A laser-arc hybrid welding device based on an industrial robot

Abstract

The application provides a laser-arc hybrid welding device based on an industrial robot, and relates to the technical field of welding equipment.The device comprises a connecting assembly and an adjusting assembly.The connecting assembly comprises a connecting piece and a supporting piece.The supporting piece is triangular, one end of the connecting piece is connected to the supporting piece through a fastener, and the supporting piece is connected to the industrial robot.The adjusting assembly comprises a laser welding gun, an arc welding gun, a Y-Z adjusting device and an X automatic adjusting device.The laser welding gun is connected to one side of the connecting piece in parallel and at intervals with the X automatic adjusting device.The arc welding gun and the X automatic adjusting device are respectively connected to two sides of the Y-Z adjusting device.The application solves the problems of insufficient position adjusting precision, low automation degree, and contradiction between structural rigidity and end load in the prior art.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, and in particular to a laser-arc hybrid welding device based on an industrial robot. Background Technology

[0002] In actual welding operations, laser welding torches and arc welding torches need to be adjusted in three-dimensional space with multiple degrees of freedom according to different welding process requirements and workpiece characteristics, so as to ensure that the synergistic effect between the laser beam and the electric arc reaches the best effect. However, existing composite devices generally suffer from insufficient welding torch positioning accuracy. Moreover, traditional adjustment mechanisms mostly adopt manual adjustment methods, which are not only inefficient but also unable to achieve precise position control, resulting in unstable coupling effect between laser and electric arc and difficulty in ensuring consistent welding quality. Summary of the Invention

[0003] The purpose of this invention is to provide a laser-arc hybrid welding device based on an industrial robot, which solves the problems of insufficient position adjustment accuracy of the laser welding gun and arc welding gun, low degree of automation, and contradiction between structural rigidity and end load in the prior art.

[0004] The technical solution of this invention:

[0005] This invention provides a laser-arc hybrid welding device based on an industrial robot, comprising a connecting assembly and an adjusting assembly, including:

[0006] The connection component includes a connector and a support member. The support member is triangular. One end of the connector is connected to the support member by a fastener. The support member is connected to the industrial robot.

[0007] The adjustment assembly includes a laser welding torch, an arc welding torch, Y-axis and Z-axis adjusters, and an X-axis automatic adjuster. The laser welding torch and the X-axis automatic adjuster are connected side by side and spaced apart on one side of the connector. The arc welding torch and the X-axis automatic adjuster are respectively connected to the two sides of the Y-axis and Z-axis adjusters.

[0008] In some embodiments, the X-axis automatic adjuster is internally connected to a servo electric actuator, a guide rail locking component, and two sliding guide rails. The two sliding guide rails are parallel and spaced apart on both sides of the servo electric actuator. The movable end of the servo electric actuator is connected to the arc welding gun, and the guide rail locking component is connected to the sliding guide rail.

[0009] In some embodiments, a position sensor is connected to the side of the sliding guide rail.

[0010] In some embodiments, the arc welding torch is connected to the Y-axis and Z-axis adjusters by bolts.

[0011] In some embodiments, the connection assembly further includes a flange connected between the support and the industrial robot.

[0012] In some embodiments, the support member is made of alloy steel.

[0013] In some embodiments, the connector is made of aluminum alloy.

[0014] In some embodiments, the connector includes a vertical plate, a horizontal plate, and a reinforcing plate, wherein the vertical plate is perpendicularly connected to the horizontal plate, and the reinforcing plate is connected between the vertical plate and the horizontal plate.

[0015] In some embodiments, the crossbar is connected to the industrial robot.

[0016] In some embodiments, both the laser welding gun and the X-axis automatic adjuster are connected to the horizontal plate.

