Five-axis laser welding equipment and welding joint mechanism thereof

Abstract

The utility model relates to the field of door and window welding processing, and provides five-axis laser welding equipment and a welding joint mechanism thereof, and the laser welding equipment comprises an XYZ three-direction servo module, the welding joint mechanism and a laser welding head; the XYZ three-direction servo module is arranged on the left side of the top of the main machine table. The welding joint mechanism is arranged on the XYZ three-direction servo module and located above the weldment fixing device. The laser welding head is arranged on the welding joint mechanism and located above the weldment fixing device. And the welding wire feeding mechanism is arranged on the Y-direction servo module. The laser welding device is characterized in that under clamping of the XYZ three-direction servo module and the welding joint mechanism, the laser welding head has five movement dimensions and is compatible with a multi-dimensional arc welding function, the application range is widened, complex special-shaped welding seams can be welded, the cost performance is high, and production and matched application are flexible; the welding wire feeding mechanism is arranged on the Y-direction servo module and moves synchronously with the laser welding head in the three-dimensional space, and welding wire supply is stable.

Description

Technical Field

[0001] The utility model relates to the field of door and window welding processing, in particular to a five-axis laser welding device for seamless welding of doors and windows. Background Art

[0002] With the continuous improvement of welding capacity and quality requirements for seamless doors and windows, the use of laser automatic welding is currently the best solution. At present, most of the window frame components in seamless doors and windows are now combined with internal angle code lock screws, which has problems such as complex processes, easy loosening, and high manufacturing costs; in order to solve this problem, handheld laser welding is also used, but there are still problems such as low efficiency and unstable welding quality. This involves the field of laser welding. In order to solve the efficiency problem of handheld laser welding, people have invented automated laser welding equipment, such as the Chinese invention patent document with application number CN202310920614.0 and application publication number CN116618826A, which discloses an automated laser welding equipment named "a three-dimensional five-axis laser precision intelligent welding robot". It provides a three-dimensional five-axis laser precision intelligent welding robot, including a robot mounting table; a robot base, the robot base is threaded and fixedly connected to the top of the robot mounting table; a second sliding seat, the second sliding seat is rotatably connected to the side of the first sliding seat; a second sliding transmission assembly, the second sliding transmission assembly is arranged in the middle of the second swing arm; a welding head seat swing transmission assembly, the welding head seat swing transmission assembly is arranged inside the welding head swing seat; a welding head rotation transmission assembly, the welding head rotation transmission assembly is arranged inside the welding head swing seat. Better adjust the welding range, meet the welding of long welds, improve the welding accuracy of long welds, solve the problem that the arm span of the existing five-axis laser welding equipment is limited, and the large straight weld needs to be linked by multiple groups of motors at the same time, which is difficult to control and requires high accuracy of the equipment. However, in terms of application in the field of door and window welding processing, it has the following technical problems: the multi-dimensional arc welding function has poor compatibility and a narrow application range, complex special-shaped welds cannot be welded automatically, the equipment input-output cost-effectiveness is low, and the production supporting applications are not flexible enough; the welding wire is fed manually or the installation position is fixed, and cannot move synchronously with the laser welding head. Utility Model Content

[0003] The utility model overcomes the above technical problems existing in the existing laser welding equipment, and provides a five-axis laser welding equipment with higher performance and a welding joint mechanism thereof, and the technical solutions adopted are as follows:

[0004] A welding joint mechanism of a five-axis laser welding device, the welding joint mechanism (4) comprising a vertical rotation servo module (45) capable of driving a laser welding head (6) to rotate in a vertical plane and a horizontal rotation servo module (44) capable of driving the vertical rotation servo module (45) to rotate in a horizontal plane, the vertical rotation servo module (45) being suspended at the lower end of the horizontal rotation servo module (44); characterized in that the horizontal rotation servo module (44) comprises a horizontal rotation vertical plate (40), A horizontally rotating fork-shaped horizontal plate (41) and a C-axis servo motor (42), a horizontally rotating vertical plate (40) is arranged at the right end of the Y-axis servo module (32), the left end of the horizontally rotating fork-shaped horizontal plate (41) is arranged on the right side of the horizontally rotating vertical plate (40), the right end of the horizontally rotating fork-shaped horizontal plate (41) is suspended and extends to the right side, and the C-axis servo motor (42) that drives the vertically rotating servo module (45) to rotate in a horizontal plane is vertically arranged at the fork-shaped opening at the right end of the horizontally rotating fork-shaped horizontal plate (41).

[0005] Furthermore, the vertical rotation servo module (45) comprises a vertical rotation transverse plate (46), a vertical rotation fork-shaped vertical plate (47) and a B-axis servo motor (48); the vertical rotation transverse plate (46) is arranged below the horizontal rotation fork-shaped transverse plate (41) and is transmission-connected to the C-axis servo motor (42); the upper end of the vertical rotation fork-shaped vertical plate (47) is arranged on the right side of the vertical rotation transverse plate (46); the lower end of the vertical rotation fork-shaped vertical plate (47) is suspended and extends downward; the B-axis servo motor (48) that drives the laser welding head (6) to rotate in a vertical plane is horizontally arranged at the fork-shaped opening at the lower end of the vertical rotation fork-shaped vertical plate (47); a welding head fixing plate (43) is arranged on the right side of the vertical rotation fork-shaped vertical plate (47); the welding head fixing plate (43) is transmission-connected to the B-axis servo motor (48); and the laser welding head (6) is fixed on the right side of the welding head fixing plate (43).

