CN115229397B - Combined welding device for automobile frame - Google Patents
Combined welding device for automobile frame Download PDFInfo
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- CN115229397B CN115229397B CN202211154896.XA CN202211154896A CN115229397B CN 115229397 B CN115229397 B CN 115229397B CN 202211154896 A CN202211154896 A CN 202211154896A CN 115229397 B CN115229397 B CN 115229397B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
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- Pressure Welding/Diffusion-Bonding (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to an automobile frame combination welding device, which relates to the technical field of welding and comprises a bottom plate unit, a clamping unit, a welding unit and a central control unit. According to the invention, the clamping moving plate and the welding moving plate which can move relatively are arranged on the bottom plate unit, so that the space utilization rate of the combined welding device is fully improved, the structural thickness of the welding position of the workpiece to be machined is detected by the ultrasonic mechanism before the workpiece to be machined is welded, the welding output power of the welding mechanism is adjusted in real time according to the structural thickness of the workpiece to be machined by the central control unit, the welding mechanism can be ensured to carry out self-adaptive adjustment on workpieces at different positions, meanwhile, the thermal imaging diagram of the welding completion position is detected by the thermal imaging mechanism, the temperature distribution condition of the welding position of the workpiece to be machined is obtained, so that the real-time welding seam area is determined, the welding moving speed of the welding mechanism is adjusted in real time according to the width of the welding seam, and the welding quality is further improved.
Description
Technical Field
The invention relates to the technical field of welding, in particular to an automobile frame combined welding device.
Background
The frame of the automobile is generally composed of longitudinal beams and transverse beams, the form of the frame mainly comprises two types of side beams and middle beams, the side beam type frame is composed of two longitudinal beams positioned on two sides and a plurality of transverse beams, the longitudinal beams and the transverse beams are connected into a firm rigid framework by adopting a riveting method or a welding method, and therefore, the welding process of the frame has direct influence on the strength of the frame of the automobile.
Chinese patent publication No.: CN111496448A, discloses a frame welding device; an X shaft assembly and a Y shaft assembly are arranged on a bottom frame of the device, and a Z shaft assembly is arranged on the upper part of the Y shaft assembly, so that the automatic positioning welding of a frame is realized; therefore, in the prior art, the automatic frame welding can only weld the frame according to the calibrated position, and the adjustment of parameters of a welding machine is lacked during transposition welding, so that the welding efficiency is low, the welding quality is poor, the welding strength of all welding positions of the frame is difficult to unify, the structural strength of the frame of the automobile is directly influenced, and the safety of the automobile is influenced.
Disclosure of Invention
Therefore, the invention provides an automobile frame combined welding device which is used for solving the problem that in the prior art, the welding quality is poor due to low automatic welding adaptability of a frame.
In order to achieve the above object, the present invention provides an automobile frame combination welding device, comprising:
the bottom plate unit comprises a fixed bottom plate, a hydraulic telescopic mechanism is arranged on the upper portion of the fixed bottom plate, a clamping moving plate is arranged on one side of the hydraulic telescopic mechanism, a welding moving plate is arranged on the other side of the hydraulic telescopic mechanism, the hydraulic telescopic mechanism can control the clamping moving plate and the welding moving plate to move relatively through adjusting and stretching, a clamping guide rail is arranged on the upper portion of the clamping moving plate, a welding guide rail is arranged on the upper portion of the welding moving plate, a plurality of idler wheels are arranged on the lower portions of the clamping moving plate and the welding moving plate, and the idler wheels can roll on the fixed bottom plate;
the clamping unit is arranged on the upper part of the clamping moving plate and comprises a clamping moving mechanism, a first guide rail wheel set is arranged in the clamping moving mechanism and can roll on the clamping guide rail to drive the clamping unit to move on the clamping guide rail, a lifting support rod is arranged on the upper part of the clamping moving mechanism and is used for controlling the height of the clamping unit through lifting, a horizontal rotating mechanism is arranged on the upper part of the lifting support rod and is used for controlling the horizontal clamping direction of the clamping unit, a plurality of clamping arms are arranged on one side of the horizontal rotating mechanism and are used for clamping workpieces to be machined, a clamping rotating shaft is arranged at the end part of each clamping arm, and the clamping rotating shaft can control the workpieces to be machined to be clamped to turn over through rotation;
the welding unit is arranged on the upper portion of the welding moving plate and comprises a welding moving mechanism, a second guide rail wheel set is arranged in the welding moving mechanism, the second guide rail wheel set can roll on the welding guide rail and is used for driving the welding unit to move on the welding guide rail, a welding mechanical arm is arranged on the upper portion of the welding moving mechanism, a welding mechanism is arranged at the end portion of the welding mechanical arm and is used for driving the welding mechanism to move in a three-dimensional space, the welding mechanism is used for welding a workpiece to be machined, welding output power is adjustable, an ultrasonic mechanism is arranged on one side of the welding mechanism and is used for detecting the structural thickness of the welding position of the workpiece to be machined, and a thermal imaging mechanism is arranged on the other side of the welding mechanism and is used for detecting the welding position of the workpiece to be machined and forming a thermal imaging graph;
the central control unit is connected with the bottom plate unit, the clamping unit and the welding unit respectively, a standard welding thickness range is arranged in the central control unit, before the welding mechanism welds a workpiece to be machined, the central control unit judges the real-time structure thickness of the welding position of the workpiece to be machined detected by the ultrasonic mechanism according to the standard welding thickness range and adjusts the welding output power of the welding mechanism according to a judgment result, when the welding mechanism welds the workpiece to be machined, the thermal imaging mechanism transmits a real-time thermal imaging image of the welding position of the workpiece to be machined to the central control unit, the central control unit marks a welding seam area of the real-time thermal imaging image according to the internally-arranged detected welding temperature and determines the real-time welding seam width, and the central control unit judges the real-time welding seam width according to the internally-arranged first preset welding seam width and the second preset welding seam width and adjusts the welding moving speed of the welding mechanism according to the judgment result.