[0017] Based on the above technical features, the beneficial effects of the present invention are as follows:

[0018] (1) The laser-arc hybrid welding device based on industrial robot provided by the present invention drives the X-direction driving element through the servo electric push rod, combined with the guiding effect of the double sliding guide rail and the real-time feedback of the position sensor, to realize the automatic and precise adjustment of the arc welding gun position, and the adjustment accuracy can reach the millimeter level or even higher.

[0019] (2) The laser-arc hybrid welding device based on industrial robots provided by the present invention has connecting parts and supporting parts to ensure the structural rigidity and torsional resistance of the entire device, and can effectively resist various external forces and vibrations during the welding process.

[0020] (3) The laser-arc hybrid welding device based on industrial robots provided by the present invention uses aluminum alloy material for the connecting parts, which reduces the end load weight while ensuring strength, thereby reducing the impact on the load capacity and motion accuracy of the industrial robot. Attached Figure Description

[0021] Figure 1 This is one of the structural schematic diagrams of the present invention;

[0022] Figure 2 This is the second structural schematic diagram of the present invention;

[0023] Figure 3 This is the third structural schematic diagram of the present invention;

[0024] Figure 4 This is a schematic diagram of the internal structure of the X-direction automatic regulator in this invention;

[0025] Figure 5 This is one of the connection diagrams of the guide rail locking component in this invention;

[0026] Figure 6 This is the second schematic diagram of the connection of the guide rail locking component in this invention;

[0027] Figure 7 This is the third schematic diagram of the connection of the guide rail locking component in this invention;

[0028] Figure 8 This is a schematic diagram defining the orientation of the structure of the present invention;

[0029] Figure 9 This is a schematic diagram of the Y-axis and Z-axis adjuster in this invention.

[0030] In the diagram: 1. Laser welding torch; 2. Arc welding torch; 3. Y-axis and Z-axis adjusters; 4. X-axis automatic adjuster; 5. Industrial robot; 6. Connector; 7. Servo electric actuator; 8. Support component; 9. Sliding guide rail; 10. Guide rail locking component; 11. Locking auxiliary component; 12. Electromagnetic locking device; 13. Tightening component. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0033] Example

[0034] Please refer to the above as well. Figures 1-9 The present invention provides a laser-arc hybrid welding device based on an industrial robot. The device includes a connecting component and an adjusting component. The connecting component includes a connector 6 and a support 8. The support 8 is triangular. One end of the connector 6 is connected to the support 8 by a fastener. The support 8 is connected to an industrial robot 5. The adjusting component includes a laser welding gun 1, an arc welding gun 2, a Y-axis and Z-axis adjuster 3, and an X-axis automatic adjuster 4. The laser welding gun 1 and the X-axis automatic adjuster 4 are connected side by side and spaced apart on one side of the connector 6. The arc welding gun 2 and the X-axis automatic adjuster 4 are respectively connected to the two sides of the Y-axis and Z-axis adjuster 3.

[0035] It is worth noting that the laser-arc hybrid welding device based on an industrial robot provided in this embodiment connects the adjustment component to the end effector of the industrial robot 5 through a connecting assembly. The adjustment assembly enables precise positioning and three-dimensional position adjustment of the laser welding torch 1 and the arc welding torch 2, thereby allowing for flexible adjustment of the welding torch position to adapt to different welding methods. Furthermore, it facilitates installation and maintenance, improving versatility and scalability. Specifically, the connecting assembly includes a connector 6 and a support 8. The triangular connector 6 provides good mechanical stability, effectively dispersing various forces generated during welding and ensuring the overall structural stability of the device. The support 8 connects one end of the connector 6 to the support 8 via fasteners, and the connection between the support 8 and the industrial robot 5 can withstand impact loads and vibrations during the welding process. In detail, the adjustment assembly includes a laser welding torch 1, an arc welding torch 2, Y-axis and Z-axis adjusters 3, and an X-axis automatic adjuster 4. The laser welding torch 1 is fixedly connected to the connecting member 6, thereby realizing the laser heat source reference for composite welding. The arc welding torch 2 achieves position adjustment in three-dimensional space through the Y-axis and Z-axis adjusters 3 and the X-axis automatic adjuster 4. This embodiment solves the problems of insufficient position adjustment accuracy of the laser welding torch 1 and the arc welding torch 2, low degree of automation, and contradiction between structural rigidity and end load in the prior art.