[0006] A five-axis laser welding device comprises a main machine (0), a laser welding device (1), and a weldment fixing device (2), and is characterized in that:

[0007] The laser welding device (1) is arranged on a main machine platform (0) and is used to perform all-round laser welding on mutually connected weldments;

[0008] The weldment fixing device (2) is arranged on the main machine platform (0), located on the right side of the laser welding device (1), and is used to fix the weldment;

[0009] in,

[0010] The laser welding device (1) comprises an XYZ three-axis servo module (3), the welding joint mechanism (4) as described above, and a laser welding head (6);

[0011] An XYZ three-way servo module (3) is arranged on the top left side of the main platform (0) and is used to adjust the three-dimensional spatial position of the welding joint mechanism (4) above the main platform (0);

[0012] The welding joint mechanism (4) is arranged on the XYZ three-way servo module (3), located above the weldment fixing device (2), and is used to adjust the rotation angle of the laser welding head (6) in the horizontal direction and the vertical direction;

[0013] The laser welding head (6) is arranged on the welding joint mechanism (4) and is located above the weldment fixing device (2), and is used to weld the weld seams of the weldments connected to each other; the XYZ three-axis servo module (3) comprises an X-axis servo module (31), a Y-axis servo module (32), a Z-axis servo module (33), and a welding wire feeding mechanism (7) for conveying the welding wire (7b) to the welding seam;

[0014] The X-direction servo module (31) is horizontally arranged on the top of the main platform (0);

[0015] The Z-direction servo module (33) is vertically arranged on the X-direction servo module (31) so as to be slidable forward and backward;

[0016] The Y-direction servo module (32) is horizontally suspended and slidably disposed on the Z-direction servo module (33);

[0017] The welding joint mechanism (4) is slidably arranged at one end of the Y-direction servo module (32);

[0018] The welding wire feeding mechanism (7) is arranged on the Y-direction servo module (32).

[0019] Furthermore, the X-direction servo module (31) comprises an X-direction servo slide (311), an X-direction servo lead screw assembly, an X-direction servo slider (313), and an X-axis servo motor (314); the X-direction servo slide (311) is horizontally arranged on the top of the main platform (0); the X-direction servo lead screw assembly is arranged in the X-direction servo slide (311); the X-axis servo motor (314) is arranged at one end of the X-direction servo slide (311) and is transmission-connected to one end of the lead screw of the X-direction servo lead screw assembly; the X-direction servo slider (313) is slidably arranged on the X-direction servo slide (311) and is fixedly arranged with a lead screw nut of the X-direction servo lead screw assembly; and the lower end of the Z-direction servo module (33) is fixed on the X-direction servo slider (313).

[0020] Further, the Z-axis servo module (33) includes a Z-axis servo slide (331), a Z-axis servo lead screw assembly, a Z-axis servo slider (333), and a Z-axis servo motor (334). The Z-axis servo slide (331) is vertically disposed on the X-axis servo slider (313). The Z-axis servo lead screw assembly is disposed within the Z-axis servo slide (331). The Z-axis servo motor (334) is disposed at the upper end of the Z-axis servo slide (331) and is drivingly connected to one end of the lead screw of the Z-axis servo lead screw assembly. The Z-axis servo slider (333) is slidably disposed on the Z-axis servo slide (331) in the vertical direction and is fixedly disposed with the lead screw nut of the Z-axis servo lead screw assembly. The left end of the Y-axis servo module (32) is fixed to the Z-axis servo slider (333).

[0021] Further, the Y-axis servo module (32) includes a Y-axis servo slide (321), a Y-axis servo lead screw assembly, a Y-axis servo slip ring (323), a Y-axis servo motor (324), and a Y-axis servo fixed seat (325). The Y-axis servo fixed seat (325) is horizontally disposed on the Z-axis servo slider (333). The Y-axis servo slip ring (323) is disposed within the Y-axis servo fixed seat (325). The Y-axis servo slide (321) is slidably disposed on the Y-axis servo slip ring (323) in the left-right direction. The Y-axis servo lead screw assembly is disposed within the Y-axis servo slide (321). The Y-axis servo slip ring (323) is fixedly disposed with the lead screw nut of the Y-axis servo lead screw assembly. The Y-axis servo motor (324) is disposed at one end of the Y-axis servo slide (321) and is drivingly connected to one end of the lead screw of the Y-axis servo lead screw assembly. The welding joint mechanism (4) is fixed to the right end of the Y-axis servo slide (321).

[0022] Further, the wire feeding mechanism (7) includes a wire spool holder (71) and a stepper wire feeder (72) both disposed on the Y-axis servo slide (321). The wire spool holder (71) is disposed on the left side of the Y-axis servo slide (321), and the stepper wire feeder (72) is disposed on the right side of the Y-axis servo slide (321).

[0023] The wire spool holder (71) includes a vertically and horizontally folded wire spool support (73). The lower part of the wire spool support (73) is vertically disposed outside the Y-axis servo slide (321). A wire spool shaft (74) for mounting the wire spool (7a) is horizontally disposed on the wire spool support (73). The inner end of the wire spool shaft (74) is fixed to the wire spool support (73), and a wire spool locking pin (75) for preventing the wire spool (7a) from falling off is disposed at the outer end of the wire spool shaft (74).

[0024] The step wire feeder (72) includes a wire feeding support (76). The lower part of the wire feeding support (76) is vertically arranged outside the Y-direction servo slide (321). A wire feeding support plate (70) is provided on the wire feeding support (76). A wire feeding roller set (77) for pressing the welding wire (7b) up and down and a wire feeding transmission mechanism (78) for driving the wire feeding roller set (77) to feed wire are provided on the wire feeding support plate (70). The wire feeding roller set (77) and the wire feeding transmission mechanism (78) are arranged side by side on the wire feeding support plate (70). Above the wire feeding transmission mechanism (78), a wire feeding step motor (79) is provided, and the wire feeding transmission mechanism (78) and the wire feeding step motor (79) are in transmission connection. Outside the wire feeding roller set (77), a wire feeding roller box (771) is provided, and the wire feeding roller box (771) is provided with a wire feeding roller guide nozzle (772) for the welding wire (7b) to pass through.

