Three-axis gantry welding device and welding system

Abstract

The three-axis gantry welding device comprises a welding mechanism and a conveying rail, the welding mechanism comprises a gantry assembly and a plurality of laser galvanometers, the gantry assembly drives the laser galvanometers to move in the first direction, the second direction and the third direction, and three-direction movement of the laser galvanometers is achieved. Therefore, after a part with a large size is conveyed to a preset position through the conveying track, the multiple laser galvanometers are subjected to three-direction orientation adjustment through the gantry assembly, and therefore the multiple laser galvanometers can move to different orientations of the part to be welded. Thus, after the large-size part reaches the preset position, all positions of the large-size part can be conveniently welded without adjusting the angle and the direction, and therefore the welding efficiency is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of laser welding, and particularly to a three-axis gantry welding device and a welding system. Background Art

[0002] In industrial production, especially in the automotive industry, laser remote flying welding is a commonly used technology. It is a high-precision and high-efficiency welding method that can be completed without contacting the workpiece by using a laser beam. Robot galvanometer laser remote flying welding is widely used in the automotive industry for welding large components such as body components, car doors, roofs, and body frames.

[0003] However, in the prior art, for relatively large parts, when a robot laser galvanometer performs laser flying welding, it is necessary to weld multiple different positions of the part separately. Since there are many welding positions, it is necessary to adjust the orientation of the part so that the laser galvanometer welds multiple different positions of the part. Therefore, there are problems of many welding positions, long welding time, and low welding efficiency. Summary of the Utility Model

[0004] Based on this, in view of the problems in the prior art that for relatively large parts, when a robot laser galvanometer performs laser flying welding, there are many welding positions, long welding time, and low welding efficiency, it is necessary to provide a three-axis gantry welding device and a welding system.

[0005] In a first aspect, an embodiment of the present application provides a three-axis gantry welding device, and the three-axis gantry welding device includes:

[0006] A welding mechanism, the welding mechanism includes a gantry assembly and a plurality of laser galvanometers. The gantry assembly can drive the plurality of laser galvanometers to move along a first direction, a second direction, and a third direction respectively. The first direction, the second direction, and the third direction are perpendicular to each other in pairs. The laser galvanometer is used to weld the workpiece to be welded;

[0007] A conveying track, the conveying track is arranged below the gantry assembly, and the conveying track can drive the workpiece to be welded to move to a preset position.

[0008] In one of the embodiments, the gantry assembly includes: a first mounting frame, a second mounting frame, and a plurality of lifting components.

[0009] The plurality of laser galvanometers respectively correspond to the plurality of lifting components one by one. The laser galvanometer is arranged at the output end of the corresponding lifting component. The lifting component can drive the corresponding laser galvanometer to move up and down along the third direction. The third direction is the height direction of the conveying track.

[0010] A plurality of the lifting components are respectively arranged on the first mounting frame, and the first mounting frame extends along the first direction so that the plurality of lifting components can respectively move independently along the first direction on the first mounting frame, and the first direction is the width direction of the conveying track;

[0011] The second mounting frame extends along the second direction, and the second direction is the length direction of the conveying track. The first mounting frame is slidably connected to the second mounting frame and moves along the second direction on the second mounting frame.

[0012] In one embodiment, two second mounting frames are arranged at intervals along the first direction, and two ends of the first mounting frame along the first direction are respectively slidably connected to the two second mounting frames.

[0013] In one embodiment, a first driving member is fixedly arranged on the first mounting frame, and the first mounting frame is in transmission connection with the first mounting frame through a gear and rack.

[0014] In one embodiment, the gantry assembly includes a plurality of mounting seats, and the plurality of mounting seats are respectively slidably connected to the first mounting frame along the first direction, and the plurality of lifting components are correspondingly arranged on different mounting seats.

[0015] In one embodiment, a third driving member is arranged on each mounting seat, and the mounting seat is in transmission connection with the first mounting frame through a gear and rack.