Further, a standard welding thickness Kb and a standard welding thickness difference delta Kb are arranged in the central control unit, before the welding mechanism welds the workpiece to be machined, the ultrasonic mechanism detects a real-time structure thickness Ks of the welding position of the workpiece to be machined, the central control unit calculates a real-time structure thickness difference delta Ks of the welding position of the workpiece to be machined according to the real-time structure thickness Ks of the welding position of the workpiece to be machined and the standard welding thickness Kb, the delta Ks = | Kb-Ks |, the central control unit compares the real-time structure thickness difference delta Ks with the standard welding thickness difference delta Kb,
when the delta Ks is less than or equal to the delta Kb, the central control unit judges that the real-time structure thickness difference of the welding position of the workpiece to be machined does not exceed the standard welding thickness difference, the central control unit does not adjust the initial welding output power of the welding mechanism, and the welding mechanism performs welding on the workpiece to be machined;
and when the delta Ks is larger than the delta Kb, the central control unit judges that the real-time structural thickness difference of the welding position of the workpiece to be machined exceeds the standard welding thickness difference, and the central control unit adjusts the initial welding output power of the welding mechanism according to the comparison result of the real-time structural thickness of the welding position of the workpiece to be machined and the standard welding thickness.
Further, the central control unit is internally provided with initial welding output power Gc of the welding mechanism, when the central control unit judges that the real-time structure thickness difference of the welding position of the workpiece to be machined exceeds the standard welding thickness difference, the central control unit compares the real-time structure thickness Ks of the welding position of the workpiece to be machined with the standard welding thickness Kb,
when Ks is less than Kb, the central control unit judges that the real-time structure thickness of the welding position of the workpiece to be machined is lower than the standard welding thickness, the central control unit adjusts the welding output power of the welding mechanism to Gc ', gc' = Gc-Gc x [ (Kb-Ks) Kb ], and the welding mechanism performs welding on the workpiece to be machined;
and when Ks is larger than Kb, the central control unit judges that the real-time structure thickness of the welding position of the workpiece to be machined is higher than the standard welding thickness, the central control unit adjusts the welding output power of the welding mechanism to Gc ', gc' = Gc + Gc x [ (Ks-Kb) Ks ], and the welding mechanism welds the workpiece to be machined.
Further, a detected welding temperature Tj is arranged in the central control unit, when the welding mechanism welds a workpiece to be machined, the thermal imaging mechanism transmits a real-time thermal imaging image of the welding position of the workpiece to be machined, which is detected, to the central control unit, the central control unit marks a region exceeding the detected welding temperature Tj in the real-time thermal imaging image as a welding seam region, and obtains a real-time welding seam width Ws of the welding seam region, and the central control unit determines the real-time welding seam width Ws to determine whether to adjust the welding moving speed of the welding mechanism.
Furthermore, a first preset welding seam width W1 and a second preset welding seam width W2 are arranged in the central control unit, wherein W1 is less than W2, an initial welding moving speed Vc of the welding mechanism is also arranged in the central control unit, when the welding mechanism welds a workpiece to be machined, the central control unit compares the real-time welding seam width Ws with the first preset welding seam width W1 and the second preset welding seam width W2,
when Ws is less than W1, the central control unit judges that the real-time weld width of the workpiece to be machined is lower than a first preset weld width, and the central control unit adjusts the welding moving speed of the welding mechanism to Vc ', vc' = Vc-Vc [ (W1-Ws)/W1 ];
when W1 is not less than Ws and not more than W2, the central control unit judges that the real-time weld width of the workpiece to be machined is between a first preset weld width and a second preset weld width, and judges the real-time welding temperature of the workpiece to be machined so as to determine whether to adjust the welding state of the welding mechanism or not;
when Ws is larger than W2, the central control unit judges that the real-time weld width of the workpiece to be machined is larger than a second preset weld width, and the central control unit adjusts the welding moving speed of the welding mechanism to Vc ', vc' = Vc + Vc [ (Ws-W2)/Ws ].
Further, a welding highest temperature Tz is arranged in the central control unit, when the central control unit judges that the real-time welding seam width of the workpiece to be processed is between a first preset welding seam width and a second preset welding seam width, the central control unit acquires the real-time highest temperature of a welding seam area in a real-time thermal imaging graph and marks the real-time highest temperature as a real-time welding temperature Ts, the central control unit compares the real-time welding temperature Ts with the welding highest temperature Tz,
when Ts is less than or equal to Tz, the central control unit judges that the real-time welding temperature does not exceed the highest welding temperature, and the central control unit does not adjust the welding state of the welding mechanism;
and when Ts is more than Tz, the central control unit judges that the real-time welding temperature exceeds the highest welding temperature, and the central control unit adjusts the welding height of the welding mechanism according to the real-time welding temperature.
Further, an initial welding height Hc of the welding mechanism is arranged in the central control unit, when the central control unit judges that the real-time welding temperature exceeds the highest welding temperature, the central control unit adjusts the welding height Hc ' of the welding mechanism to Hc ', hc ' = Hc x (Ts/Tz), the central control unit obtains the real-time highest temperature of the adjusted welding seam area in a real-time thermal imaging graph, marks the adjusted real-time highest temperature as a real-time welding temperature Ts ', and compares the adjusted real-time welding temperature Ts ' with the real-time welding temperature Ts before adjustment,
when Ts 'is less than Ts, the central control unit judges that the adjusted real-time welding temperature Ts' is lower than the real-time welding temperature Ts before adjustment, the central control unit repeats the operation of comparing the real-time welding temperature with the highest welding temperature and adjusting the welding height of the welding mechanism, and the central control unit judges that the adjustment is finished when the adjusted real-time welding temperature is less than or equal to the highest welding temperature;
when Ts 'is more than or equal to Ts, the central control unit judges that the adjusted real-time welding temperature Ts' is not lower than the real-time welding temperature Ts before adjustment, and the central control unit controls the welding mechanism to stop welding.
Further, a minimum welding moving speed Va is arranged in the central control unit, when the central control unit judges that the real-time weld width of the workpiece to be machined is lower than a first preset weld width, the central control unit adjusts the welding moving speed of the welding mechanism to Vc ', compares the welding moving speed Vc' with the minimum welding moving speed Va,
when Vc' is less than Va, the central control unit judges that the adjusted welding moving speed is lower than the minimum welding moving speed, and the central control unit controls the welding mechanism to stop welding;
when Vc 'is more than or equal to Va, the central control unit judges that the adjusted welding moving speed is not lower than the minimum welding moving speed, the central control unit acquires the adjusted real-time weld width Ws', and repeats the operation of adjusting the welding moving speed according to the comparison result of the real-time weld width and the first preset weld width and the second preset weld width until W1 is more than or equal to Ws and less than or equal to W2, and the central control unit stops adjusting the welding moving speed of the welding mechanism.