[0025] Further, the workpiece fixing device (2) includes a workpiece fixing cross support (20), a workpiece fixing pressing mechanism (21), and a workpiece fixing digital display positioning device (22). The workpiece fixing cross support (20) includes four workpiece fixing support plates (23) arranged in a "ten" shape on the main machine table (0). The four workpiece fixing support plates (23) are arranged on the main machine table (0) in the front, rear, left, and right directions. The right end of the right workpiece fixing support plate (23) extends out of the right side of the main machine table (0) and is suspended, and a support foot (24) is provided at its right end. Each workpiece fixing support plate (23) is provided with an adjustable positioning member (29).

[0026] The workpiece fixing pressing mechanism (21) includes four groups of pneumatic pressing mechanisms () arranged on the main machine table (0). The four groups of pneumatic pressing mechanisms () are correspondingly arranged beside the four workpiece fixing support plates (23).

[0027] The workpiece fixing digital display positioning device (22) includes a workpiece fixing digital display positioning guide rail (25), a workpiece fixing digital display positioning slider (26), and a workpiece fixing positioning digital display meter (27). The workpiece fixing digital display positioning guide rail (25) is arranged on the main machine table (0) and is parallel to the left workpiece fixing support plate (23). The workpiece fixing digital display positioning slider (26) is slidably arranged on the workpiece fixing digital display positioning guide rail (25). A locking assembly (261) for locking it at any position on the workpiece fixing digital display positioning guide rail (25) is provided on the workpiece fixing digital display positioning slider (26). The workpiece fixing positioning digital display meter (27) is arranged on the workpiece fixing digital display positioning slider (26).

[0028] The working principle of the present utility model is as follows: The laser welding head is connected to the laser through an optical fiber. The workpiece fixing device is used as a jig to clamp workpieces such as door and window frames, ensuring the stability and consistency of the weld positions of the workpieces. The three servo motors of the XYZ three-axis servo module and the two servo motors of the welding joint mechanism form a five-axis linkage mechanism. Among them, the XYZ three-axis servo module corresponds to the positions in the three spatial dimensions of X, Y, and Z in space, enabling the driving laser welding head to be matched with the workpiece position. The welding joint mechanism is used for adjusting the joint angle during welding, driving the laser welding head to perform joint movements in the horizontal and vertical directions, and can weld complex seams. The five-axis linkage mechanism is linked. After being connected to the supporting motion controller, welding can be automatically implemented. During automatic welding, the motion controller converts the power analog signal input on the touch screen into a voltage digital signal and transmits it to the laser. The laser emits corresponding laser light source energy according to the received voltage signal, is transmitted to the laser welding head through the optical fiber, and then is collimated and focused by the internal optical lens of the laser welding head, finally completing the photothermal conversion process. The five-axis linkage mechanism drives the laser welding head to move to the preset coordinate position to align the weld, and then moves uniformly up, down, left, and right while maintaining the welding focal length, and can choose not to fill the wire during the welding process or automatically fill the wire through the wire feeding mechanism according to the welding process requirements to achieve a uniform and beautiful weld formation.

[0029] As can be seen from the above, compared with the prior art, the present utility model also has the following advantages: With the support of the XYZ three-axis servo module and the welding joint mechanism, the laser welding head has five motion dimensions, is compatible with multi-dimensional circular arc welding functions, increases the application range, can weld complex special-shaped seams, has a high cost performance of input and output, and is flexible in production supporting applications; the wire feeding mechanism is arranged on the Y-axis servo module and moves synchronously with the laser welding head in three-dimensional space, and the wire feeding of the wire is stable. Description of the Drawings

[0030] The drawings are used to provide a further understanding of the present utility model, and are used together with the embodiments of the present utility model to explain the present utility model, and do not constitute a limitation to the present utility model. In the drawings:

[0031] Figure 1 is the front view of the five-axis laser welding equipment in the present utility model;

[0032] Figure 2 is Figure 1 the three-dimensional view of;

[0033] Figure 3 is Figure 1 the three-dimensional view from another perspective;

[0034] Figure 4 is Figure 1 the right view of;

[0035] Figure 5is Figure 1 the top view of

[0036] Figure 6 is the three-dimensional view of the Y-direction servo module and the welding joint mechanism;

[0037] Figure 7 is the exploded view of the Y-direction servo module;

[0038] Figure 8 is the exploded view of the welding joint mechanism;

[0039] Figure 9 is the principle block diagram of the control system of the five-axis platform laser welding machine.

[0040] Main reference numerals description: main machine table 0, laser welding device 1, workpiece fixing device 2, XYZ three-direction servo module 3, welding joint mechanism 4, laser 5, laser welding head 6; wire feeding mechanism 7, touch screen 8, workpiece 9; six-way start button box 12, foot switch 13, workpiece fixing cross bracket 20, workpiece fixing pressing mechanism 21, workpiece fixing digital display positioning device 22, workpiece fixing support plate 23, support feet 24; workpiece fixing digital display positioning guide rail 25, workpiece fixing digital display positioning slider 26, workpiece fixing positioning digital display meter 27, pneumatic pressing mechanism, adjustable positioning member 29; locking assembly 261;

[0041] X-direction servo module 31, Y-direction servo module 32, Z-direction servo module 33, X-direction servo slide 311, X-direction servo slider 313, X-axis servo motor 314; Y-direction servo slide 321, Y-direction servo slip ring 323, Y-axis servo motor 324, Y-direction servo fixed seat 325; Z-direction servo slide 331, Z-direction servo slider 333, Z-axis servo motor 334;

