Laser welding device

Abstract

The utility model relates to a laser welding device which is used for welding a splicing seam of a door ring splicing piece and comprises a plurality of welding units, each welding unit is provided with two parallel gantry supports, a cross beam is arranged on the supports, a first displacement assembly is arranged on one side of the cross beam, and the first moving end of the first displacement assembly moves in the direction of the cross beam and is connected with a second displacement assembly; the second moving ends of the welding units move in the direction perpendicular to the horizontal plane, the two laser welding guns are connected with the two second moving ends respectively, the two laser welding guns in the same welding unit move in the opposite directions, the multiple welding units are sequentially arranged in the first direction, and the laser welding guns in the adjacent welding units move in the opposite directions. According to the laser welding device, through the structural combination, movement interference among the laser welding guns is effectively avoided, the multiple welding units can synchronously weld multiple abutted seams, and the welding efficiency and the system collaboration are improved.

Description

Technical Field

[0001] This utility model relates to welding apparatus, and more particularly to laser welding apparatus. Background Technology

[0002] With the continuous improvement of industrial manufacturing automation, laser welding technology, due to its advantages such as concentrated heat input, high welding speed, and high weld quality, has been widely used in the splicing processes of large components in the automotive, shipbuilding, and rail transportation industries. Specifically, for the splicing of ring or circular components, laser welding equipment is often used to weld the joints to achieve high-strength, high-sealing connections. Especially in the welding of door ring-like components, to ensure the efficiency and consistency of joint welding, there is an urgent need for automated welding systems with multiple welding torches working in parallel to address the requirements of a large number of components, complex welding paths, and short welding cycles.

[0003] In the existing technology, in order to enable multiple laser welding guns to weld seams at different locations simultaneously, a gantry support structure is usually adopted. Each gantry is equipped with one or more movable welding units, which include a moving mechanism and a laser welding gun to improve the positioning accuracy of the weld seam. Some solutions also attempt to use multiple sets of welding guns to perform parallel operations on multiple weld seams at the same time, thereby shortening the overall welding time and improving the equipment utilization rate.

[0004] However, due to the intersections or mutual interference of the movement paths between the laser welding torches, adjacent torches need to work at different times or allow for clearance, which not only reduces the overall welding efficiency but also hinders the compact design of the device and the coordinated optimization of the control system. Therefore, there is an urgent need to propose a new type of laser welding device to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a laser welding device that effectively avoids path interference between multiple laser welding guns, enables synchronous welding of multiple seams, and thus improves welding efficiency and equipment space utilization.

[0006] The technical solution adopted by this utility model to solve the above problems is: a laser welding device for welding the seams of door ring splicing parts, characterized in that it includes several welding units, wherein the welding unit includes:

[0007] Two parallel gantry supports, each gantry support including a crossbeam parallel to the horizontal plane, the two ends of the crossbeam being defined as a first end and a second end, respectively;

[0008] Two displacement mechanisms are respectively mounted on the two crossbeams, and each displacement mechanism includes:

[0009] A first displacement component is disposed on one side of the crossbeam. The first displacement component includes a first movable end that is controlled to move, and the moving direction of the first movable end is parallel to the extending direction of the crossbeam.

[0010] A second displacement component is connected to the first moving end. The second displacement component includes a second moving end that is controlled to move, and the moving direction of the second moving end is perpendicular to the horizontal plane.

[0011] Two laser welding guns are respectively connected to two second moving ends, and the two laser welding guns in the same welding unit are configured to move in opposite directions when the laser welding device is working.

[0012] The welding units are arranged sequentially along a first direction, and two adjacent laser welding guns in adjacent welding units are configured to move in opposite directions when the laser welding device is working.

[0013] Preferably, the laser welding apparatus further includes:

[0014] A visual inspection device includes several visual sensors, each of which is connected to each of the second moving ends in a one-to-one correspondence, so as to determine the offset between the laser emitted by the laser welding gun and the seam when the door ring splicing component moves under the laser welding gun;

[0015] A controller is connected to the vision inspection device, the displacement mechanism, and the laser welding gun. The controller is configured to control the movement of the first moving end and the second moving end according to the offset, so that the laser emitted by the laser welding gun falls on the joint of the door ring splice.