Further, a maximum welding moving speed Vz is arranged in the central control unit, when the central control unit judges that the real-time weld width of the workpiece to be machined is lower than a first preset weld width, the central control unit adjusts the welding moving speed of the welding mechanism to Vc ', compares the welding moving speed Vc' with the maximum welding moving speed Vz,
when Vc 'is less than or equal to Vz, the central control unit judges that the adjusted welding moving speed does not exceed the maximum welding moving speed, the central control unit acquires the adjusted real-time weld width Ws', and repeats the operation of adjusting the welding moving speed according to the comparison result of the real-time weld width and the first preset weld width and the second preset weld width until W1 is less than or equal to Ws and less than or equal to W2, and the central control unit stops adjusting the welding moving speed of the welding mechanism;
and when Vc' is more than Vz, the central control unit judges that the adjusted welding moving speed exceeds the maximum welding moving speed, and the central control unit controls the welding mechanism to stop welding for inspection.
Further, the central control unit marks a region exceeding the detected welding temperature Tj in the real-time thermal imaging image as a weld joint region, acquires a direction perpendicular to the welding direction of the welding mechanism in the weld joint region as a weld joint direction, and acquires the width of the weld joint region in the weld joint direction as a real-time weld joint width.
Compared with the prior art, the combined welding device has the advantages that the clamping unit and the welding unit are respectively borne by the clamping movable plate and the welding movable plate which can relatively move, the space utilization rate of the combined welding device is fully improved, the ultrasonic mechanism and the thermal imaging mechanism are arranged on the welding mechanism of the welding unit, the structural thickness of the welding position of a workpiece to be machined is detected by the ultrasonic mechanism before the workpiece to be machined is welded, the welding output power of the welding mechanism is adjusted in real time according to the structural thickness of the workpiece to be machined by the central control unit, the welding mechanism can carry out self-adaptive adjustment on workpieces at different positions, the situations that welding leakage occurs when the welding position structure is thin and insufficient welding occurs when the welding position structure is thick are avoided, meanwhile, the thermal imaging diagram of the welding completion position is detected by the thermal imaging mechanism, the temperature distribution situation of the welding position of the workpiece to be machined is obtained, the real-time welding area is determined, the welding moving speed of the welding mechanism is adjusted in real time according to the width of a welding seam, and the welding quality is further improved.
Particularly, a standard welding thickness range is formed by setting a standard welding thickness difference and a standard welding thickness difference in the central control unit, the real-time structure thickness of the welding position of the workpiece to be machined detected by the ultrasonic mechanism is judged through the central control unit to determine the workpiece thickness condition of the welding position at the moment, the initial welding output power of the welding mechanism is adjusted to ensure that the workpiece to be machined can be fully welded, the welding quality is improved, meanwhile, the judgment range can be changed by changing the standard welding thickness difference and the standard welding thickness difference, the welding device is suitable for welding workpieces under different conditions, and the applicability of the combined welding device is improved.
Further, when the central control unit judges that the real-time structure thickness difference of the welding position of the workpiece to be machined exceeds the standard welding thickness difference, the central control unit compares the real-time structure thickness with the standard welding thickness to determine whether the thickness of the welding position of the workpiece to be machined is lower than the standard welding thickness range or higher than the standard welding thickness range, and adjusts the initial welding output power of the welding mechanism according to the actual thickness condition of the workpiece to be machined, so that the welding leakage is avoided when the welding position structure is thin, the insufficient welding condition is avoided when the welding position structure is thick, the welding adaptability is further improved, the defects are avoided, and the welding quality is improved.
Furthermore, the welding temperature is detected in the central control unit, the central control unit is used for dividing the welding seam area of the real-time thermal imaging graph according to the welding temperature, so that the actual welding fusion part is determined, the welding temperature is detected according to the type of welding materials, the real-time welding seam width of the welding seam is obtained according to the determined welding seam area, the accuracy of welding seam width detection is improved, and the normal operation of welding operation is guaranteed.
Particularly, a first preset weld width and a second preset weld width are set in the central control unit, and the acquired real-time weld width is compared with the first preset weld width to determine whether the real-time weld width meets a set standard, when the real-time weld width is lower than the first preset weld width, the actual weld width is lower, the heat influence range of a welding position is improved by reducing the welding moving speed of the welding mechanism, so that the weld width is improved, similarly, when the real-time weld width is higher than the second preset weld width, the actual weld width is larger, and the heat influence range of the welding position is reduced by improving the welding moving speed of the welding mechanism, so that the weld width is reduced, and the welding quality is guaranteed.
Further, when the central control unit judges that the real-time weld width of the workpiece to be machined is between the first preset weld width and the second preset weld width, the real-time welding temperature is compared with the welding highest temperature set inside the central control unit, the real-time temperature state of a weld area is determined, when the real-time welding temperature does not exceed the welding highest temperature, the welding process is in a normal state, therefore, the welding state of the welding mechanism is not adjusted, when the central control unit judges that the real-time welding temperature exceeds the welding highest temperature, the temperature of a molten pool at the welding position is excessively high, burning loss possibly occurs, therefore, the welding height of the welding mechanism is adjusted in time, the real-time welding temperature is reduced, and welding defects at the welding position are avoided.
Particularly, when the real-time welding temperature exceeds the highest welding temperature, the central control unit increases and adjusts the welding height of the welding mechanism according to the real-time welding temperature and the highest welding temperature, the distance between the welding mechanism and a workpiece to be machined is increased, so that the real-time welding temperature of the workpiece to be machined is reduced, the central control unit compares the adjusted real-time welding temperature with the real-time welding temperature before adjustment to determine whether effective temperature reduction can be carried out, the temperature of a molten pool during welding is influenced by welding output power, the welding height and the thermal conductivity of a welding material, so that the adjustment effect is determined by judging the adjusted real-time welding temperature, and when the adjusted real-time welding temperature is still not reduced, the welding machine is stopped in time, and welding burning loss is avoided.