[0042] horizontal rotation vertical plate 40, horizontal rotation fork-shaped cross plate 41, C-axis servo motor 42, welding head fixing plate 43, horizontal rotation servo module 44, vertical rotation servo module 45, vertical rotation cross plate 46, vertical rotation fork-shaped vertical plate 47, B-axis servo motor 48;

[0043] wire spool holder 71 and stepping wire feeder 72, wire spool support 73, wire spool shaft 74, wire spool locking pin 75; wire feeding support 76, wire feeding roller group 77, wire feeding transmission mechanism 78, wire feeding stepping motor 79, wire feeding roller box 771, wire feeding roller guiding nozzle 772, welding wire 7b. Detailed implementation manners

[0044] The following further describes the present invention and its beneficial technical effects in detail in conjunction with the accompanying drawings and preferred implementation manners. Among them, in order to facilitate the description of the positional relationship between various components, the relative positions of the front, back, left, right, top, and bottom of each component are Figure 1The corresponding orientation of the product drawing is the reference position. The "workpiece" involved is the upper concept of the "welded part", and the "welded part" mainly refers to the frame that needs to be welded for doors and windows in the specific embodiment. This embodiment is described in terms of the overall angle of the five-axis laser welding equipment.

[0045] As Figures 1 to 5 shown, the five-axis laser welding equipment and its welding joint mechanism preferably implemented in the present utility model include a main machine table 0, a laser welding device 1, and a welded part fixing device 2, where:

[0046] The laser welding device 1 is arranged on the main machine table 0 and is used for performing all-round laser welding on the mutually connected welded parts;

[0047] The welded part fixing device 2 is arranged on the main machine table 0 and is located on the right side of the laser welding device 1 and is used for fixing the welded parts;

[0048] Among them,

[0049] The laser welding device 1 includes an XYZ three-way servo module 3, a welding joint mechanism 4, and a laser welding head 6;

[0050] The XYZ three-way servo module 3 is arranged on the top left side of the main machine table 0 and is used for adjusting the three-dimensional space position of the welding joint mechanism 4 above the main machine table 0;

[0051] The welding joint mechanism 4 is arranged on the XYZ three-way servo module 3 and is located above the welded part fixing device 2 and is used for adjusting the rotation angles of the laser welding head 6 in the horizontal and vertical directions;

[0052] The laser welding head 6 is arranged on the welding joint mechanism 4 and is located above the welded part fixing device 2 and is used for welding the welds at various places of the mutually connected welded parts; the laser welding head 6 is connected to the laser 5 through an optical fiber; the XYZ three-way servo module 3 includes an X-direction servo module 31, a Y-direction servo module 32, a Z-direction servo module 33, and a wire feeding mechanism 7 for feeding the welding wire 7b to the weld;

[0053] The X-direction servo module 31 is horizontally arranged on the top of the main machine table 0; it is used for adjusting the horizontal position in the transverse direction of the Z-direction servo module 33, that is, for adjusting the horizontal position in the transverse direction of the laser welding head 6;

[0054] The Z-direction servo module 33 is vertically arranged on the X-direction servo module 31 in a slidable manner back and forth; it is used for adjusting the vertical position of the Y-direction servo module 32, that is, for adjusting the vertical position of the laser welding head 6;

[0055] The Y-direction servo module 32 is horizontally suspended on the Z-direction servo module 33 in a slidable manner up and down; it is used for adjusting the horizontal position in the longitudinal direction of the welding joint mechanism 4, that is, for adjusting the horizontal position in the longitudinal direction of the laser welding head 6;

[0056] The welding joint mechanism 4 is slidably arranged at one end of the Y-direction servo module 32; it is used for joint adjustment of the welding angle of the laser welding head 6.

[0057] The wire feeding mechanism 7 is arranged on the Y-direction servo module 32. Ensure that the wire feeding mechanism 7 and the laser welding head 6 can move synchronously in three-dimensional space to keep the wire feeding smooth during welding.

[0058] As Figure 2 shown, preferably, the X-direction servo module 31 includes an X-direction servo slide 311, an X-direction servo lead screw assembly (not shown in the figure), an X-direction servo slider 313, and an X-axis servo motor 314. The X-direction servo slide 311 is horizontally arranged on the top of the main machine table 0. The X-direction servo lead screw assembly is arranged inside the X-direction servo slide 311. The X-axis servo motor 314 is arranged at one end of the X-direction servo slide 311 and is drivingly connected to one end of the lead screw of the X-direction servo lead screw assembly. The X-direction servo slider 313 is slidably arranged on the X-direction servo slide 311 and is fixedly arranged with the lead screw nut of the X-direction servo lead screw assembly. The lower end of the Z-direction servo module 33 is fixed on the X-direction servo slider 313.

[0059] As Figure 2 shown, preferably, the Z-direction servo module 33 includes a Z-direction servo slide 331, a Z-direction servo lead screw assembly (not shown in the figure), a Z-direction servo slider 333, and a Z-axis servo motor 334. The Z-direction servo slide 331 is vertically arranged on the X-direction servo slider 313. The Z-direction servo lead screw assembly is arranged inside the Z-direction servo slide 331. The Z-axis servo motor 334 is arranged at the upper end of the Z-direction servo slide 331 and is drivingly connected to one end of the lead screw of the Z-direction servo lead screw assembly. The Z-direction servo slider 333 is slidably arranged on the Z-direction servo slide 331 and is fixedly arranged with the lead screw nut of the Z-direction servo lead screw assembly. The left end of the Y-direction servo module 32 is fixed on the Z-direction servo slider 333.