[0016] Preferably, the laser welding apparatus further includes:

[0017] A rotary mechanism is disposed between the laser welding gun and the second moving end. The rotary mechanism includes a fixed end and a rotating end that is controlled to rotate. The fixed end is connected to the second moving end, and the rotating end is connected to the laser welding gun. The rotation plane of the rotating end is parallel to the extension direction of the crossbeam and perpendicular to the horizontal plane.

[0018] Preferably, the rotating end of the rotary mechanism is configured to rotate relative to the fixed end about an axis perpendicular to the crossbeam under the control of the controller, so as to adjust the laser emission direction of the laser welding gun.

[0019] Preferably, both the first displacement component and the second displacement component are electric slides or servo drive mechanisms to achieve high-precision two-dimensional linkage control.

[0020] Preferably, the vision sensor is equipped with an optical calibration module for spatial alignment calibration with the laser axis emitted by the laser welding gun.

[0021] Preferably, the laser welding device further includes an alarm module, which is configured to issue an alarm signal and send a signal to the controller when the visual inspection device detects that the offset between the seam of the door ring splice and the axis of the laser beam emitted by the laser welding gun exceeds a set threshold, so that the controller can stop the laser welding gun from running.

[0022] The beneficial effects of the embodiments of this utility model are as follows:

[0023] 1. Because two laser welding guns with opposite moving directions are used in each welding unit, and multiple welding units are arranged sequentially along the first direction, and the laser welding guns in adjacent welding units are also configured with opposite moving directions, the motion interference problem caused by the intersection of the moving paths of the laser welding guns in the prior art is effectively solved. This allows multiple laser welding guns to weld multiple seams simultaneously without interfering with each other, thereby achieving the technical effects of improving welding efficiency, shortening the operation cycle, improving equipment space utilization and control system coordination capabilities.

[0024] 2. By employing a visual inspection device to acquire the offset between the laser welding gun and the seam in real time, and by controlling the first and second moving ends through a controller to achieve automatic alignment, the technical means of laser welding gun positioning inaccurate and weld seam offset difficult to dynamically correct in the prior art are effectively solved. This achieves the technical effect that the laser beam always accurately acts on the seam of the door ring splice, significantly improving welding quality and automation.

[0025] 3. Because a rotary mechanism is set between the laser welding gun and the second moving end, and the rotating end of the rotary mechanism can rotate relative to the fixed end around an axis perpendicular to the crossbeam under the drive of the controller, thereby adjusting the laser emission direction, the problem that the laser welding gun emission direction cannot flexibly match the actual weld direction when there is curvature or directional deviation in the weld path in the prior art is effectively solved. This achieves flexible tracking capability for complex weld paths and enhances the adaptability and processing accuracy of the device. Attached Figure Description

[0026] Figure 1 This is a front view of a laser welding apparatus shown in an embodiment of the present invention.

[0027] Figure 2 This is a top view of a laser welding apparatus according to an embodiment of the present invention.

[0028] Figure 3 This is a side view of a laser welding apparatus according to an embodiment of the present invention.

[0029] Among them: 10, welding unit; 110, gantry support; 111, crossbeam; 1111, first end; 1112, second end; 120, displacement mechanism; 121, first displacement component; 122, second displacement component; 130, laser welding gun; 140, vision inspection device; 150, rotation mechanism. Detailed Implementation

[0030] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0031] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0032] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0033] See Figures 1 to 3A preferred embodiment of this application provides a laser welding device for welding the seams of door ring splices. The laser welding device includes several welding units 10, each with the same structure and arranged sequentially along the extension direction of the device, for simultaneous welding of multiple seam positions. Each welding unit 10 includes two parallel gantry supports 110, two displacement mechanisms 120, and two laser welding guns 130. The gantry support 110 includes a horizontal beam 111 parallel to the horizontal plane, with its two ends defined as a first end 1111 and a second end 1112. The two displacement mechanisms 120 are respectively disposed on the two horizontal beams 111. Each displacement mechanism 120 includes a first displacement component 121 and a second displacement component 122. The first displacement component 121 is disposed on one side of the horizontal beam 111 and includes a first moving end that is controlled to move. The moving direction of the first moving end is parallel to the extension direction of the horizontal beam 111. The second displacement component 122 is disposed on the horizontal beam 111. The first moving end is connected, and the second displacement component 122 includes a controlled moving second moving end, the moving direction of which is perpendicular to the horizontal plane; the two laser welding guns 130 are respectively connected to the two second moving ends, and the two laser welding guns 130 in the same welding unit 10 are configured to move in opposite directions when the laser welding device is working; and the plurality of welding units 10 are arranged sequentially along a first direction, and the two adjacent laser welding guns 130 in adjacent welding units 10 are configured to move in opposite directions when the laser welding device is working.