Furthermore, the minimum welding moving speed and the maximum welding moving speed are set in the central control unit, the welding moving speed of the welding mechanism is adjusted to be judged so as to ensure that the welding moving speed of the welding mechanism is within a normal range, repeated adjustment is carried out for multiple times within the normal range of the welding moving speed, the real-time welding seam width is kept within a standard width range set by the central control unit, and the welding quality is further improved.
Furthermore, because the working states of the ultrasonic mechanism, the welding mechanism and the thermal imaging mechanism in the combined welding device are carried out simultaneously, the welding mechanism welds a region which is detected by the ultrasonic mechanism while the ultrasonic mechanism detects the region, and the thermal imaging mechanism carries out thermal imaging on the region which is detected by the welding mechanism while the welding mechanism welds the region, therefore, the real-time weld width acquired by the central control unit in the weld region is determined, namely the sectional line of the weld region which is vertical to the welding direction, the real-time weld width is set by utilizing the mode, the actual welding state of a workpiece to be machined is ensured, the real-time detection of the combined welding device can be better matched, and the welding quality of automatic welding is improved to the great extent.
Drawings
Fig. 1 is a schematic structural diagram of the welding device for the automobile frame assembly according to the embodiment.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and do not delimit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, which is a schematic structural diagram of an automobile frame assembly welding device in this embodiment, the embodiment discloses an automobile frame assembly welding device, which includes: a bottom plate unit 1, a fixed bottom plate 101, a hydraulic telescopic mechanism 102, a clamping moving plate 103, a welding moving plate 104, a clamping guide rail 105, a welding guide rail 106, a roller 107, a clamping unit 2, a clamping moving mechanism 201, a first guide rail wheel set 202, a lifting support rod 203, a horizontal rotating mechanism 204, a clamping arm 205, a clamping rotating shaft 206, a welding unit 3, a welding moving mechanism 301, a second guide rail wheel set 302, a welding mechanical arm 303, a welding mechanism 304, an ultrasonic mechanism 305, a thermal imaging mechanism 306 and a central control unit (not shown in the figure), wherein,
the bottom plate unit 1 comprises a fixed bottom plate 101, a hydraulic telescopic mechanism 102 is arranged on the upper portion of the fixed bottom plate 101, a clamping moving plate 103 is arranged on one side of the hydraulic telescopic mechanism 102, a welding moving plate 104 is arranged on the other side of the hydraulic telescopic mechanism 102, the hydraulic telescopic mechanism 102 can control the clamping moving plate 103 and the welding moving plate 104 to move relatively through adjusting and stretching, a clamping guide rail 105 is arranged on the upper portion of the clamping moving plate 103, a welding guide rail 106 is arranged on the upper portion of the welding moving plate 104, a plurality of idler wheels 107 are arranged on the lower portions of the clamping moving plate 103 and the welding moving plate 104, and the idler wheels 107 can roll on the fixed bottom plate 101;
the clamping unit 2 is arranged on the upper portion of the clamping moving plate 103, the clamping unit 2 comprises a clamping moving mechanism 201, a first guide rail wheel set 202 is arranged inside the clamping moving mechanism 201, the first guide rail wheel set 202 can roll on the clamping guide rail 105 and is used for driving the clamping unit 2 to move on the clamping guide rail 105, a lifting support rod 203 is arranged on the upper portion of the clamping moving mechanism 201 and is used for controlling the height of the clamping unit 2 through lifting, a horizontal rotating mechanism 204 is arranged on the upper portion of the lifting support rod 203 and is used for controlling the horizontal clamping direction of the clamping unit 2, a plurality of clamping arms 205 are arranged on one side of the horizontal rotating mechanism 204 and are used for clamping workpieces to be machined, a clamping rotating shaft 206 is arranged at the end portion of each clamping arm 205, and the clamping rotating shaft 206 can be used for controlling the clamped workpieces to be machined to be overturned through rotation;
the welding unit 3 is arranged on the upper portion of the welding moving plate 104, the welding unit 3 includes a welding moving mechanism 301, a second guide rail wheel set 302 is arranged inside the welding moving mechanism 301, the second guide rail wheel set 302 can roll on the welding guide rail 106 to drive the welding unit 3 to move on the welding guide rail 106, a welding mechanical arm 303 is arranged on the upper portion of the welding moving mechanism 301, a welding mechanism 304 is arranged at the end portion of the welding mechanical arm 303, the welding mechanical arm 303 is used for driving the welding mechanism 304 to perform three-dimensional spatial movement, the welding mechanism 304 is used for welding a workpiece to be machined, welding output power is adjustable, an ultrasonic mechanism 305 is arranged on one side of the welding mechanism 304 and used for detecting the structural thickness of the welding position of the workpiece to be machined, and a thermal imaging mechanism 306 is arranged on the other side of the welding mechanism 304 and used for detecting the welding position of the workpiece to form a thermal imaging diagram;
the central control unit is connected with the bottom plate unit 1, the clamping unit 2 and the welding unit 3 respectively, a standard welding thickness range is arranged in the central control unit, before the welding mechanism 304 welds a workpiece to be machined, the central control unit judges the real-time structure thickness of the welding position of the workpiece to be machined detected by the ultrasonic mechanism 305 according to the standard welding thickness range, and adjusts the welding output power of the welding mechanism 304 according to the judgment result, when the welding mechanism 304 welds the workpiece to be machined, the thermal imaging mechanism 306 transmits a detected real-time thermal imaging image of the welding position of the workpiece to be machined to the central control unit, the central control unit marks the welding seam area of the real-time thermal imaging according to the internally-set imaging welding temperature and determines the real-time welding seam width, and the central control unit judges the real-time welding seam width according to a first preset welding seam width and a second preset welding seam width which are internally set, and adjusts the welding moving speed of the welding mechanism 304 according to the judgment result.