[0016] In one embodiment, a sleeve is fixedly arranged on the mounting seat, the sleeve is sleeved outside the first mounting frame and is slidably connected to the first mounting frame, and dust covers are arranged at two ends of the sleeve along the arrangement direction of the first mounting frame.

[0017] In one embodiment, the lifting component includes a second driving member, the second driving member is fixed on the mounting seat, and the second driving member is used to drive the laser galvanometer to move along the third direction.

[0018] In one embodiment, a screw rod is arranged at the output end of the second driving member, and the length direction of the screw rod is arranged along the third direction; a sliding seat is arranged on the mounting seat and is slidably connected to the mounting seat along the third direction, and the laser galvanometer is fixedly installed on the sliding seat; the sliding seat is in threaded connection with the screw rod to drive the laser galvanometer to move along the third direction.

[0019] In one embodiment, a guide rail is arranged on the mounting seat at an interval from the screw rod along the first direction, a guide seat is arranged on the guide rail, and the laser galvanometer is connected to the guide seat.

[0020] In one embodiment, a quick-connect plate is further provided on the mounting base. The quick-connect plate is fixed to the sliding seat. A card slot is provided on the quick-connect plate, and a card projection is provided on the laser galvanometer. The card projection is snap-fitted with the card slot.

[0021] In a second aspect, an embodiment of the present application further provides a welding system, including the above-mentioned three-axis gantry welding device.

[0022] Beneficial effects:

[0023] The embodiment of the present application provides a three-axis gantry welding device and a welding system, including a welding mechanism and a conveying track. The welding mechanism includes a gantry assembly and a plurality of laser galvanometers. The gantry assembly drives the laser galvanometers to move in a first direction, a second direction, and a third direction, realizing three-way movement of the laser galvanometers. Therefore, for a relatively large-sized part, after the conveying track conveys it to a preset position, the gantry assembly adjusts the orientations of the plurality of laser galvanometers in three directions, so that the plurality of laser galvanometers can move to different orientations of the part for welding. In this way, after the large-sized part reaches the preset position, it is not necessary to adjust the angle and orientation anymore, and the welding of each position of the large-sized part can be conveniently carried out, thereby greatly improving the welding efficiency. Description of the drawings

[0024] Figure 1 It is a schematic structural diagram of a three-axis gantry welding device provided by some embodiments of the present application.

[0025] Figure 2 It is Figure 1 a partial enlarged view in

[0026] Figure 3 It is a schematic structural diagram of the first mounting bracket and the laser galvanometer.

[0027] Figure 4 It is Figure 3 a side view when the laser galvanometer is not installed.

[0028] Figure 5 It is Figure 3 a side view when the laser galvanometer and the quick-connect plate are not installed.

[0029] Figure 6 It is Figure 3 a side view of

[0030] Reference numerals:

[0031] 1. Gantry assembly; 11. First mounting bracket; 111. First driving member; 112. First transmission shaft; 12. Second mounting bracket; 13. Mounting base; 131. Dust cover; 132. Guide rail; 133. Guide seat; 134. Third driving member; 14. Laser scanning galvanometer; 15. Lifting assembly; 151. Second driving member; 152. Screw; 153. Sliding seat; 154. Quick-connect plate; 16. Contact switch;

[0032] 2. Conveyor track; 21. Fixture cart;

[0033] X. First direction; Y. Second direction; Z. Third direction. Detailed implementation manners

[0034] To make the above objects, features, and advantages of the present application more apparent and understandable, the following will describe the detailed implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description for the purpose of fully understanding the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0035] In the description of the present application, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0036] In addition, if terms such as "first" and "second" appear, these terms are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0037] In this application, unless otherwise clearly specified or limited, if terms such as "installed", "connected", "linked", "fixed", etc. appear, these terms shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] In this application, unless otherwise clearly specified or limited, if there is a description such as the first feature being "on" or "under" the second feature, its meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature is at a higher level than the second feature in terms of horizontal height. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature is at a lower level than the second feature in terms of horizontal height.

