Multi-axis laser welding apparatus

Abstract

The utility model relates to a kind of multi-axis laser welding device, belong to the technical field of welding equipment. Including: articulated multi-axis robot;Mobile assembly, set in the working end of the articulated multi-axis robot;Laser welding head is connected with the mobile assembly;It is integrated in the end of articulated multi-axis robot by three-axis linear movement module, constitutes compound motion system, has the dual advantages of robot working range big and right-angle coordinate motion high stability, cooperates wire feeding assembly and works cooperatively, effectively solve the problem of traditional welding machine heavy and uneven robot welding speed, significantly improve the quality and adaptability of door ring type workpiece laser welding.

Description

Technical Field

[0001] This utility model relates to the technical field, and in particular to a multi-axis laser welding device. Background Technology

[0002] With the development of welding technology, welding systems based on multi-axis industrial robots have emerged. This technology has the characteristics of wide working range and high degree of freedom of movement, which in turn promotes the application of using six-axis robots equipped with laser welding heads for welding of complex trajectories.

[0003] In related technologies, two methods are typically used for welding door ring-type workpieces: one is a dedicated welding machine tool based on an XYZC four-axis structure, which controls the welding path through the linkage of each axis; the other is to use a six-axis robot carrying a laser welding head, which completes the welding trajectory through robot teaching or offline programming.

[0004] However, the aforementioned four-axis special machine tools are bulky, and both factory installation and on-site restoration require a lot of manpower and time, with a long debugging cycle; while when the six-axis robot performs high-speed seam welding, the speed fluctuation of the body movement leads to uneven welding process, especially in terms of weld formation quality, which is difficult to meet process requirements. Utility Model Content

[0005] In response to the shortcomings of the existing production technology, the applicant provides a multi-axis laser welding device that can not only cover the weld seam within the stroke range of a multi-axis robot, but also avoid the disadvantages of large machine tool structure and unstable robot movement speed, thus having a wide range of applications.

[0006] The technical solution adopted in this utility model is as follows:

[0007] A multi-axis laser welding apparatus, comprising:

[0008] Articulated multi-axis robot;

[0009] A movable component is disposed at the working end of the articulated multi-axis robot;

[0010] The laser welding head is connected to the moving component;

[0011] The moving component includes:

[0012] A connecting plate, one end of which is fixedly connected to the working end of the articulated multi-axis robot;

[0013] The first movable component is fixedly connected to the other end of the connecting plate and is arranged along the first direction x;

[0014] The second moving component is fixed to the first moving component and is positioned along the second direction y.

[0015] The third moving component, fixed to the second moving component and set along the third direction z, is used to adjust the welding height of the laser welding head;

[0016] Here, the first direction x is defined as the length direction, the second direction y is defined as the width direction, and the third direction z is defined as the height direction;

[0017] It also includes a wire feeding assembly, which includes:

[0018] A wire feeding spool is located on one side of the articulated multi-axis robot;

[0019] A wire pusher is mounted on top of the articulated multi-axis robot;

[0020] A wire drawing machine is arranged at intervals from the laser welding head along the first direction x;

[0021] The wire feeding nozzle is located below the wire drawing machine.

[0022] As a further improvement to the above technical solution:

[0023] In one embodiment, the first moving component includes a first linear module and a first slide, the first slide being disposed on the first linear module and fixedly connected to the second moving component;

[0024] The second moving component includes a second linear module and a second slide, the second slide being disposed on the second linear module and fixedly connected to the third moving component;

[0025] The third moving component includes a third linear module and a third slide. The third slide is disposed on the third linear module and is fixedly connected to the laser welding head via a connecting seat.

[0026] In one embodiment, the first linear module, the second linear module, and the third linear module all adopt a linear slide structure driven by a lead screw, and include at least a servo motor, a guide rail, and a ball screw.

[0027] In one embodiment, the wire feeding direction of the wire drawing machine is parallel to the beam direction of the laser welding head.