The clamping moving plate 103 and the welding moving plate 104 which can move relatively are arranged on the bottom plate unit 1 and respectively bear the clamping unit 2 and the welding unit 3, the space utilization rate of the combined welding device is fully improved, the ultrasonic mechanism 305 and the thermal imaging mechanism 306 are arranged on the welding mechanism 304 of the welding unit 3, the structural thickness of the welding position of a workpiece to be machined is detected by the ultrasonic mechanism 305 before the workpiece to be machined is welded, the welding output power of the welding mechanism 304 is adjusted in real time according to the structural thickness of the workpiece to be machined by the setting central control unit, the welding mechanism 304 is guaranteed to be capable of adaptively adjusting workpieces at different positions, the situations that welding leakage occurs when the welding position is thin and insufficient welding occurs when the welding position is thick are avoided, meanwhile, the thermal imaging of the welding completion position is detected by the setting thermal imaging mechanism 306, the temperature distribution situation of the welding position of the workpiece to be machined is obtained, the real-time welding area is determined, the welding moving speed of the welding mechanism 304 is adjusted in real time according to the welding width, and the welding quality is further improved.
Specifically, the central control unit is provided with a standard welding thickness Kb and a standard welding thickness difference Δ Kb, before the welding mechanism 304 performs welding on the workpiece to be machined, the ultrasonic mechanism 305 detects a real-time structure thickness Ks of the welding position of the workpiece to be machined, the central control unit calculates a real-time structure thickness difference Δ Ks, Δ Ks = | Kb-Ks |, of the welding position of the workpiece to be machined according to the real-time structure thickness Ks and the standard welding thickness Kb of the welding position of the workpiece to be machined, the central control unit compares the real-time structure thickness difference Δ Ks with the standard welding thickness difference Δ Kb,
when the Δ Ks is less than or equal to Δ Kb, the central control unit determines that the real-time structural thickness difference of the welding position of the workpiece to be welded does not exceed the standard welding thickness difference, the central control unit does not adjust the initial welding output power of the welding mechanism 304, and the welding mechanism 304 welds the workpiece to be machined;
and when the delta Ks is larger than the delta Kb, the central control unit judges that the real-time structural thickness difference of the welding position of the workpiece to be machined exceeds the standard welding thickness difference, and the central control unit adjusts the initial welding output power of the welding mechanism 304 according to the comparison result of the real-time structural thickness of the welding position of the workpiece to be machined and the standard welding thickness.
The standard welding thickness range is formed by setting the standard welding thickness and the standard welding thickness difference in the central control unit, the real-time structure thickness of the welding position of the workpiece to be machined detected by the ultrasonic mechanism 305 is judged through the central control unit to determine the workpiece thickness condition of the welding position at the moment, the initial welding output power of the welding mechanism 304 is adjusted to ensure that the workpiece to be machined can be fully welded, the welding quality is improved, meanwhile, the judgment range can be changed by changing the standard welding thickness and the standard welding thickness difference, the welding device is suitable for welding workpieces under different conditions, and the applicability of the combined welding device is improved.
Specifically, the central control unit is internally provided with the initial welding output power Gc of the welding mechanism 304, when the central control unit judges that the real-time structure thickness difference of the welding position of the workpiece to be processed exceeds the standard welding thickness difference, the central control unit compares the real-time structure thickness Ks of the welding position of the workpiece to be processed with the standard welding thickness Kb,
when Ks is less than Kb, the central control unit judges that the real-time structure thickness of the welding position of the workpiece to be machined is lower than the standard welding thickness, the central control unit adjusts the welding output power of the welding mechanism 304 to Gc ', gc' = Gc-Gc x [ (Kb-Ks) Kb ], and the welding mechanism 304 welds the workpiece to be machined;
when Ks is greater than Kb, the central control unit determines that the real-time structural thickness of the welding position of the workpiece to be welded is higher than the standard welding thickness, the central control unit adjusts the welding output power of the welding mechanism 304 to Gc ', gc' = Gc + Gc x [ (Ks-Kb) Ks ], and the welding mechanism 304 welds the workpiece to be machined.
When the central control unit judges that the real-time structure thickness difference of the welding position of the workpiece to be machined exceeds the standard welding thickness difference, the central control unit compares the real-time structure thickness with the standard welding thickness to determine whether the thickness of the welding position of the workpiece to be machined is lower than the standard welding thickness range or higher than the standard welding thickness range, and adjusts the initial welding output power of the welding mechanism 304 according to the actual thickness condition of the workpiece to be machined, so that the welding leakage is avoided when the welding position structure is thin, the insufficient welding condition is avoided when the welding position structure is thick, the welding adaptability is further improved, meanwhile, the defects are avoided, and the welding quality is improved.
Specifically, a detected welding temperature Tj is arranged in the central control unit, when the welding mechanism 304 welds a workpiece to be machined, the thermal imaging mechanism 306 transmits a real-time thermal imaging image of the welding position of the detected workpiece to the central control unit, the central control unit marks a region exceeding the detected welding temperature Tj in the real-time thermal imaging image as a welding seam region, and obtains a real-time welding seam width Ws of the welding seam region, and the central control unit determines the real-time welding seam width Ws to determine whether to adjust the welding moving speed of the welding mechanism 304.
The welding temperature is detected through setting in the central control unit, the central control unit is utilized to divide the welding seam area of the real-time thermal imaging graph according to the detected welding temperature so as to determine the actual welding fusion part, wherein the detected welding temperature is set according to the type of welding materials, the real-time welding seam width of the welding seam is acquired according to the determined welding seam area, the accuracy of welding seam width detection is improved, and the normal operation of welding operation is guaranteed.
Specifically, a first preset weld width W1 and a second preset weld width W2 are arranged in the central control unit, wherein W1 is less than W2, an initial welding shift speed Vc of the welding mechanism 304 is also arranged in the central control unit, when the welding mechanism 304 welds a workpiece to be machined, the central control unit compares the real-time weld width Ws with the first preset weld width W1 and the second preset weld width W2,
when Ws is less than W1, the central control unit judges that the real-time weld width of the workpiece to be machined is lower than a first preset weld width, and the central control unit adjusts the welding moving speed of the welding mechanism 304 to Vc ', vc' = Vc-Vc [ (W1-Ws)/W1 ];
when W1 is not less than Ws and not more than W2, the central control unit judges that the real-time weld width of the workpiece to be processed is between a first preset weld width and a second preset weld width, and judges the real-time welding temperature of the workpiece to be processed so as to determine whether to adjust the welding state of the welding mechanism 304;
when Ws is larger than W2, the central control unit determines that the real-time weld width of the workpiece to be machined is larger than a second preset weld width, and the central control unit adjusts the welding moving speed of the welding mechanism 304 to Vc ', vc' = Vc + Vc [ (Ws-W2)/Ws ].