[0060] As Figure 2 、 Figures 6 to 7 shown, preferably, the Y-direction servo module 32 includes a Y-direction servo slide 321, a Y-direction servo lead screw assembly (not shown in the figure), a Y-direction servo slip ring 323, a Y-axis servo motor 324, and a Y-direction servo fixed seat 325. The Y-direction servo fixed seat 325 is horizontally arranged on the Z-direction servo slider 333. The Y-direction servo slip ring 323 is arranged inside the Y-direction servo fixed seat 325. The Y-direction servo slide 321 is slidably arranged on the Y-direction servo slip ring 323. The Y-direction servo lead screw assembly is arranged inside the Y-direction servo slide 321. The Y-direction servo slip ring 323 is fixedly arranged with the lead screw nut of the Y-direction servo lead screw assembly. The Y-axis servo motor 324 is arranged at one end of the Y-direction servo slide 321 and is drivingly connected to one end of the lead screw of the Y-direction servo lead screw assembly. The welding joint mechanism 4 is fixed at the right end of the Y-direction servo slide 321.

[0061] As Figures 2 to 3 , Figures 6 to 7 shown, preferably, in order to synchronize the wire feeding mechanism 7 with the position of the Y-direction servo slide 321 and ensure the accuracy of wire feeding, the wire feeding mechanism 7 includes a spool holder 71 and a stepping wire feeder 72 both arranged on the Y-direction servo slide 321. The spool holder 71 is arranged on the left side of the Y-direction servo slide 321, and the stepping wire feeder 72 is arranged on the right side of the Y-direction servo slide 321;

[0062] The spool holder 71 includes a vertically and horizontally folded spool support 73. The lower part of the spool support 73 is vertically arranged outside the Y-direction servo slide 321. A spool shaft 74 for mounting the wire spool 7a is horizontally arranged on the spool support 73. One end of the spool shaft 74 facing inwards is fixed on the spool support 73, and a spool lock pin 75 for preventing the wire spool 7a from falling off is arranged at the outer end of the spool shaft 74;

[0063] The stepping wire feeder 72 includes a wire feeding support 76. The lower part of the wire feeding support 76 is vertically arranged outside the Y-direction servo slide 321. A wire feeding support plate 70 is arranged on the wire feeding support 76. A wire feeding roller set 77 for pressing the wire 7b up and down and a wire feeding transmission mechanism 78 for driving the wire feeding roller set 77 to feed wire are arranged on the wire feeding support plate 70. The wire feeding roller set 77 and the wire feeding transmission mechanism 78 are arranged side by side on the wire feeding support plate 70; A wire feeding stepping motor 79 is arranged above the wire feeding transmission mechanism 78, and the wire feeding transmission mechanism 78 and the wire feeding stepping motor 79 are in transmission connection; A wire feeding roller box 771 is arranged outside the wire feeding roller set 77, and a wire feeding roller guide nozzle 772 for the wire 7b to pass through is arranged on the wire feeding roller box 771.

[0064] As Figures 2 to 4 , Figure 6 , Figure 8 shown, preferably, the welding joint mechanism 4 includes a vertical rotation servo module 45 that can drive the laser welding head 6 to rotate in the vertical plane and a horizontal rotation servo module 44 that can drive the vertical rotation servo module 45 to rotate in the horizontal plane. The horizontal rotation servo module 44 is suspended and arranged at the right end of the Y-direction servo module 32, and the vertical rotation servo module 45 is suspended and arranged at the lower end of the horizontal rotation servo module 44.

[0065] As Figure 8 shown, preferably, the horizontal rotation servo module 44 includes a horizontal rotation vertical plate 40, a horizontal rotation fork-shaped cross plate 41, and a C-axis servo motor 42. The horizontal rotation vertical plate 40 is arranged at the right end of the Y-direction servo module 32. The left end of the horizontal rotation fork-shaped cross plate 41 is arranged on the right side of the horizontal rotation vertical plate 40, and the right end of the horizontal rotation fork-shaped cross plate 41 extends outwards to the right in a suspended manner. The C-axis servo motor 42 for driving the vertical rotation servo module 45 to rotate in the horizontal plane is vertically arranged at the fork-shaped opening at the right end of the horizontal rotation fork-shaped cross plate 41.

[0066] As Figure 8 shown, preferably, the vertical rotation servo module 45 includes a vertical rotation cross plate 46, a vertical rotation fork-shaped vertical plate 47, and a B-axis servo motor 48. The vertical rotation cross plate 46 is disposed below the horizontal rotation fork-shaped cross plate 41 and is drivingly connected to the C-axis servo motor 42. The upper end of the vertical rotation fork-shaped vertical plate 47 is disposed on the right side of the vertical rotation cross plate 46, and the lower end of the vertical rotation fork-shaped vertical plate 47 extends downwardly in a suspended manner. The B-axis servo motor 48 that drives the laser welding head 6 to rotate in the vertical plane is horizontally disposed at the fork-shaped opening at the lower end of the vertical rotation fork-shaped vertical plate 47. A welding head fixing plate 43 is provided on the right side of the vertical rotation fork-shaped vertical plate 47, and the welding head fixing plate 43 is drivingly connected to the B-axis servo motor 48. The laser welding head 6 is fixed to the right side of the welding head fixing plate 43.

[0067] The three servo motors of the X-axis servo motor 314, the Y-axis servo motor 324, and the Z-axis servo motor 334 in the XYZ three-axis servo module 3 and the two servo motors of the C-axis servo motor 42 and the B-axis servo motor 48 in the welding joint mechanism 4 constitute a five-axis linkage mechanism, that is, the X-axis servo motor 314, the Y-axis servo motor 324, the Z-axis servo motor 334, the C-axis servo motor 42, and the B-axis servo motor 48 respectively correspond to the "five axes" in the five-axis linkage mechanism as the X-axis, the Y-axis, the Z-axis, the C-axis, and the B-axis. Among them, the XYZ three-axis servo module 3 corresponds to the positions of the three spatial dimensions of XYZ in space, so that the driving laser welding head 6 corresponds to the position of the workpiece. The welding joint mechanism 4 is used for adjusting the joint angle during welding, driving the laser welding head 6 to perform joint movements in the horizontal and vertical directions, and can weld complex shaped seams.