[0034] Specifically:

[0035] Each welding unit 10 includes two parallel gantry supports 110. Each gantry support 110 is a frame structure with a horizontal beam 111 parallel to the horizontal plane. The horizontal beam 111 can be made of metal profiles to ensure high strength and stability. Both ends of the horizontal beam 111 are fixed to the top of supporting columns, forming a stable spatial load-bearing platform.

[0036] A displacement mechanism 120 is provided on each crossbeam 111. The displacement mechanism 120 includes a first displacement component 121 and a second displacement component 122. The first displacement component 121 moves along the extension direction of the crossbeam 111, forming a linear drive module in the horizontal direction. The first displacement component 121 can be driven by an electric slide table, a synchronous belt slide rail, or a servo screw. The first moving end is fixed on it and can move precisely along the direction of the crossbeam 111.

[0037] The second displacement component 122 is disposed on the first moving end, and its structure is a vertical linear moving device. The second moving end can move up and down in the vertical direction, thereby forming a three-dimensional moving structure. The second displacement component 122 can also be in the form of a servo cylinder, an electric lifting mechanism, etc., to provide high-precision vertical adjustment capability.

[0038] Each welding unit 10 is equipped with two laser welding guns 130, which are respectively mounted on two second moving ends for spot welding of the joints of the door ring splicing components. During operation, the two laser welding guns 130 are set in opposite directions, that is, one laser welding gun 130 moves from left to right and the other moves from right to left, so as to achieve opposite operation within the same welding unit 10 and avoid trajectory overlap and interference.

[0039] Multiple welding units 10 are arranged sequentially along the extension direction of the device. Adjacent laser welding guns 130 between units are also configured to move in opposite directions, that is, in adjacent welding units 10, the movement directions of the laser welding guns 130 are staggered. This structural design can prevent trajectory conflicts of the laser welding guns 130 during operation and facilitates unified programming control.

[0040] In actual operation, once the door ring splice is positioned in the welding area, each welding unit 10 is activated. The first displacement component 121 drives the laser welding gun 130 to follow the direction of the splice, and the second displacement component 122 dynamically adjusts according to the welding height or changes in the splice surface, thereby achieving precise welding path control. If the system is combined with a vision recognition and control module, it can also achieve automatic correction, tracking, and closed-loop control.

[0041] This device is suitable for multi-segment welding of large door rings or circular components, and is particularly suitable for applications with long welding paths, numerous weld seams, and high welding cycle requirements. The recommended operating environment is an industrial workshop with constant temperature and no strong airflow disturbance. Sufficient space must be reserved for the welding track during installation.

[0042] In this embodiment, since two laser welding guns 130 with opposite moving directions are used in each welding unit 10, and multiple welding units 10 are arranged sequentially along the device direction, with the laser welding guns 130 in adjacent welding units 10 also configured with opposite moving directions, the motion interference problem caused by the intersection of the moving paths of the laser welding guns 130 in the prior art is effectively solved. This allows multiple laser welding guns 130 to simultaneously weld multiple seams without interfering with each other, thereby achieving the technical effects of improving welding efficiency, shortening the operation cycle, improving equipment space utilization, and enhancing the coordination capability of the control system.

[0043] To further improve welding accuracy and path adaptability, in some embodiments, the laser welding apparatus also includes a vision inspection device 140, a controller, and a rotation mechanism 150. The visual inspection device 140 includes several visual sensors, each of which is connected to a corresponding second moving end to determine the offset between the laser emitted by the laser welding gun 130 and the seam when the door ring splice moves below the laser welding gun 130. A controller is connected to the visual inspection device 140, the displacement mechanism 120, and the laser welding gun 130. The controller is configured to control the movement of the first and second moving ends according to the offset, so that the laser emitted by the laser welding gun 130 falls on the seam of the door ring splice. A rotation mechanism 150 is disposed between the laser welding gun 130 and the second moving end. The rotation mechanism 150 includes a fixed end and a controlled rotating end. The fixed end is connected to the second moving end, and the rotating end is connected to the laser welding gun 130. The rotation plane of the rotating end is parallel to the extension direction of the crossbeam 111 and perpendicular to the horizontal plane. The rotating end of the rotary mechanism 150 is configured to rotate relative to the fixed end about an axis perpendicular to the crossbeam 111 under the control of the controller, so as to adjust the laser emission direction of the laser welding gun 130.