The first preset weld width and the second preset weld width are arranged in the central control unit, the acquired real-time weld width is compared with the central control unit, whether the real-time weld width reaches a set standard is determined, when the real-time weld width is lower than the first preset weld width, the actual weld width is lower, the heat influence range of a welding position is improved by reducing the welding moving speed of the welding mechanism 304, the weld width is improved, similarly, when the real-time weld width is higher than the second preset weld width, the actual weld width is larger, the heat influence range of the welding position is reduced by improving the welding moving speed of the welding mechanism 304, the weld width is reduced, and the welding quality is guaranteed.
Specifically, the central control unit is internally provided with a welding highest temperature Tz, when the central control unit judges that the real-time welding seam width of the workpiece to be processed is between a first preset welding seam width and a second preset welding seam width, the central control unit acquires the real-time highest temperature of a welding seam area in a real-time thermal imaging graph and marks the real-time highest temperature as a real-time welding temperature Ts, the central control unit compares the real-time welding temperature Ts with the welding highest temperature Tz,
when Ts is less than or equal to Tz, the central control unit judges that the real-time welding temperature does not exceed the highest welding temperature, and the central control unit does not adjust the welding state of the welding mechanism 304;
and when Ts is more than Tz, the central control unit judges that the real-time welding temperature exceeds the highest welding temperature, and the central control unit adjusts the welding height of the welding mechanism 304 according to the real-time welding temperature.
When the central control unit judges that the real-time weld width of a workpiece to be machined is between the first preset weld width and the second preset weld width, the real-time welding temperature is compared with the highest welding temperature set inside the central control unit to determine the real-time temperature state of a weld area, when the real-time welding temperature does not exceed the highest welding temperature, the welding process is in a normal state, therefore, the welding state of the welding mechanism 304 is not adjusted, and when the central control unit judges that the real-time welding temperature exceeds the highest welding temperature, the temperature of a molten pool at the welding position is too high, the burning loss condition possibly occurs, therefore, the welding height of the welding mechanism 304 is adjusted in time, the real-time welding temperature is reduced, and the welding defects at the welding position are avoided.
Specifically, an initial welding height Hc of the welding mechanism 304 is set in the central control unit, when the central control unit determines that the real-time welding temperature exceeds the highest welding temperature, the central control unit adjusts the welding height Hc ' of the welding mechanism 304 to Hc ', hc ' = Hc x (Ts/Tz), the central control unit obtains the real-time highest temperature of the adjusted welding seam region in a real-time thermal imaging graph, marks the adjusted real-time highest temperature as a real-time welding temperature Ts ', and compares the adjusted real-time welding temperature Ts ' with the real-time welding temperature Ts before adjustment,
when Ts 'is less than Ts, the central control unit judges that the adjusted real-time welding temperature Ts' is lower than the real-time welding temperature Ts before adjustment, the central control unit repeats the comparison between the real-time welding temperature and the highest welding temperature and the operation of adjusting the welding height of the welding mechanism 304, and the central control unit judges that the adjustment is finished when the adjusted real-time welding temperature is less than or equal to the highest welding temperature;
when Ts 'is more than or equal to Ts, the central control unit judges that the adjusted real-time welding temperature Ts' is not lower than the real-time welding temperature Ts before adjustment, and the central control unit controls the welding mechanism 304 to stop welding.
When the real-time welding temperature exceeds the highest welding temperature, the central control unit increases and adjusts the welding height of the welding mechanism 304 according to the real-time welding temperature and the highest welding temperature, the distance between the welding mechanism 304 and a workpiece to be machined is increased, so that the real-time welding temperature of the workpiece to be machined is reduced, the central control unit compares the adjusted real-time welding temperature with the real-time welding temperature before adjustment to determine whether effective temperature reduction can be carried out, and the temperature of a molten pool during welding is influenced by welding output power, the welding height and the thermal conductivity factor of a welding material, so that the adjustment effect is determined by judging the adjusted real-time welding temperature, when the adjusted real-time welding temperature is still not reduced, the machine is stopped in time, and welding burning loss is avoided.
Specifically, a minimum welding moving speed Va is arranged in the central control unit, when the central control unit judges that the real-time weld width of the workpiece to be processed is lower than a first preset weld width, the central control unit adjusts the welding moving speed of the welding mechanism 304 to Vc ', compares the welding moving speed Vc' with the minimum welding moving speed Va,
when Vc' < Va, the central control unit judges that the adjusted welding moving speed is lower than the minimum welding moving speed, and the central control unit controls the welding mechanism 304 to stop welding;
when Vc 'is not less than Va, the central control unit judges that the adjusted welding moving speed is not lower than the minimum welding moving speed, the central control unit acquires the adjusted real-time weld width Ws', and repeats the operation of adjusting the welding moving speed according to the comparison result of the real-time weld width and the first preset weld width and the second preset weld width until W1 is not less than Ws and not more than W2, and the central control unit stops adjusting the welding moving speed of the welding mechanism 304.
Specifically, the central control unit is internally provided with a maximum welding moving speed Vz, when the central control unit judges that the real-time weld width of the workpiece to be processed is lower than a first preset weld width, the central control unit adjusts the welding moving speed of the welding mechanism 304 to Vc ', compares the welding moving speed Vc' with the maximum welding moving speed Vz,
when Vc 'is less than or equal to Vz, the central control unit judges that the adjusted welding moving speed does not exceed the maximum welding moving speed, the central control unit acquires the adjusted real-time weld width Ws', and repeats the operation of adjusting the welding moving speed according to the comparison result of the real-time weld width and the first preset weld width and the second preset weld width until W1 is less than or equal to Ws and less than or equal to W2, and the central control unit stops adjusting the welding moving speed of the welding mechanism 304;
when Vc' > Vz, the central control unit determines that the adjusted welding moving speed has exceeded the maximum welding moving speed, and the central control unit controls the welding mechanism 304 to stop welding for inspection.
The minimum welding moving speed and the maximum welding moving speed are set in the central control unit, the adjusted welding moving speed of the welding mechanism 304 is judged to ensure that the welding moving speed of the welding mechanism 304 is within a normal range, and repeated adjustment is carried out for multiple times within the normal range of the welding moving speed, so that the real-time welding seam width is kept within a standard width range set by the central control unit, and the welding quality is further improved.