[0039] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0040] In a first aspect, referring to Figures 1-3 , an embodiment of the present application provides a three-axis gantry welding device including a welding mechanism and a conveying track 2. The welding mechanism includes a gantry assembly 1 and a plurality of laser galvanometers 14. The gantry assembly 1 can drive the plurality of laser galvanometers 14 to move along a first direction X, a second direction Y, and a third direction Z respectively. The first direction X, the second direction Y, and the third direction Z are perpendicular to each other pairwise. The laser galvanometer 14 is used for welding the workpiece to be welded; the conveying track 2 is disposed below the gantry assembly 1, and the conveying track 2 can drive the workpiece to be welded to move to a preset position for welding.

[0041] A three-axis gantry welding device provided by an embodiment of the present application drives a laser galvanometer 14 to move along a first direction X, a second direction Y, and a third direction Z through a gantry assembly 1, realizing three-way movement of the laser galvanometer 14. Therefore, for relatively large parts, after the conveying track 2 conveys them to a preset position, the gantry assembly 1 is used to perform three-way orientation adjustment on multiple laser galvanometers 14, so that multiple laser galvanometers 14 can move to different orientations of the part for welding. In this way, after the large-sized part reaches the preset position, it is not necessary to adjust the angle and orientation anymore, and the welding of various positions of the large-sized part can be conveniently carried out, thus greatly improving the welding efficiency.

[0042] As Figures 1-3 shown, in some embodiments, the gantry assembly 1 includes: a first mounting frame 11, a second mounting frame 12, and a plurality of lifting assemblies 15. A plurality of laser galvanometers 14 respectively correspond to the plurality of lifting assemblies 15 one by one. The laser galvanometer 14 is arranged at the output end of the corresponding lifting assembly 15. The lifting assembly 15 can drive the corresponding laser galvanometer 14 to move up and down along the third direction Z, and the third direction Z is the height direction of the conveying track 2; the plurality of lifting assemblies 15 are respectively arranged on the first mounting frame 11, and the extending direction of the first mounting frame 11 is along the first direction X, so that the plurality of lifting assemblies 15 can respectively and independently move along the first direction X on the first mounting frame 11, and the first direction X is the width direction of the conveying track 2; the extending direction of the second mounting frame 12 is the second direction Y, and the second direction Y is the length direction of the conveying track 2. The first mounting frame 11 is slidably connected to the second mounting frame 12 and moves along the second direction Y on the second mounting frame 12.

[0043] By setting the lifting assembly 15, the movement of the laser galvanometer 14 along the third direction Z can be realized, thereby expanding the welding range of the laser galvanometer 14 in the third direction Z.

[0044] By setting the first mounting frame 11 to extend along the first direction X and the laser galvanometer 14 to be slidably connected to the first mounting frame 11, the movement of the laser galvanometer 14 along the first direction X can be realized, thereby expanding the welding range of the laser galvanometer 14 in the first direction X.

[0045] By setting the second mounting frame 12 to extend along the second direction Y and the first mounting frame 11 to be slidably connected to the second mounting frame 12, the movement of the laser galvanometer 14 along the second direction Y can be realized, thereby expanding the welding range of the laser galvanometer 14 in the second direction Y.

[0046] As Figures 1-3 shown, in some embodiments, two second mounting frames 12 are arranged at intervals along the first direction X, and both ends of the first mounting frame 11 along the first direction X are respectively slidably connected to the two second mounting frames 12.

[0047] By respectively arranging second mounting brackets 12 at both ends of the first mounting bracket 11, and slidingly connecting both ends of the first mounting bracket 11 with the two second mounting brackets 12 respectively, it can make the first mounting bracket 11 slide more stably along the second direction Y on the second mounting bracket 12, thereby greatly improving the welding precision of the laser galvanometer 14.