[0028] In one embodiment, the wire feed nozzle is tilted, and the output end of the wire feed nozzle faces the direction of the laser spot directly opposite the laser welding head.

[0029] In one embodiment, sensors disposed on both sides of the laser welding head are also included, the sensors being used to detect the weld seam.

[0030] In one embodiment, the sensor is a weld seam tracking sensor, which includes a CCD camera, a semiconductor laser, and a laser protective lens. It uses the principles of optical propagation and imaging to obtain the position information of each point within the laser scanning area, and completes the weld seam detection through a program algorithm.

[0031] In one embodiment, the weld seam tracking sensor detects the weld seam position in real time and outputs a deviation signal to the moving component to correct the position of the laser welding head.

[0032] In one embodiment, the articulated multi-axis robot is a six-axis robot.

[0033] The beneficial effects of this utility model are as follows:

[0034] This invention features a compact structure, combining the wide-range, high-degree-of-freedom motion capabilities of an articulated multi-axis robot with a three-axis linear motion module integrated at its end effector. The robot body is responsible for quickly positioning the welding unit to the approximate area above the workpiece, while the micro three-axis module at the end effector performs the final positioning. Through the synergistic effect of the first-level coarse adjustment and the second-level fine adjustment, it not only possesses the advantages of the robot's working range but also avoids the speed fluctuation problem caused by its kinematic structure. The three-axis linear module achieves precise and stable control during the welding process. Compared to pure robot body motion, the linear module is driven by servo motors and ball screws, and its motion trajectory is a simple linear motion with better rigidity and extremely high motion stability, without jitter or speed fluctuation. This allows the laser welding head to maintain extremely stable and uniform motion during the welding process, especially when performing high-speed seam welding, ensuring uniform energy input and ultimately obtaining a consistent and high-quality weld.

[0035] This utility model also has the following advantages:

[0036] The third-direction (height direction) moving component of this invention allows adjustment of the distance between the laser welding head and the workpiece surface. This distance determines the focused size and energy density of the laser spot on the workpiece. In other words, by controlling this height, the optimal laser action parameters can be optimized and maintained according to different welding process requirements. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0038] Figure 2 This is a schematic diagram of the structure of the mobile component of this utility model.

[0039] Figure 3 This is a schematic diagram of the cooperative structure of the second and third moving components in the moving assembly of this utility model.

[0040] Figure 4 for Figure 3 A schematic diagram of the structure in an explosive state.

[0041] Among them: 100, articulated multi-axis robot; 200, wire feeder; 300, wire pusher; 400, wire drawing machine; 500, wire feed nozzle; 600, moving component; 700, laser welding head; 800, sensor;

[0042] 610. Connecting plate; 620. First moving component; 630. Second moving component; 640. Third moving component;

[0043] 621. First linear module; 622. First slide table;

[0044] 631. Second linear module; 632. Second slide table;

[0045] 641. Third linear module; 642. Third slide; 643. Connecting seat. Detailed Implementation

[0046] The specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0047] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0049] When using the terms “including,” “having,” and “comprising” as described herein, another component may be added unless explicitly qualifying terms such as “only,” “consisting of,” etc. are used. Unless otherwise stated, singular terms may include plural forms and should not be construed as having a quantity of one.

[0050] It should be understood that although the terms "first," "second," etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of this invention, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.

[0051] Furthermore, the accompanying drawings are not drawn to a 1:1 scale, and the relative dimensions of the components are shown in the drawings only as examples and not necessarily to actual scale.

[0052] like Figures 1-4 The accompanying drawing shows a structural schematic diagram of a multi-axis laser welding device according to an embodiment of the present invention; for ease of description, the drawing only shows the structure related to the embodiment of the present invention.

[0053] This application provides a multi-axis laser welding device, including an articulated multi-axis robot 100, a moving component 600, a laser welding head 700, a wire feeding component, and a sensor 800.