[0036] It should be noted that the adjustment component in this embodiment can automatically and precisely control the filament spacing to ensure optimal energy coupling between the laser and the electric arc, thereby achieving the best welding quality. Experiments show that the filament spacing error of the fixture is always controlled within ±0.03mm during the welding process, meeting the process requirements.

[0037] Preferably, the X-axis automatic adjuster 4 has elongated slots in the Y and Z directions. The Y and Z-axis adjusters 3 are manually adjusted through the elongated slots to keep the positions of the two welding torches in the plane required by the process.

[0038] Preferably, the Y-axis and Z-axis adjusters 3 are electrically adjustable, with one electric adjuster 3 connected in each of the Y and Z axes. The electric adjusters 3 enable automatic position adjustment, which can further improve the automation level of the entire device and realize fully automated adjustment of the relative position between the laser welding gun 1 and the arc welding gun 2, reducing the workload of manual operation and human error.

[0039] Preferably, the fastener is a bolt, stud, self-tapping screw or set screw.

[0040] In some embodiments, the X-axis automatic adjuster 4 is internally connected to a servo electric actuator 7, a guide rail locking member 10, and two sliding guide rails 9. The two sliding guide rails 9 are parallel and spaced apart on both sides of the servo electric actuator 7. The movable end of the servo electric actuator 7 is connected to the arc welding gun 2, and the guide rail locking member 10 is connected to the sliding guide rail 9. Specifically, the servo electric actuator 7 serves as the driving element for X-axis (horizontal) adjustment. Its movable end extends or retracts along the actuator axis, driving the arc welding gun 2 to achieve X-axis position changes. The two sliding guide rails 9 are symmetrically arranged on both sides of the servo electric actuator 7, thus forming a stable double guide rail support for the servo electric actuator 7. The sliding guide rails 9 guide and support the movement of the servo electric actuator 7, ensuring the linearity, stability, and positioning accuracy of the arc welding gun 2 during X-axis movement. The guide rail locking member 10 connected to the sliding guide rail 9 can lock the slider of the sliding guide rail 9 after the position adjustment is completed, preventing the arc welding gun 2 from shifting due to vibration or external force during welding, and ensuring the stability of the gun spacing during welding.

[0041] Optionally, the sliding guide 9 adopts a ball linear guide, in which the balls make rolling contact between the guide and the slider. Compared with ordinary sliding guide 9, it has lower frictional resistance and higher motion accuracy, which helps to reduce the drive power consumption of servo electric actuator 7 and improve response speed.

[0042] Optionally, the sliding guide rail 9 is a linear motor guide rail, which integrates the linear motor with the guide rail to further simplify the structure and improve dynamic performance.

[0043] It should be noted that the guide rail locking component 10 is either a manual locking structure or an automatic locking structure. When it is an automatic locking structure, the locking action is automatically triggered when the welding operation begins. When it is a manual locking structure, the operator completes the locking by manual operation.

[0044] It should be noted that the servo electric actuator 7 is slidably connected to the sliding guide rail 9. The sliding guide rail 9 is a precision slide rail, which has minimal resistance during extension and retraction. Furthermore, the servo electric actuator 7 is only required to move when adjusting the filament spacing; therefore, the servo electric actuator 7 will not operate under heavy loads. Specifically, after the servo electric actuator 7 reaches the designated position and the filament spacing is adjusted, the guide rail locking member 10 on the sliding guide rail 9 is turned to lock the sliding guide rail 9. Alternatively, an electromagnet can be used to automatically lock the sliding guide rail 9. Figure 4 As shown, the servo electric actuator 7 is no longer in the output state at this time. When the robot is performing welding operations, it does not rely on the continuous power output of the servo electric actuator 7, so there will be no overload.