[0048] As Figures 1-3 shown, in some embodiments, a first driving member 111 is fixedly arranged on the first mounting bracket 11, a rack is fixedly arranged on the second mounting bracket 12, a first transmission shaft 112 is arranged at the output end of the first driving member 111, a first gear is arranged on the side of the first transmission shaft 112 close to the rack, and the first gear meshes with the rack.

[0049] By driving the first transmission shaft 112 and the first gear to rotate through the first driving member 111, the first mounting seat 13 can move along the second mounting bracket fixed with the rack. Of course, in other embodiments, the transmission connection mode of the gear and the rack can also be replaced with the transmission connection mode of the belt and the pulley, and the specific installation and connection relationship will not be elaborated here.

[0050] As Figures 1-3 shown, in some embodiments, the gantry assembly 1 includes a plurality of mounting seats 13, the plurality of mounting seats 13 are slidingly connected with the first mounting bracket 11, and a plurality of laser galvanometers 14 are respectively arranged on different mounting seats 13.

[0051] By arranging a plurality of mounting seats 13, each laser galvanometer 14 can be fixedly connected with a mounting seat 13 respectively, so that each laser galvanometer 14 can independently perform welding work, thereby welding different welding positions of the workpiece to be welded simultaneously, and further greatly improving the welding efficiency of the entire three-axis gantry welding device.

[0052] As Figures 3-5 shown, in some embodiments, a third driving member 134 is arranged on each mounting seat 13, a driving gear is arranged at the output end of the third driving member 134, a driving rack is arranged on the first mounting bracket 11, and the driving gear meshes with the driving rack.

[0053] By arranging the third driving member 134 on the mounting seat, it realizes that the mounting seat 13 drives the laser galvanometer 14 to move along the first mounting bracket 11, thereby improving the automation degree of the entire three-axis gantry welding device.

[0054] As Figures 3-5 shown, in some embodiments, the mounting seat 13 is fixedly provided with a sleeve, the sleeve is sleeved outside the first mounting bracket 11 and is slidingly connected with the first mounting bracket 11, and dust covers 131 are arranged at both ends of the sleeve along the arrangement direction of the first mounting bracket 11.

[0055] By providing a sleeve on the mounting base 13 and enabling the sleeve to be slidably connected to the first mounting bracket 11, the sliding connection between the mounting base 13 and the first mounting bracket 11 can be made more stable, thereby further improving the welding accuracy of the laser galvanometer 14. In addition, by providing dust covers 131 at both ends of the sleeve along the first direction X, it is possible to prevent dust or other impurities from entering between the sleeve and the first mounting bracket 11, which may affect the sliding of the sleeve on the first mounting bracket 11 and further affect the welding accuracy of the laser galvanometer 14.

[0056] As Figures 3-5 shown, in some embodiments, the gantry assembly 1 further includes a lifting assembly 15. The lifting assembly 15 is fixed to the mounting base 13, and the laser galvanometer 14 is disposed at the output end of the lifting assembly 15. The lifting assembly 15 can drive the laser galvanometer 14 to move along the third direction Z, and the third direction Z is the height direction of the conveying track 2.

[0057] As Figures 3-5 shown, in some embodiments, the lifting assembly 15 includes a second driving member 151. The second driving member 151 is fixed to the mounting base 13, and the second driving member 151 is used to drive the laser galvanometer 14 to move along the third direction Z.

[0058] By providing the second driving member 151 on the mounting base 13, the second driving member 151 can drive the laser galvanometer 14 to move along the third direction Z, thereby further improving the automation degree of the entire three-axis gantry welding device and greatly improving the welding efficiency.

[0059] As Figures 3-5 shown, in some embodiments, a screw rod 152 is provided at the output end of the second driving member 151. The length direction of the screw rod 152 is arranged along the third direction Z; a sliding seat 153 is provided on the mounting base 13 and is slidably connected thereto along the third direction Z, and the laser galvanometer 14 is fixedly installed on the sliding seat 153; the sliding seat 153 is threadedly connected to the screw rod 152 to drive the laser galvanometer 14 to move along the third direction Z.

