiber for power transmission, a servo power cable, a control signal line, and a cooling water pipe.

2. The laser welding device for prefabricated building components according to claim 1, characterized in that, The laser welder (104) has a connecting tank (130) fixed on its outer wall, and a nozzle (140) is fixed on the output end of the connecting tank (130). The laser welder (104) has a wire laser weld contour sensor (150) fixed on its outer wall, and a wind-cooled nanosecond pulse fiber laser (160) fixed on its outer wall. The connecting tank (130) is connected to an external gas tank.

3. The laser welding device for prefabricated building components according to claim 1, characterized in that, The outer surface of the track (108) is uniformly fixed with a plurality of non-magnetic wear-resistant plates (109), the height of which is greater than the height of the permanent magnet (110).

4. The laser welding device for prefabricated building components according to claim 1, characterized in that, The flexible composite pipeline harness (501) is externally fitted with a wear-resistant sleeve.

5. The laser welding device for prefabricated building components according to claim 1, characterized in that, The laser energy station (201) has four hanging rings (202) fixed at the top four corners, and a control panel (203) fixed on one side of the laser energy station (201). The laser energy station (201) has four casters (204) fixed at the bottom four corners.

6. The laser welding device for prefabricated building components according to claim 1, characterized in that, The laser energy station (201) is fixedly provided with multiple screws (205) at the bottom end, and the multiple screws (205) are slidably connected to the mounting plate (207). The outer wall of the screws (205) is spirally connected with nuts (206). The bottom end of the mounting plate (207) is fixedly provided with a sleeve (210). The mounting plate (207) has a wire hole (208) inside. The sleeve (210) has a sliding rod (230) inside. The top end of the sliding rod (230) is fixedly provided with a lever (220). The outer wall of the sleeve (210) has a snap-fit ​​hole (209). The lever (220) is movably snapped into the snap-fit ​​hole (209). The bottom end of the sliding rod (230) is fixedly provided with an electromagnet (240). The power transmission wire of the electromagnet (240) passes through the sliding rod (230) and the wire hole (208) and extends into the laser energy station (201), and is connected to the servo power cable.

7. The laser welding device for prefabricated building components according to claim 1, characterized in that, The chassis (101) is fixedly provided with a second rotary motor (301) on both sides. The output shaft of the second rotary motor (301) is fixedly provided with a connecting plate (302). The bottom end of the connecting plate (302) is fixedly provided with a foot (303). The bottom end of the foot (303) is fixedly provided with a suction cup (304). The top end of the foot (303) is fixedly provided with an air pump (305). The output end of the air pump (305) is connected to the suction cup (304).

8. The laser welding device for prefabricated building components according to claim 1, characterized in that, The outer wall of the laser energy station (201) is fixedly provided with a third rotary motor (401), the output shaft of the third rotary motor (401) is fixedly provided with a lead screw (402), the lead screw (402) is threadedly connected to a movable frame (403), and the bottom end of the movable frame (403) is provided with two support components.

9. The laser welding device for prefabricated building components according to claim 8, characterized in that, The support assembly includes a round rod (404) and a tension spring (405) fixedly connected to the movable frame (403). A hollow cylinder (406) is slidably connected to the outer wall of the round rod (404). The bottom end of the tension spring (405) is fixedly connected to the inner wall of the hollow cylinder (406). A plurality of fixing rods (440) are fixedly provided on the outer wall of the bottom end of the hollow cylinder (406), and a support cylinder (407) is fixedly provided at the bottom end of the plurality of fixing rods (440). A mounting base (409) is fixedly provided at the bottom end of the round rod (404). A reset spring (420) is fixedly provided on the outer wall of each of the four ends of the mounting base (409). A pressing rod (410) is slidably provided inside each of the four ends of the mounting base (409). A friction block (430) is fixedly provided at the other end of the pressing rod (410). The friction block (430) abuts against the inner wall of the support cylinder (407).

10. The laser welding device for prefabricated building components according to claim 9, characterized in that, The top of the movable frame (403) is provided with a plug-in slot (408), and a safety warning plate (601) is plugged and fixed inside the plug-in slot (408).

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