[0068] As Figures 2 to 5 shown, preferably, the weldment fixing device 2 includes a weldment fixing cross bracket 20, a weldment fixing pressing mechanism 21, and a weldment fixing digital display positioning device 22. The weldment fixing cross bracket 20 includes four weldment fixing support plates 23 arranged in a "cross" shape on the main machine table 0. The four weldment fixing support plates 23 are arranged on the main machine table 0 in the front-back and left-right orientations. The right end of the right weldment fixing support plate 23 extends out in a suspended manner to the right side of the main machine table 0, and a support foot 24 is provided at its right end. Each weldment fixing support plate 23 is provided with an adjustable positioning member 29

[0069] The weldment fixing pressing mechanism 21 includes four groups of pneumatic pressing mechanisms arranged on the main machine table 0. The four groups of pneumatic pressing mechanisms are correspondingly arranged beside the four weldment fixing support plates 23. The pneumatic pressing mechanism is preferably mainly composed of a cylinder and a movable pressing assembly driven by the cylinder;

[0070] The welding part fixing digital display positioning device 22 includes a welding part fixing digital display positioning guide rail 25, a welding part fixing digital display positioning slider 26, and a welding part fixing positioning digital display meter 27. The welding part fixing digital display positioning guide rail 25 is arranged on the main machine table 0 and is parallel to the welding part fixing support plate 23 on the left side; the welding part fixing digital display positioning slider 26 is slidably arranged on the welding part fixing digital display positioning guide rail 25, and a locking component 261 for locking it at any position on the welding part fixing digital display positioning guide rail 25 is provided on the welding part fixing digital display positioning slider 26; the welding part fixing positioning digital display meter 27 is arranged on the welding part fixing digital display positioning slider 26.

[0071] Implementation support: The welding part fixing cross bracket 20 is used in matching with the welding part fixing digital display positioning device 22. This positioning method is applicable to the positioning and clamping of workpieces with 45-degree miter joints, T-shaped and cross-shaped joints. An open pneumatic clamping welding part fixing pressing mechanism 21 is adopted, which has strong adaptability to non-standard workpiece sizes and is convenient to operate. Moreover, the five-axis laser welding equipment has five servo motors corresponding to five servo motion axes, which can meet the welding requirements of various angles and orientations; when welding window frames, there are various types of splicing joints on each window frame, and the weld lengths and layouts on the front and back sides are different. It is not easy to quickly switch between these multiple welding paths and corresponding welding parameters on a single five-axis laser welding equipment. To solve this difficulty, first, some improvements are made in the program architecture of the motion controller, integrating the functions of storing and calling 40 groups of welding recipes. Each recipe contains 6 action paths and corresponding welding parameters, and the program can meet the welding processes of various product profiles. Due to the large number of program recipes, each time before switching to weld a joint, it is necessary to enter the touch screen of the motion controller to select the program, resulting in inconvenient operation and affecting efficiency. Therefore, two six-way start button boxes 12 with 6-way start buttons are installed in parallel in the left and right operation areas of the main machine table 0. Each start button of the six-way start button box 12 corresponds to a set of independent welding action paths and welding parameters, and pictures corresponding to the joint forms are pasted above the start buttons, so that the start buttons can be quickly selected during operation, and the operation is simple and practical. For more convenient operation, two foot switches 13 are installed in parallel in the left and right operation areas of the main machine table 0.

[0072] The five-axis platform laser welding machine needs to be controlled by the five-axis platform laser welding machine control system to achieve automated welding, such as Figure 9As shown in the figure, the control system of the five-axis platform laser welding machine includes a human-machine interface, a motion controller, an X-axis servo drive, a Y-axis servo drive, a Z-axis servo drive, a C-axis servo drive, a B-axis servo drive, and a cylinder fixture drive; the human-machine interface for human-machine interaction is electrically connected to the motion controller that controls the actions of the five-axis platform laser welding machine, and the motion controller is electrically connected to the X-axis servo drive, Y-axis servo drive, Z-axis servo drive, C-axis servo drive, and B-axis servo drive respectively; the X-axis servo drive, Y-axis servo drive, Z-axis servo drive, C-axis servo drive, and B-axis servo drive are electrically connected to the corresponding X-axis servo motor 314, Y-axis servo motor 324, Z-axis servo motor 334, C-axis servo motor 42, and B-axis servo motor 48 respectively. Among them, the human-machine interface is preferably a touch screen 8, and the touch screen 8 is arranged on the main machine table 0. The cylinder fixture drive drives the pneumatic clamping mechanism through the electrical connection of the control solenoid valve, and the solenoid valve controls the connection between the cylinder of the pneumatic clamping mechanism and the high-pressure air source. The welding parameters are input through the human-machine interface. After the welding parameters are transmitted to the motion controller, the motion controller issues commands for the action process technology to the servo drives of each "axis" in the "five axes" according to the parameters, and the servo drive then drives the corresponding servo motor to operate; realizing the speed control, position positioning, linear interpolation motion, and circular interpolation motion of each servo motor, driving the laser welding head 6 to make corresponding welding trajectories, and realizing the automatic welding of complex joints such as doors and windows.

[0073] See Figures 1 to 5 , taking the welding of the workpiece as a window frame as an example, the operation method of the present invention is as follows:

[0074] (1) Lean the cut horizontal material of the window frame profile against the adjustable positioning part 29 on the welding part fixing support plate 23 in the horizontal direction of the welding part fixing cross bracket 20. The vertical material of the window frame profile is pushed forward against the digital display scale of the digital display positioning device 22 for welding part fixing and leans to the right against the adjustable positioning part 29 on the welding part fixing support plate 23 in the vertical direction. The horizontal material and vertical material of the window frame profile are tightly joined at the joint.