[0060] The second driving member 151 can drive the screw rod 152 to rotate, and the screw rod 152 drives the sliding seat 153 to move along the third direction Z, thereby realizing the movement of the laser galvanometer 14 along the third direction Z.

[0061] In this embodiment, a ball nut is provided on the sliding seat 153. The ball nut is threadedly connected to the screw rod 152, and the second driving member 151 can drive the screw rod 152 to rotate to drive the laser galvanometer 14 to move along the third direction Z.

[0062] By the cooperation of the ball nut and the screw rod 152, the movement of the laser galvanometer 14 along the third direction Z can be made more stable, thereby greatly improving the welding accuracy of the laser galvanometer 14.

[0063] AsFigures 3-5 As shown, in some embodiments, a guide rail 132 is provided on the mounting base 13 at an interval from the screw 152 in the first direction X. A guide seat 133 is provided on the guide rail 132, and the laser galvanometer 14 is connected to the guide seat 133.

[0064] By providing the guide rail 132 spaced from the screw 152 on the mounting base 13, the movement of the laser galvanometer 14 in the third direction Z can be restricted, making the movement of the laser galvanometer 14 in the third direction Z more stable, thereby greatly improving the welding accuracy of the laser galvanometer 14.

[0065] As Figures 3-5 shown, in some embodiments, a quick-connect plate 154 is further provided on the mounting base 13. The quick-connect plate 154 is fixed to the sliding seat 153. A card slot is provided on the quick-connect plate 154, and a card projection is provided on the laser galvanometer 14. The card projection is snap-fitted with the card slot.

[0066] By providing the quick-connect plate 154 on the mounting base 13, providing a card slot on the quick-connect plate 154, and providing a card projection on the laser galvanometer 14, the laser galvanometer 14 can be quickly disassembled, thereby greatly improving the installation efficiency of the laser galvanometer 14 and facilitating the disassembly and maintenance of the laser galvanometer 14 by the staff.

[0067] Of course, in other embodiments, the quick-disassembly structure of the card slot and the card projection can also be replaced with other structures that can achieve quick disassembly. For example, a fastening seat is provided on one of them and a protrusion is provided on the other. Other quick-disassembly structures are not described in detail here.

[0068] In some embodiments, the three-axis gantry welding device further includes a control unit. The control unit is electrically connected to the gantry assembly 1, and the control unit is used to control the gantry assembly 1 to drive the laser galvanometer 14 to weld the workpiece to be welded.

[0069] In the embodiment of the present application, the control unit is a PLC control unit. By setting the PLC control unit, the PLC control unit can perform real-time control on the entire gantry assembly 1, realize the movement of the laser galvanometer 14 in three directions, and greatly improve the welding accuracy of the laser galvanometer 14. In addition, in the embodiment of the present application, the PLC control unit can also control other components, such as controlling the conveying track 2 to convey the workpiece to be welded, etc. The control methods of other components are not described in detail here.

[0070] As Figure 6As shown, in some embodiments, the three-axis gantry welding device is further provided with a contact switch 16. The contact switch 16 is arranged at both ends of the first mounting bracket 11. When the mounting seat 13 moves to the edge along the first mounting seat 13, the mounting seat 13 contacts and triggers the triggering device of the contact switch 16, and then maintains the contact. The trigger signal is maintained for a period of time and is successfully captured by the PLC to achieve the deceleration of the motor until the contact switch 16 is coupled and the motor stops.

[0071] As Figures 1-3 As shown, in some embodiments, a jig car 21 is further arranged on the conveying track 2. The jig car 21 can clamp the workpiece to be welded and move on the conveying track 2.

[0072] In a second aspect, an embodiment of the present application provides a welding system, including the above three-axis gantry welding device.

[0073] The welding system includes a robotic arm that can replace the workpiece on the jig car 21, thereby greatly improving the automation degree of the welding system and further greatly improving the working efficiency of the welding system.