[0044] Specifically:

[0045] The visual inspection device 140 includes several visual sensors, each fixedly mounted on the second movable end, forming a one-to-one correspondence with the laser welding gun 130 on the second movable end. The visual sensors are preferably industrial-grade image acquisition devices equipped with an image processing module. This module captures image information of the door ring splice as it moves below the welding gun during the welding process, identifies the spatial position of the splice seam, and calculates in real-time the offset between the laser welding gun 130's light emission point and the actual splice seam based on the identification results.

[0046] The controller is a central control module, electrically connected to the vision inspection device 140, all displacement mechanisms 120, and laser welding torch 130 via a signal bus. The controller integrates weld seam recognition and offset compensation algorithms, which, based on offset information uploaded by the vision sensors, issue real-time adjustment commands to drive the first moving end horizontally and the second moving end vertically, thereby correcting the laser beam's irradiation position and ensuring it accurately targets the seam area of ​​the door ring splicing components. Furthermore, the controller centrally manages parameters such as the start / stop status and welding power of each laser welding torch 130 to achieve fully automated control of the entire process.

[0047] To accommodate potential curvature variations or irregularities in the seam path, a rotary mechanism 150 is provided between the laser welding gun 130 and the second moving end. This rotary mechanism 150 can be implemented as an electric rotary table or a servo-driven tilting head. The rotary mechanism 150 includes a fixed end and a rotating end. The fixed end is connected to the end of the second moving end, and the rotating end is equipped with the laser welding gun 130, allowing for angle adjustment around an axis perpendicular to the crossbeam 111. The rotation plane of the rotating end is parallel to the crossbeam 111 and perpendicular to the horizontal plane. The controller can adjust the rotation angle via servo drive or stepper control to ensure that the laser emission direction of the welding gun is consistent with the tangential direction of the seam, thereby avoiding angular deviations caused by a fixed laser emission from the welding gun.

[0048] This laser welding device is suitable for high-precision welding of door ring splices with complex structures, non-linear welds, or minor positional errors. The device is best installed on a stable, temperature- and humidity-controlled automated production line free from strong electromagnetic interference. Depending on different industrial needs, the vision sensor can be replaced with a line laser displacement sensor or a 3D contour measurement module, and the rotary mechanism 150 can also adopt a flexible connection or parallel mechanism to expand the welding torch angle adjustment range.

[0049] In this embodiment, by adding a visual inspection device 140, a controller, and a rotating mechanism 150 with adjustable laser direction to the welding device, the problem of laser misalignment caused by misalignment of the weld seam or tortuous weld path in the prior art is effectively solved. This achieves the technical effects of adaptive adjustment of welding trajectory, improved laser welding accuracy, and higher adaptability of the device to complex components.

[0050] In order to achieve precise movement and position adjustment of the laser welding gun 130 during the laser welding process, in some embodiments, the first displacement component 121 and the second displacement component 122 are both electric slides or servo drive mechanisms to achieve high-precision two-dimensional linkage control.

[0051] Specifically:

[0052] The electric slide can be a linear module with linear guides and ball screw drive structure. The main structure is usually made of aluminum alloy or steel shell and has interface parts for mounting motor, reducer and position sensor. This structure has the advantages of high repeatability, fast response speed and smooth operation.

[0053] The first displacement component 121 is mounted on the crossbeam 111 structure of the gantry frame and is used to drive the laser welding gun 130 to move along the extension direction of the crossbeam 111, i.e., the horizontal direction, to perform tracking welding operations in the joint direction. This component can be driven by a servo motor, combined with feedback from a photoelectric encoder or magnetic scale, to achieve closed-loop control with an accuracy down to the micrometer level. The second displacement component 122 is mounted on the moving end of the first displacement component 121 and is responsible for driving the laser welding gun 130 to adjust its height in the vertical direction to adapt to changes in the height of components of different thicknesses or joint positions, ensuring that the laser always acts perpendicularly on the joint surface.