[0045] It should be noted that the servo electric actuator 7 uses a servo motor, which can precisely control the extension and retraction dimensions to achieve accurate positioning. It can also use external auxiliary measuring devices, such as laser rangefinders, as feedback for positioning control to achieve precise control of the filament spacing.

[0046] In some embodiments, when the X-axis automatic adjuster 4 is pushed to a designated position by the servo electric actuator 7, the guide rail locking member 10 is twisted, and the end of the guide rail locking member 10 will press against the sliding guide rail 9. A locking auxiliary member 11 is connected between the guide rail locking member 10 and the sliding guide rail 9, such as... Figure 5 , 6 As shown in Figure 8, at this time, since the locking auxiliary component 11 is connected to the X-axis automatic adjuster 4 and the guide rail locking component 10, the X-axis automatic adjuster 4 is locked due to the friction between the guide rail locking component 10 and the sliding guide rail 9, and the X-axis degree of freedom of the arc welding gun 2 returns to 0. At this time, the servo electric actuator 7 no longer needs to continuously output force.

[0047] In some embodiments, the guide rail locking element 10 may also be an electromagnetic locking device 12, such as... Figure 7 As shown. In detail, the electromagnet is in normally open mode. When the electromagnet is energized and generates magnetic force, the end of the electromagnetic locking device 12 rises and separates from the sliding guide rail 9. When the power supply to the electromagnet is turned off, the end of the electromagnetic locking device 12 is pushed by the spring and presses against the sliding guide rail 9, thereby locking the X-axis automatic adjuster 4 and realizing the X-axis locking of the arc welding gun 2.

[0048] In some embodiments, the guide rail locking member 10 is a pneumatic locking structure. A cylinder is connected to the fixed seat of the sliding guide rail 9. The locking block is driven by the cylinder. When locking is required, the cylinder piston rod extends, pushing the locking block to press against the side wall of the slider, locking the slider onto the sliding guide rail 9 through friction. When movement is required, the cylinder piston rod retracts, the locking block releases, and the slider returns to its free sliding state. The response time of the pneumatic locking structure is less than 0.1 seconds, and the locking force can reach over 2000N.

[0049] In some embodiments, a position sensor is connected to the side of the sliding guide rail 9. The position sensor can detect the position change of the arc welding torch 2 in the X direction in real time and feed the position signal back to the control system to realize closed-loop control and ensure the accuracy of position adjustment and repeatability. Specifically, the position sensor collects the actual position signal of the arc welding torch 2 in real time and feeds it back to the control system. The control system compares the actual position signal with the target position signal, performs calculations based on the deviation value, and outputs a control quantity to correct the drive signal of the servo electric actuator 7 in real time, thereby achieving accurate position tracking and rapid convergence.

[0050] Optionally, the position sensor uses a linear variable differential transformer, which has high measurement accuracy and good linearity, and can accurately detect the displacement of the slider of the sliding guide 9.

[0051] Optionally, the position sensor uses an optical or magnetic ruler with a resolution of 0.005 mm and a sampling frequency of 1000 Hz. The non-contact position detection element has the characteristics of high resolution and fast response speed, which can meet the requirements of high-precision position control.

[0052] Optionally, the servo electric actuator 7 is driven by a DC brushless motor with a rated power of 200W, a rated thrust of 500N, a stroke range of 0-100mm, and a continuously adjustable propulsion speed within the range of 0.1-5mm / s.

[0053] In some embodiments, the arc welding gun 2 and the Y-axis and Z-axis adjuster 3 are connected by bolts, which is simple, reliable, easy to install and maintain, and can withstand large shear and tensile forces.