[0054] In some embodiments, the articulated multi-axis robot 100 is preferably a six-axis robot, which has a large working space and high degrees of freedom of motion, and is responsible for driving the entire welding execution unit to move to a predetermined working area above the door ring-type workpiece;

[0055] On the working end flange of the articulated multi-axis robot 100, a moving component 600 is fixedly installed via a connecting plate 610. One end of the connecting plate 610 in the moving component 600 is reliably connected to the robot end, and the other end is fixedly connected to the first moving component 620.

[0056] In some embodiments, the movable component 600 is used to adjust the position of the laser welding head 700 in three orthogonal directions, and the specific configuration is as follows:

[0057] The first moving component 620 is mounted on the end of the robot via a connecting plate 610 and is arranged along the first direction x (length direction);

[0058] The first moving component 620 includes a first linear module 621 and a first slide 622 driven by it. The first linear module 621 adopts a linear slide structure with screw drive, which is composed of a servo motor, a ball screw and a guide rail, and can drive the first slide 622 to move smoothly along the first direction x.

[0059] A second moving component 630 is fixedly installed on the first slide 622. The second moving component 630 is arranged along the second direction y (i.e., the width direction). The second moving component 630 includes a second linear module 631 and a second slide 632 driven by it. The second linear module 631 has a similar structure to the first linear module 621. It also adopts a linear transmission mechanism composed of a servo motor, a ball screw and a guide rail to drive the second slide 632 to move along the second direction y.

[0060] A third moving component 640 is further fixedly installed on the second slide 632; the third moving component 640 is arranged along the third direction z (i.e., the height direction) for final precise adjustment of the welding height; the third moving component 640 includes a third linear module 641 and a third slide 642 driven therefrom.

[0061] The third linear module 641 adopts the same screw-driven linear slide structure as the previous two. The laser welding head 700 is mounted on the third slide 642 via a connecting seat 643.

[0062] Understandably, by moving the third moving component 640 in the third direction z, the distance between the laser welding head 700 and the workpiece surface can be precisely adjusted, thereby controlling the focused size and energy density of the laser spot to adapt to different welding process requirements.

[0063] To further improve welding capabilities, this device also integrates a wire feeding system, including:

[0064] The wire feeder 200 is located on one side of the robot body and is used to store welding wire.

[0065] The wire pusher 300, mounted on top of the robot 100, is responsible for pushing the welding wire out of the wire feeder 200;

[0066] The wire drawing machine 400 is responsible for drawing the welding wire and maintaining a certain distance from the laser welding head 700 along the first direction x. The wire feeding direction of the wire drawing machine 400 is arranged parallel to the beam direction of the laser welding head 700.

[0067] A wire feed nozzle 500 is installed below the wire drawing machine 400. The wire feed nozzle 500 is tilted so that its output end is precisely aligned with the laser spot of the laser welding head 700 to ensure that the welding wire is accurately fed in.

[0068] In some embodiments, sensors 800 are symmetrically mounted on both sides of the laser welding head 700;

[0069] Furthermore, the sensor 800 is a weld seam tracking sensor, which typically integrates at least a CCD camera, a semiconductor laser, and a laser protective lens. Utilizing the principles of optical propagation and imaging, it obtains the positional information of each point within the laser scanning area and completes real-time detection of the weld seam through a program algorithm. In practical applications, the weld seam tracking sensor is installed at a pre-set distance in front of the laser welding head 700, allowing it to observe the distance between the sensor body and the workpiece. Once the welding torch is correctly positioned above the weld seam, the CCD camera observes the weld seam. By calculating the deviation between the detected weld seam and the welding torch, deviation data is output. The first moving component 620, the second moving component 630, and the third moving component 640 receive control signals and correct the deviation in real time, precisely guiding the position of the laser welding head 700 for welding.

[0070] In practical applications, the working principle of this utility model is as follows:

[0071] The articulated multi-axis robot 100 first performs coarse positioning, quickly moving the entire end effector to the vicinity of the workpiece welding area;

[0072] Subsequently, the moving component 600 begins precise positioning, using the coordinated movement of three linear modules in the first x direction, the second y direction, and the third z direction to drive the laser welding head 700 to align.