[0054] The two sliding table assemblies mentioned above operate synchronously through a linkage control system. The central controller issues coordinate commands to form a precise path tracking mechanism for the laser welding gun 130 in the plane. During the welding operation, when there is a slight offset in the joint or the position of the welding object changes, the system can automatically adjust the positions of the first and second sliding tables, thereby achieving real-time trajectory correction and dynamic compensation.

[0055] This structure is particularly suitable for multi-joint, non-linear path, or multi-layer welding operations on door ring components, and is suitable for installation in industrial automation environments with constant temperature, no corrosive gases, and low dust interference. The slide system must be fixedly installed on a rigid frame or beam structure to maintain the straightness of its guide rail system and the smoothness of operation.

[0056] In this embodiment, since the first displacement component 121 and the second displacement component 122 are both electric slides or servo drive mechanisms, the problems of insufficient movement control accuracy, lag in trajectory response and difficulty in achieving two-dimensional coordinated linkage of the laser welding gun 130 in the prior art are effectively solved. Thus, the laser welding gun 130 achieves high-precision trajectory following, dynamic height compensation and rapid adaptation of complex seams during the welding process.

[0057] To improve the weld seam recognition accuracy and laser alignment capability during laser welding, in some embodiments, the vision sensor is equipped with an optical calibration module for spatial alignment calibration with the laser axis emitted by the laser welding gun 130.

[0058] Specifically:

[0059] The optical calibration module is used to achieve spatial alignment between the visual coordinate system and the light emission axis of the laser welding gun 130, so that the visual inspection results can be accurately mapped to the laser emission path, thereby achieving precise seam positioning and welding control.

[0060] The vision sensor is a high-resolution industrial camera, mounted on the second mobile end and in a fixed relative position to the laser welding torch 130. The optical calibration module consists of a calibration pattern carrier plate, an image processing software module, and a spatial transformation algorithm. During the system initialization phase, a target with known calibration points is placed within the laser welding area, causing the vision sensor to acquire a calibration image and calculate the relative positional relationship between the camera coordinate system and the laser axis of the laser welding torch 130, including rotation angle and translation offset parameters.

[0061] The calibration process establishes a coordinate transformation matrix using algorithms such as calibration plate recognition, perspective transformation, and homogeneous coordinate mapping. This matrix is ​​then stored in the controller for offset compensation calculations during the welding process. In actual operation, after the vision sensor acquires the seam image, the controller calls the calibration parameters to convert the identified seam center position into the target position that the laser emission point should reach, and controls the first and second moving components to complete path adjustments, thereby ensuring that the laser accurately falls on the seam center.

[0062] The above structure is particularly suitable for working environments with blurred weld edges, complex component geometry, and nonlinear deviations in the welding path. The entire device is recommended to be installed under stable lighting conditions to avoid ambient light interfering with visual inspection accuracy. The calibration module can also utilize laser-assisted calibration, beam-tracking calibration, or multi-view vision calibration structures to adapt to different equipment spatial structures and accuracy requirements.

[0063] In this embodiment, by employing a technique of configuring an optical calibration module on the vision sensor and spatially aligning it with the laser axis emitted by the laser welding gun 130, the problem of deviation between the visual recognition result and the actual laser output path in the prior art, which makes it difficult to achieve high-precision weld alignment, is effectively solved. This achieves high-precision mapping between image detection coordinates and laser execution coordinates, thereby improving the technical effect of welding path control accuracy and system intelligence level.

[0064] To improve the operational safety and processing accuracy of the laser welding system, in some embodiments, the laser welding device further includes an alarm module. The alarm module is configured to issue an alarm signal and send a signal to the controller when the visual inspection device 140 detects that the offset between the seam of the door ring splice and the axis of the laser beam emitted by the laser welding gun 130 exceeds a set threshold, so that the laser welding gun 130 can be stopped by the controller.

[0065] Specifically:

[0066] This alarm module is a system safety protection unit that communicates with the visual inspection device 140 and the controller. It is used to respond promptly and interrupt the welding process when an abnormal state is detected, so as to prevent the formation of unqualified welds or equipment damage.

[0067] The alarm module includes a status judgment circuit, a signal processing unit, and an output control interface, which receives data from the vision inspection device 140. After the vision sensor acquires an image of the door ring splicing component, the image processing and spatial calculation module determines the spatial offset between the current splice centerline and the light output axis of the laser welding gun 130. If the offset exceeds a preset allowable deviation threshold, the alarm module determines that the alignment has failed and immediately triggers the internal logic unit to generate an alarm output.