[0054] In some embodiments, the connecting assembly further includes a flange, which is connected between the support 8 and the industrial robot 5. The flange adopts standardized size specifications and bolt hole arrangement standards to achieve universal docking with end effectors of different brands and models of industrial robots 5, including but not limited to industrial robots of brands such as ABB, KUKA, and Fanuc. The flange can be easily used with industrial robots 5 and laser arc hybrid welding devices of different brands and models, reducing the difficulty and cost of integration.

[0055] In some embodiments, the support member 8 is made of alloy steel. Specifically, by setting a triangular support member 8 and making it of high-strength alloy steel, such as 300M (43CrNiSiMoV), 4Cr5MoVSi, HP9-4-25 or AF1410, it can be ensured that the connecting assembly has sufficient strength and rigidity to withstand various forces and vibrations generated during the welding process, thereby reducing vibration and deformation.

[0056] In some embodiments, the connector 6 is made of high-strength aluminum alloy material, such as 7075 or 7A04 (LC4), which can reduce the end load weight while ensuring strength, thereby reducing the impact on the load capacity and motion accuracy of the industrial robot 5.

[0057] In some embodiments, the connector 6 includes a vertical plate, a horizontal plate, and a reinforcing plate. The vertical plate and the horizontal plate are vertically connected to form an L-shaped cross section, which effectively enhances the structural rigidity and torsional resistance of the connector 6. The reinforcing plate is connected between the vertical plate and the horizontal plate in a triangular shape. The triangular reinforcing plate combined with the L-shape forms a stable geometric frame system, which can effectively resist the deformation and torsion caused by external forces during the welding process.

[0058] In some embodiments, the horizontal plate is connected to the industrial robot 5, and both the laser welding gun 1 and the X-axis automatic adjuster 4 are connected to the horizontal plate. Specifically, the laser welding gun 1 and the X-axis automatic adjuster 4 are installed on the horizontal plate simultaneously, arranged side by side and spaced apart. The laser welding gun 1 is fixedly connected to the horizontal plate, serving as a fixed reference for the laser heat source during the composite welding process. Its position remains unchanged relative to the robot end effector in three-dimensional space, providing a stable reference system for the position adjustment of the arc welding gun 2.

[0059] In some other embodiments, the laser welding torch 1 is fixed, while the arc welding torch 2 is adjustable. Specifically, the Y and Z direction adjustments of the arc welding torch 2 are mainly used to adjust the relative positions of different arc welding torches 2 and the laser welding torch 1, ensuring that the welding torch heads are on the same defined working plane. The X direction adjustment is mainly used to adjust the distance between the same type of arc welding torch 2 and the laser welding torch 1, to adapt to the welding process requirements of different materials. Therefore, the X direction adjustment needs a larger adjustable range, and due to frequent adjustments required by the process, the X direction adjustment is automatically controlled by a servo electric actuator 7. Next, as... Figure 8 , 9 As shown, the Y and Z axis adjustments are mainly achieved through mechanical adjustment during welding torch installation. The position is adjusted using a long slot, and the lower part is connected to a clamping component 13 to ensure the Y axis remains secure. The clamping component 13 is installed as needed. Figure 9 In the center, the left box represents Z-axis adjustment, and the right box represents Y-axis adjustment.

[0060] It should be noted that, in the laser-arc hybrid welding device provided in this embodiment, during operation, firstly, in the device connection stage, the operator aligns the flange with the positioning pins and bolt holes at the end of the industrial robot 5, and uses high-strength bolts to fix the flange to the end flange of the robot, completing the installation of the connecting components. At this time, the support member 8 forms a rigid connection with the industrial robot 5 through the flange, and the connecting member 6 is fixed to the support member 8 by fasteners. The laser welding gun 1 and the X-axis automatic adjuster 4 are fixed to the horizontal plate of the connecting member 6. After the connection is completed, an initial position calibration operation is performed to determine the positional relationship between the laser welding gun 1 and the arc welding gun 2 relative to the weld seam, and the relevant parameters are stored in the control system.