[0075] (2) Step on the foot switch 13. After the pneumatic pressing cylinder of the welding part fixing and pressing mechanism 21 presses the workpiece and then releases it, there are 6 options to click the start button corresponding to the joint type of the corresponding welding port in the six-way start button box 12. Each way corresponds to a set of independent welding action paths and welding parameters. Under the control of the motion controller, the XYZ three-way servo module 3 and the welding joint mechanism 4 drive the welding head to automatically complete the whole set of welding actions, and then return to the standby position. At the same time, the welding part fixing and pressing mechanism 21 releases.

[0076] (3) Then, shift the welded frame components to the right and continue to supplement a horizontal section of the window frame profile on the left. Repeat the above operations. After welding the middle components of the window frame, weld the interfaces around the window frame. The welding of the middle components of the window frame and the welding process of the window frame border group can also be carried out in a flow operation on two separate machines.

[0077] In the above description, for the content that is commonly used in the prior art, such as the transmission connection components and machining processes related to the X-axis servo lead screw assembly, Y-axis servo lead screw assembly, Z-axis servo lead screw assembly, cylinder drive, motor rotation drive, etc., and the laser, laser welding head, etc. are finished products that can be purchased on the market. To save space, they will not be elaborated further. Other processing techniques and parts not disclosed can be processed according to the conventional techniques of the prior art.

[0078] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A welding joint mechanism of a five-axis laser welding device. The welding joint mechanism (4) includes a vertical rotation servo module (45) that can drive a laser welding head (6) to rotate in a vertical plane and a horizontal rotation servo module (44) that can drive the vertical rotation servo module (45) to rotate in a horizontal plane. The vertical rotation servo module (45) is suspended at the lower end of the horizontal rotation servo module (44); it is characterized in that, The horizontal rotation servo module (44) comprises a horizontal rotation vertical plate (40), a horizontal rotation fork-shaped horizontal plate (41) and a C-axis servo motor (42); the horizontal rotation vertical plate (40) is arranged at the right end of the Y-direction servo module (32); the left end of the horizontal rotation fork-shaped horizontal plate (41) is arranged on the right side of the horizontal rotation vertical plate (40); the right end of the horizontal rotation fork-shaped horizontal plate (41) is suspended and extends to the right side; the C-axis servo motor (42) driving the vertical rotation servo module (45) to rotate in a horizontal plane is vertically arranged at the fork-shaped opening at the right end of the horizontal rotation fork-shaped horizontal plate (41).

2. The welding joint mechanism of the five-axis laser welding equipment according to claim 1, characterized in that, The vertical rotation servo module (45) comprises a vertical rotation transverse plate (46), a vertical rotation fork-shaped vertical plate (47) and a B-axis servo motor (48); the vertical rotation transverse plate (46) is arranged below the horizontal rotation fork-shaped transverse plate (41) and is transmission-connected to the C-axis servo motor (42); the upper end of the vertical rotation fork-shaped vertical plate (47) is arranged on the right side of the vertical rotation transverse plate (46); the lower end of the vertical rotation fork-shaped vertical plate (47) is suspended and extends downward; the B-axis servo motor (48) that drives the laser welding head (6) to rotate in a vertical plane is horizontally arranged at the fork-shaped opening at the lower end of the vertical rotation fork-shaped vertical plate (47); a welding head fixing plate (43) is arranged on the right side of the vertical rotation fork-shaped vertical plate (47); the welding head fixing plate (43) is transmission-connected to the B-axis servo motor (48); and the laser welding head (6) is fixed on the right side of the welding head fixing plate (43).

3. A five-axis laser welding device, comprising a main machine (0), a laser welding device (1), and a weldment fixing device (2), characterized in that: The laser welding device (1) is arranged on a main machine platform (0) and is used to perform all-round laser welding on mutually connected weldments; The weldment fixing device (2) is arranged on the main machine platform (0), located on the right side of the laser welding device (1), and is used to fix the weldment; in, The laser welding device (1) comprises an XYZ three-axis servo module (3), a welding joint mechanism (4) as claimed in claim 2, and a laser welding head (6); An XYZ three-way servo module (3) is arranged on the top left side of the main platform (0) and is used to adjust the three-dimensional spatial position of the welding joint mechanism (4) above the main platform (0); The welding joint mechanism (4) is arranged on the XYZ three-way servo module (3), located above the weldment fixing device (2), and is used to adjust the rotation angle of the laser welding head (6) in the horizontal direction and the vertical direction; The laser welding head (6) is arranged on the welding joint mechanism (4) and is located above the weldment fixing device (2), and is used to weld the weld seams of the weldments connected to each other; the XYZ three-axis servo module (3) comprises an X-axis servo module (31), a Y-axis servo module (32), a Z-axis servo module (33), and a welding wire feeding mechanism (7) for conveying the welding wire (7b) to the welding seam; The X-direction servo module (31) is horizontally arranged on the top of the main platform (0); The Z-direction servo module (33) is vertically arranged on the X-direction servo module (31) so as to be slidable forward and backward; The Y-axis servo module (32) is horizontally suspended on the Z-axis servo module (33) in a slidable manner up and down; The welding joint mechanism (4) is arranged at one end of the Y-axis servo module (32) in a slidable manner left and right; The wire feeding mechanism (7) is arranged on the Y-axis servo module (32).