[0068] The alarm output sends a warning signal via an audible and visual alarm or a human-machine interface to alert the operator to intervene and check; on the other hand, it sends a control command to the central controller via a communication interface. The controller immediately sends a stop command to the laser welding gun 130 based on the received abnormal signal, thereby avoiding weld defects or component damage caused by continuing welding in a misaligned state.

[0069] This alarm module can be integrated into the control cabinet or installed as a standalone module on the operator's console or at the edge control node of the system. It features fast response time and high stability, making it suitable for applications requiring high welding precision and safety. Stable power supply and good signal cable shielding are required for equipment operation. In workshops with significant ambient light interference, it is recommended to install an infrared filter to ensure accurate visual recognition.

[0070] In this embodiment, by employing an alarm module in the laser welding device, and issuing an alarm signal and controlling the laser welding gun 130 to stop operating when the offset identified by the visual inspection device 140 exceeds a set threshold, the problem of laser misalignment welding, unqualified welds, or equipment damage caused by joint detection errors or component offsets in the prior art is effectively solved. This achieves the technical effect of real-time safety monitoring and quality assurance of the welding process.

[0071] The above description in this specification is merely illustrative of the present invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, as long as they do not depart from the content of this specification or exceed the scope defined in the claims, all of which shall fall within the protection scope of this invention.

Claims

1. A laser welding device for welding the seams of door ring splicing components, characterized in that, It includes several welding units, wherein the welding unit includes: Two parallel gantry supports, each gantry support including a crossbeam parallel to the horizontal plane, the two ends of the crossbeam being defined as a first end and a second end, respectively; Two displacement mechanisms are respectively mounted on the two crossbeams, and each displacement mechanism includes: A first displacement component is disposed on one side of the crossbeam. The first displacement component includes a first movable end that is controlled to move, and the moving direction of the first movable end is parallel to the extending direction of the crossbeam. A second displacement component is connected to the first moving end. The second displacement component includes a second moving end that is controlled to move, and the moving direction of the second moving end is perpendicular to the horizontal plane. Two laser welding guns are respectively connected to two second moving ends, and the two laser welding guns in the same welding unit are configured to move in opposite directions when the laser welding device is working; The welding units are arranged sequentially along a first direction, and two adjacent laser welding guns in adjacent welding units are configured to move in opposite directions when the laser welding device is working.

2. The laser welding apparatus according to claim 1, characterized in that, Also includes: A visual inspection device includes several visual sensors, each of which is connected to each of the second moving ends in a one-to-one correspondence, so as to determine the offset between the laser emitted by the laser welding gun and the seam when the door ring splicing component moves under the laser welding gun; A controller is connected to the vision inspection device, the displacement mechanism, and the laser welding gun. The controller is configured to control the movement of the first moving end and the second moving end according to the offset, so that the laser emitted by the laser welding gun falls on the joint of the door ring splice.

3. The laser welding apparatus according to claim 2, characterized in that, Also includes: A rotary mechanism is disposed between the laser welding gun and the second moving end. The rotary mechanism includes a fixed end and a controlled rotating end. The fixed end is connected to the second moving end, and the rotating end is connected to the laser welding gun. The rotation plane of the rotating end is parallel to the extension direction of the crossbeam and perpendicular to the horizontal plane.

4. The laser welding apparatus according to claim 3, characterized in that, The rotating end of the rotary mechanism is configured to rotate relative to the fixed end about an axis perpendicular to the crossbeam under the control of the controller, so as to adjust the laser emission direction of the laser welding gun.

5. The laser welding apparatus according to any one of claims 1 to 4, characterized in that, Both the first displacement component and the second displacement component are electric slides or servo drive mechanisms to achieve high-precision two-dimensional linkage control.

6. The laser welding apparatus according to claim 2, characterized in that, The vision sensor is equipped with an optical calibration module for spatial alignment calibration with the laser axis emitted by the laser welding gun.

7. The laser welding apparatus according to any one of claims 2-4 or 6, characterized in that, It also includes an alarm module, which is configured to issue an alarm signal and send a signal to the controller when the visual inspection device detects that the offset between the seam of the door ring splice and the axis of the laser beam emitted by the laser welding gun exceeds a set threshold, so that the controller can stop the laser welding gun from running.

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