Specifically, the central control unit marks a region exceeding the detected welding temperature Tj in the real-time thermal imaging map as a weld region, acquires a direction perpendicular to the welding direction of the welding mechanism 304 in the weld region as a weld direction, and acquires a width of the weld region in the weld direction as a real-time weld width.
Because the working states of the ultrasonic mechanism 305, the welding mechanism 304 and the thermal imaging mechanism 306 in the combined welding device are performed simultaneously, the welding mechanism 304 performs welding on the region which is detected by the ultrasonic mechanism 305 while the ultrasonic mechanism 305 detects the region, and the thermal imaging mechanism 306 performs thermal imaging on the region which is detected by the welding mechanism 304 while the welding mechanism 304 performs welding, a real-time weld width acquired by the central control unit in the weld region is determined, namely a sectional line of the weld region perpendicular to the welding direction.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides an automobile frame combination welding set which characterized in that includes:
the device comprises a bottom plate unit and a welding unit, wherein the bottom plate unit comprises a fixed bottom plate, a hydraulic telescopic mechanism is arranged on the upper portion of the fixed bottom plate, a clamping moving plate is arranged on one side of the hydraulic telescopic mechanism, a welding moving plate is arranged on the other side of the hydraulic telescopic mechanism, the hydraulic telescopic mechanism can control the clamping moving plate and the welding moving plate to move relatively by adjusting the telescopic mechanism, a clamping guide rail is arranged on the upper portion of the clamping moving plate, a welding guide rail is arranged on the upper portion of the welding moving plate, a plurality of idler wheels are arranged on the lower portions of the clamping moving plate and the welding moving plate, and the idler wheels can roll on the fixed bottom plate;
the clamping unit is arranged on the upper portion of the clamping moving plate and comprises a clamping moving mechanism, a first guide rail wheel set is arranged inside the clamping moving mechanism, the first guide rail wheel set can roll on the clamping guide rail and is used for driving the clamping unit to move on the clamping guide rail, a lifting support rod is arranged on the upper portion of the clamping moving mechanism and is used for controlling the height of the clamping unit through lifting, a horizontal rotating mechanism is arranged on the upper portion of the lifting support rod and is used for controlling the horizontal clamping direction of the clamping unit, a plurality of clamping arms are arranged on one side of the horizontal rotating mechanism and are used for clamping workpieces to be machined, a clamping rotating shaft is arranged at the end portion of each clamping arm, and the clamping rotating shafts can be used for controlling the workpieces to be machined to be clamped to turn over through rotation;
the welding unit is arranged on the upper portion of the welding moving plate and comprises a welding moving mechanism, a second guide rail wheel set is arranged in the welding moving mechanism and can roll on the welding guide rail to drive the welding unit to move on the welding guide rail, a welding mechanical arm is arranged on the upper portion of the welding moving mechanism, a welding mechanism is arranged at the end of the welding mechanical arm and is used for driving the welding mechanism to move in a three-dimensional space, the welding mechanism is used for welding a workpiece to be machined, welding output power is adjustable, an ultrasonic mechanism is arranged on one side of the welding mechanism and is used for detecting the structural thickness of the welding position of the workpiece to be machined, and a thermal imaging mechanism is arranged on the other side of the welding mechanism and is used for detecting the welding position of the workpiece to be machined and forming a thermal imaging graph;
the central control unit is connected with the bottom plate unit, the clamping unit and the welding unit respectively, a standard welding thickness range is arranged in the central control unit, before the welding mechanism welds a workpiece to be machined, the central control unit judges the real-time structure thickness of the welding position of the workpiece to be machined detected by the ultrasonic mechanism according to the standard welding thickness range and adjusts the welding output power of the welding mechanism according to a judgment result, when the welding mechanism welds the workpiece to be machined, the thermal imaging mechanism transmits a real-time thermal imaging image of the welding position of the workpiece to be machined to the central control unit, the central control unit marks a welding seam area of the real-time thermal imaging image according to the internally-arranged detected welding temperature and determines the real-time welding seam width, and the central control unit judges the real-time welding seam width according to the internally-arranged first preset welding seam width and the second preset welding seam width and adjusts the welding moving speed of the welding mechanism according to the judgment result;
the central control unit is internally provided with a standard welding thickness Kb and a standard welding thickness difference delta Kb, the ultrasonic mechanism detects the real-time structure thickness Ks of the welding position of the workpiece to be machined before the welding mechanism welds the workpiece to be machined, the central control unit calculates the real-time structure thickness difference delta Ks of the welding position of the workpiece to be machined according to the real-time structure thickness Ks of the welding position of the workpiece to be machined and the standard welding thickness Kb, delta Ks = | Kb-Ks |, the central control unit compares the real-time structure thickness difference delta Ks with the standard welding thickness difference delta Kb,
when the delta Ks is less than or equal to the delta Kb, the central control unit judges that the real-time structure thickness difference of the welding position of the workpiece to be machined does not exceed the standard welding thickness difference, the central control unit does not adjust the initial welding output power of the welding mechanism, and the welding mechanism welds the workpiece to be machined;
when the delta Ks is larger than the delta Kb, the central control unit judges that the real-time structure thickness difference of the welding position of the workpiece to be machined exceeds the standard welding thickness difference, and the central control unit adjusts the initial welding output power of the welding mechanism according to the comparison result of the real-time structure thickness of the welding position of the workpiece to be machined and the standard welding thickness;
the central control unit is internally provided with initial welding output power Gc of the welding mechanism, when the central control unit judges that the real-time structure thickness difference of the welding position of the workpiece to be machined exceeds the standard welding thickness difference, the central control unit compares the real-time structure thickness Ks of the welding position of the workpiece to be machined with the standard welding thickness Kb,
when Ks is less than Kb, the central control unit judges that the real-time structure thickness of the welding position of the workpiece to be machined is lower than the standard welding thickness, the central control unit adjusts the welding output power of the welding mechanism to Gc ', gc' = Gc-Gc x [ (Kb-Ks) Kb ], and the welding mechanism performs welding on the workpiece to be machined;
when Ks is larger than Kb, the central control unit judges that the real-time structure thickness of the welding position of the workpiece to be machined is higher than the standard welding thickness, the central control unit adjusts the welding output power of the welding mechanism to Gc ', gc' = Gc + Gc x [ (Ks-Kb) Ks ], and the welding mechanism welds the workpiece to be machined;