[0061] Optionally, during the position calibration operation, the arc welding gun 2 is manually positioned in the Y and Z directions using the Y and Z direction adjusters 3, specifically by adjusting the screw or handwheel. Then, the arc welding gun 2 is automatically positioned in the X direction using the X direction automatic adjuster 4. The control system drives the servo electric actuator 7 to move according to the preset gun spacing parameters, and the position sensor provides real-time feedback of the actual position signal. The control system performs closed-loop adjustment until the arc welding gun 2 reaches the target position. After the position adjustment is completed, the control system controls the guide rail locking component 10 to lock the slider to prevent displacement during subsequent welding processes.

[0062] It should be noted that, in the automotive manufacturing field, the laser-arc hybrid welding device provided in this embodiment can be used for welding automotive body structural components. For example, when welding the inner panel of a car door and the floor assembly, the operator first connects the device to the end of the industrial robot 5 and sets the filament spacing parameters according to the material thickness of the door and the welding process requirements. The control system automatically adjusts the filament spacing to the set value. After the guide rail locking component 10 locks the slider, the industrial robot 5 drives the device to move along the preset trajectory to complete the welding operation of the inner panel of the car door and the floor assembly. Compared with traditional single laser welding or arc welding, this device can achieve faster welding speed and better weld quality, reducing welding deformation by more than 30%.

[0063] It should be noted that the remaining structures are existing technologies and will not be discussed further here.

[0064] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0065] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A laser-arc hybrid welding device based on an industrial robot, comprising a connecting assembly and an adjusting assembly, characterized in that: The connection component includes a connector (6) and a support (8). The support (8) is triangular. One end of the connector (6) is connected to the support (8) by a fastener. The support (8) is connected to the industrial robot. The adjustment assembly includes a laser welding gun (1), an arc welding gun (2), a Y-axis and Z-axis adjuster (3), and an X-axis automatic adjuster (4). The laser welding gun (1) and the X-axis automatic adjuster (4) are connected side by side and spaced apart to one side of the connector (6). The arc welding gun (2) and the X-axis automatic adjuster (4) are respectively connected to the two sides of the Y-axis and Z-axis adjuster (3).

2. The laser-arc hybrid welding apparatus according to claim 1, characterized in that, The X-axis automatic adjuster (4) is internally connected to a servo electric actuator (7), a guide rail locking member (10), and two sliding guide rails (9). The two sliding guide rails (9) are parallel and spaced apart on both sides of the servo electric actuator (7). The movable end of the servo electric actuator (7) is connected to the arc welding gun (2). The guide rail locking member (10) is connected to the sliding guide rail (9).

3. The laser-arc hybrid welding apparatus according to claim 2, characterized in that, A position sensor is connected to the side of the sliding guide rail (9).

4. The laser-arc hybrid welding apparatus according to claim 1, characterized in that, The arc welding gun (2) and the Y-axis and Z-axis adjuster (3) are connected by bolts.

5. The laser-arc hybrid welding apparatus according to claim 1, characterized in that, The connecting assembly also includes a flange that connects the support (8) to the industrial robot (5).

6. The laser-arc hybrid welding apparatus according to claim 1, characterized in that, The support component (8) is made of alloy steel.

7. The laser-arc hybrid welding apparatus according to claim 1, characterized in that, The connector (6) is made of aluminum alloy.

8. The laser-arc hybrid welding apparatus according to claim 7, characterized in that, The connector (6) includes a vertical plate, a horizontal plate, and a reinforcing plate. The vertical plate is perpendicularly connected to the horizontal plate, and the reinforcing plate is connected between the vertical plate and the horizontal plate.

9. The laser-arc hybrid welding apparatus according to claim 8, characterized in that, The horizontal plate is connected to the industrial robot.

10. The laser-arc hybrid welding apparatus according to claim 8, characterized in that, Both the laser welding gun (1) and the X-axis automatic adjuster (4) are connected to the horizontal plate.

Images