[0073] During the welding process, the weld seam tracking sensor 800 continuously monitors the weld seam trajectory, forming a closed-loop control to ensure that the weld head always performs stable and uniform welding along the predetermined ideal path.

[0074] In summary, this invention combines the wide range and high degree of freedom of motion of an articulated multi-axis robot 100 with a mobile component 600 integrated at its end. The robot body is responsible for quickly positioning the laser welding head 700 to the approximate area above the workpiece to be welded, while the mobile component 600 is responsible for performing the final positioning fine adjustment. Through the synergistic effect of the first-level coarse adjustment and the second-level fine adjustment, it not only has the advantage of the robot's working range, but also avoids the speed fluctuation problem caused by its kinematic structure.

[0075] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0076] The embodiments described above merely illustrate the implementation of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A multi-axis laser welding device, characterized in that, include: Articulated multi-axis robot (100); A movable component (600) is disposed at the working end of the articulated multi-axis robot (100); A laser welding head (700) is connected to the movable component (600); The moving component (600) includes: A connecting plate (610) is fixedly connected at one end to the working end of the articulated multi-axis robot (100); A first movable component (620) is fixedly connected to the other end of the connecting plate (610) and is arranged along a first direction x; The second moving component (630) is fixed to the first moving component (620) and is positioned along the second direction y; The third moving component (640) is fixed on the second moving component (630) and is set along the third direction z, for adjusting the welding height of the laser welding head (700); Here, the first direction x is defined as the length direction, the second direction y is defined as the width direction, and the third direction z is defined as the height direction; It also includes a wire feeding assembly, which includes: A wire feeding spool (200) is disposed on one side of the articulated multi-axis robot (100); A wire pusher (300) is mounted on top of the articulated multi-axis robot (100); A wire drawing machine (400) is arranged at intervals from the laser welding head (700) along a first direction x; The wire feed nozzle (500) is located below the wire drawing machine (400) and cooperates with the laser welding head (700).

2. The multi-axis laser welding apparatus according to claim 1, characterized in that, The first moving component (620) includes a first linear module (621) and a first slide (622). The first slide (622) is disposed on the first linear module (621) and is fixedly connected to the second moving component (630). The second moving component (630) includes a second linear module (631) and a second slide (632). The second slide (632) is disposed on the second linear module (631) and is fixedly connected to the third moving component (640). The third moving component (640) includes a third linear module (641) and a third slide (642). The third slide (642) is disposed on the third linear module (641) and is fixedly connected to the laser welding head (700) via a connecting seat (643).

3. The multi-axis laser welding apparatus according to claim 2, characterized in that, The first linear module (621), the second linear module (631) and the third linear module (641) all adopt a linear slide structure driven by a lead screw, and include at least a servo motor, a guide rail and a ball screw.

4. The multi-axis laser welding apparatus according to claim 1, characterized in that, The wire feeding direction of the wire drawing machine (400) is parallel to the beam direction of the laser welding head (700).

5. The multi-axis laser welding apparatus according to claim 1, characterized in that, The wire feed nozzle (500) is inclined, and the output end of the wire feed nozzle (500) faces the direction of the laser spot directly opposite the laser welding head (700).

6. The multi-axis laser welding apparatus according to claim 1, characterized in that, It also includes sensors (800) disposed on both sides of the laser welding head (700), the sensors (800) being used to detect the weld seam.

7. The multi-axis laser welding apparatus according to claim 6, characterized in that, The sensor (800) is a weld seam tracking sensor, which includes a CCD camera, a semiconductor laser and a laser protective lens. It uses the principle of optical propagation and imaging to obtain the position information of each point in the laser scanning area and completes the weld seam detection through program algorithms.

8. The multi-axis laser welding apparatus according to claim 7, characterized in that, The weld seam tracking sensor detects the weld seam position in real time and outputs a deviation signal to the moving component (600) to correct the position of the laser welding head (700).

9. The multi-axis laser welding apparatus according to claim 1, characterized in that, The articulated multi-axis robot (100) is a six-axis robot.

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