4. The five-axis laser welding device according to claim 3, characterized in that, The X-axis servo module (31) includes an X-axis servo slide (311), an X-axis servo lead screw assembly, an X-axis servo slider (313), and an X-axis servo motor (314). The X-axis servo slide (311) is horizontally arranged on the top of the main machine table (0). The X-axis servo lead screw assembly is arranged inside the X-axis servo slide (311). The X-axis servo motor (314) is arranged at one end of the X-axis servo slide (311) and is in transmission connection with one end of the lead screw of the X-axis servo lead screw assembly. The X-axis servo slider (313) is arranged on the X-axis servo slide (311) in a slidable manner back and forth and is fixedly arranged with the lead screw nut of the X-axis servo lead screw assembly. The lower end of the Z-axis servo module (33) is fixed on the X-axis servo slider (313).

5. The five-axis laser welding device according to claim 4, characterized in that The Z-axis servo module (33) includes a Z-axis servo slide (331), a Z-axis servo lead screw assembly, a Z-axis servo slider (333), and a Z-axis servo motor (334). The Z-axis servo slide (331) is vertically arranged on the X-axis servo slider (313). The Z-axis servo lead screw assembly is arranged inside the Z-axis servo slide (331). The Z-axis servo motor (334) is arranged at the upper end of the Z-axis servo slide (331) and is in transmission connection with one end of the lead screw of the Z-axis servo lead screw assembly. The Z-axis servo slider (333) is arranged on the Z-axis servo slide (331) in a slidable manner up and down and is fixedly arranged with the lead screw nut of the Z-axis servo lead screw assembly. The left end of the Y-axis servo module (32) is fixed on the Z-axis servo slider (333).

6. The five-axis laser welding equipment according to claim 5, characterized in that, The Y-axis servo module (32) includes a Y-axis servo slide (321), a Y-axis servo lead screw assembly, a Y-axis servo slip ring (323), a Y-axis servo motor (324), and a Y-axis servo fixed seat (325). The Y-axis servo fixed seat (325) is horizontally arranged on the Z-axis servo slider (333). The Y-axis servo slip ring (323) is arranged inside the Y-axis servo fixed seat (325). The Y-axis servo slide (321) is arranged on the Y-axis servo slip ring (323) in a slidable manner left and right. The Y-axis servo lead screw assembly is arranged inside the Y-axis servo slide (321). The Y-axis servo slip ring (323) is fixedly arranged with the lead screw nut of the Y-axis servo lead screw assembly. The Y-axis servo motor (324) is arranged at one end of the Y-axis servo slide (321) and is in transmission connection with one end of the lead screw of the Y-axis servo lead screw assembly. The welding joint mechanism (4) is fixed at the right end of the Y-axis servo slide (321).

7. The five-axis laser welding device according to claim 6, characterized in that The wire feeding mechanism (7) includes a wire spool rack (71) and a stepping wire feeder (72) both arranged on the Y-axis servo slide (321). The wire spool rack (71) is arranged on the left side of the Y-axis servo slide (321), and the stepping wire feeder (72) is arranged on the right side of the Y-axis servo slide (321); The wire reel frame (71) comprises a wire reel support (73) in a vertically and horizontally folded shape, the lower part of the wire reel support (73) is vertically arranged on the outer side of the Y-direction servo slide (321), and a wire reel shaft (74) for mounting a welding wire reel (7a) is arranged horizontally on the wire reel support (73), the inward end of the wire reel shaft (74) is fixed to the wire reel support (73), and the outward end of the wire reel shaft (74) is provided with a wire reel locking pin (75) for preventing the welding wire reel (7a) from falling off; The stepping wire feeder (72) comprises a wire feeding bracket (76), the lower part of which is vertically arranged on the outer side of a Y-direction servo slide (321), a wire feeding support plate (70) being arranged on the wire feeding bracket (76), a wire feeding roller group (77) for pressing the welding wire (7b) up and down and a wire feeding transmission mechanism (78) for driving the wire feeding roller group (77) to feed the wire being arranged on the wire feeding support plate (70), the wire feeding roller group (77) and the wire feeding transmission mechanism (78) being arranged side by side on the wire feeding support plate (70); a wire feeding stepping motor (79) being arranged above the wire feeding transmission mechanism (78), the wire feeding transmission mechanism (78) and the wire feeding stepping motor (79) being in transmission connection; a wire feeding roller box (771) being arranged on the outer side of the wire feeding roller group (77), the wire feeding roller box (771) being provided with a wire feeding roller guide nozzle (772) for the welding wire (7b) to pass through.

8. The five-axis laser welding equipment according to claim 7, characterized in that, The weldment fixing device (2) comprises a weldment fixing cross bracket (20), a weldment fixing pressing mechanism (21) and a weldment fixing digital display positioning device (22), the weldment fixing cross bracket (20) comprising four weldment fixing support plates (23) arranged in a "cross" shape on the main machine platform (0), the four weldment fixing support plates (23) being arranged on the main machine platform (0) in front, back, left and right directions, wherein the right end of the right weldment fixing support plate (23) is suspended and extends to the right side of the main machine platform (0), and a supporting foot (24) is provided at the right end; each weldment fixing support plate (23) is provided with an adjustable positioning member (29); The weldment fixing pressing mechanism (21) comprises four groups of pneumatic pressing mechanisms () arranged on the main machine platform (0), and the four groups of pneumatic pressing mechanisms () are arranged one by one on the sides of four weldment fixing support plates (23); The weldment fixing digital display positioning device (22) comprises a weldment fixing digital display positioning guide rail (25), a weldment fixing digital display positioning slider (26), and a weldment fixing positioning digital display meter (27). The weldment fixing digital display positioning guide rail (25) is arranged on the main machine platform (0) and is parallel to the weldment fixing support plate (23) on the left side; the weldment fixing digital display positioning slider (26) is arranged on the weldment fixing digital display positioning guide rail (25) so as to be slidable left and right; the weldment fixing digital display positioning slider (26) is provided with a locking assembly (261) for locking the weldment fixing digital display positioning guide rail (25) at any position; and the weldment fixing positioning digital display meter (27) is arranged on the weldment fixing digital display positioning slider (26).

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