the central control unit is internally provided with a first preset welding seam width W1 and a second preset welding seam width W2, wherein W1 is less than W2, the central control unit is also internally provided with an initial welding moving speed Vc of the welding mechanism, when the welding mechanism welds a workpiece to be machined, the central control unit compares the acquired real-time welding seam width Ws with the first preset welding seam width W1 and the second preset welding seam width W2,
when Ws is less than W1, the central control unit judges that the real-time weld width of the workpiece to be machined is lower than a first preset weld width, and the central control unit adjusts the welding moving speed of the welding mechanism to Vc ', vc' = Vc-Vc [ (W1-Ws)/W1 ];
when W1 is not less than or equal to Ws and not more than W2, the central control unit judges that the real-time weld width of the workpiece to be machined is between the first preset weld width and the second preset weld width, and judges the real-time welding temperature of the workpiece to be machined so as to determine whether to adjust the welding state of the welding mechanism or not;
when Ws is larger than W2, the central control unit judges that the real-time weld width of the workpiece to be machined is larger than a second preset weld width, and the central control unit adjusts the welding moving speed of the welding mechanism to Vc ', vc' = Vc + Vc [ (Ws-W2)/Ws ];
the central control unit is internally provided with a welding highest temperature Tz, when the central control unit judges that the real-time welding seam width of a workpiece to be processed is between a first preset welding seam width and a second preset welding seam width, the central control unit acquires the real-time highest temperature of a welding seam area in a real-time thermal imaging graph and marks the real-time highest temperature as a real-time welding temperature Ts, the central control unit compares the real-time welding temperature Ts with the welding highest temperature Tz,
when Ts is less than or equal to Tz, the central control unit judges that the real-time welding temperature does not exceed the highest welding temperature, and the central control unit does not adjust the welding state of the welding mechanism;
and when Ts is more than Tz, the central control unit judges that the real-time welding temperature exceeds the highest welding temperature, and the central control unit adjusts the welding height of the welding mechanism according to the real-time welding temperature.
2. The automobile frame combination welding device according to claim 1, wherein a detected welding temperature Tj is arranged in the central control unit, when the welding mechanism welds the workpiece to be machined, the thermal imaging mechanism transmits a real-time thermal imaging image of the detected welding position of the workpiece to be machined to the central control unit, the central control unit marks a region exceeding the detected welding temperature Tj in the real-time thermal imaging image as a welding seam region and obtains a real-time welding seam width Ws of the welding seam region, and the central control unit determines the real-time welding seam width Ws to determine whether to adjust the welding moving speed of the welding mechanism.
3. The automobile frame combination welding device according to claim 1, characterized in that an initial welding height Hc of the welding mechanism is arranged in the central control unit, when the central control unit determines that the real-time welding temperature exceeds the maximum welding temperature, the central control unit adjusts the welding height of the welding mechanism to Hc ', hc' = Hc x (Ts/Tz), the central control unit obtains the real-time maximum temperature of the adjusted welding seam area in a real-time thermal imaging diagram, marks the adjusted real-time maximum temperature as the real-time welding temperature Ts ', and compares the adjusted real-time welding temperature Ts' with the real-time welding temperature Ts before adjustment,
when Ts 'is less than Ts, the central control unit judges that the adjusted real-time welding temperature Ts' is lower than the real-time welding temperature Ts before adjustment, the central control unit repeats the operation of comparing the real-time welding temperature with the highest welding temperature and adjusting the welding height of the welding mechanism, and the central control unit judges that the adjustment is finished when the adjusted real-time welding temperature is less than or equal to the highest welding temperature;
when Ts 'is more than or equal to Ts, the central control unit judges that the adjusted real-time welding temperature Ts' is not lower than the real-time welding temperature Ts before adjustment, and the central control unit controls the welding mechanism to stop welding.
4. The automobile frame combination welding device of claim 1, characterized in that a minimum welding shift speed Va is arranged in the central control unit, when the central control unit judges that the real-time weld width of the workpiece to be machined is lower than a first preset weld width, the central control unit adjusts the welding shift speed of the welding mechanism to Vc 'and compares the welding shift speed Vc' with the minimum welding shift speed Va,
when Vc' is less than Va, the central control unit judges that the adjusted welding moving speed is lower than the minimum welding moving speed, and the central control unit controls the welding mechanism to stop welding;
when Vc 'is more than or equal to Va, the central control unit judges that the adjusted welding moving speed is not lower than the minimum welding moving speed, the central control unit acquires the adjusted real-time weld width Ws', and repeats the operation of adjusting the welding moving speed according to the comparison result of the real-time weld width and the first preset weld width and the second preset weld width until W1 is more than or equal to Ws and less than or equal to W2, and the central control unit stops adjusting the welding moving speed of the welding mechanism.
5. The automobile frame combination welding device according to claim 1, characterized in that a maximum welding moving speed Vz is arranged in the central control unit, when the central control unit judges that the real-time weld width of the workpiece to be machined is lower than a first preset weld width, the central control unit adjusts the welding moving speed of the welding mechanism to Vc ', compares the welding moving speed Vc' with the maximum welding moving speed Vz,
when Vc 'is less than or equal to Vz, the central control unit judges that the adjusted welding moving speed does not exceed the maximum welding moving speed, the central control unit acquires the adjusted real-time weld width Ws', and repeats the operation of adjusting the welding moving speed according to the comparison result of the real-time weld width and the first preset weld width and the second preset weld width until W1 is less than or equal to Ws and less than or equal to W2, and the central control unit stops adjusting the welding moving speed of the welding mechanism;
and when Vc' is more than Vz, the central control unit judges that the adjusted welding moving speed exceeds the maximum welding moving speed, and the central control unit controls the welding mechanism to stop welding and checks.
6. The automobile frame combination welding device according to claim 2, characterized in that the central control unit marks a region exceeding the detected welding temperature Tj in the real-time thermal imaging map as a weld region, acquires a direction perpendicular to the welding direction of the welding mechanism in the weld region as a weld direction, and acquires a width of the weld region in the weld direction as a real-time weld width.
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