[0074] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0075] The above embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. Three-axis gantry welding device, characterized in that: The three-axis gantry welding device comprises: A welding mechanism, the welding mechanism comprising a gantry assembly and a plurality of laser galvanometers, the gantry assembly can drive the plurality of laser galvanometers to move respectively along a first direction, a second direction and a third direction, the first direction, the second direction and the third direction are mutually perpendicular, and the laser galvanometers are used to weld the workpieces to be welded; A conveying track is arranged below the gantry assembly, and the conveying track can drive the workpiece to be welded to a preset position.

2. The three-axis gantry welding device according to claim 1, characterized in that: The gantry assembly comprises: a first mounting frame, a second mounting frame and a plurality of lifting assemblies, The plurality of laser galvanometers correspond to the plurality of lifting assemblies one by one, respectively. The laser galvanometers are arranged at the output ends of the corresponding lifting assemblies. The lifting assemblies can drive the corresponding laser galvanometers to move up and down along the third direction, and the third direction is the height direction of the conveying track. The plurality of lifting assemblies are respectively arranged on the first mounting frame, and the first mounting frame extends along the first direction, so that the plurality of lifting assemblies can be respectively and independently moved on the first mounting frame along the first direction, and the first direction is the width direction of the conveying track; The second mounting frame extends along the second direction, which is the length direction of the conveying track. The first mounting frame is slidably connected to the second mounting frame and moves on the second mounting frame along the second direction.

3. The three-axis gantry welding device according to claim 2, characterized in that: Two second mounting frames are arranged at intervals along the first direction, and two ends of the first mounting frame along the first direction are slidably connected to the two second mounting frames respectively.

4. The three-axis gantry welding device according to claim 2, characterized in that: A first driving member is fixedly arranged on the first mounting frame, and the first mounting frame is connected to the first mounting frame via a gear rack transmission.

5. The three-axis gantry welding device according to claim 2, characterized in that: The gantry assembly includes a plurality of mounting seats, and the plurality of mounting seats are respectively connected to the first mounting frame in a sliding manner along the first direction, and the plurality of lifting assemblies are arranged on different mounting seats in a one-to-one correspondence.

6. The three-axis gantry welding device according to claim 5, characterized in that: A third driving member is arranged on each of the mounting seats, and the mounting seats are connected to the first mounting frame via a gear rack transmission.

7. The three-axis gantry welding device according to claim 5, characterized in that: The mounting seat is fixedly provided with a sleeve, the sleeve is sleeved outside the first mounting frame and is slidably connected to the first mounting frame, and dust covers are provided at both ends of the sleeve along the arrangement direction of the first mounting frame.

8. The three-axis gantry welding device according to claim 5, characterized in that: The lifting assembly includes a second driving member, which is fixed on the mounting seat and is used to drive the laser galvanometer to move along the third direction.

9. The three-axis gantry welding device according to claim 8, characterized in that: A screw is provided at the output end of the second driving member, and the length direction of the screw is arranged along the third direction; a sliding seat is provided on the mounting seat and is slidably connected with it along the third direction, and the laser galvanometer is fixedly installed on the sliding seat, and the sliding seat is threadedly connected with the screw to drive the laser galvanometer to move along the third direction.

10. The three-axis gantry welding device according to claim 9, characterized in that: The mounting seat is provided with a guide rail spaced apart from the screw rod along the first direction, the guide rail is provided with a guide seat, and the laser galvanometer is connected to the guide seat.

11. The three-axis gantry welding device according to claim 10, characterized in that: The mounting seat is also provided with a quick-connect plate, the quick-connect plate is fixed to the sliding seat, the quick-connect plate is provided with a card slot, the laser galvanometer is provided with a card protrusion, and the card protrusion is card-engaged with the card slot.

12. A welding system, characterized in that, The invention comprises a three-axis gantry welding device as described in any one of claims 1 to 11.

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