A 3D laser weld seam tracking device for automotive bumper welding

Abstract

The application discloses a 3D laser welding seam tracking device for automobile bumper welding, which comprises a bumper workpiece and a basic frame, one clamping structure composed of a first clamping device and a second clamping device is installed on each side of the basic frame, the two clamping structures are symmetrically arranged, an arc welding 3D laser device is further installed on the basic frame, and the arc welding 3D laser device is used for welding and real-time welding seam tracking of the bumper workpiece; the bumper workpiece comprises a second workpiece, and one first workpiece is installed at the bottom of each end of the second workpiece; each of the two first workpieces is installed on a corresponding first clamping device, the first clamping device is used for positioning and clamping of the first workpiece, and the second workpiece is installed on the second clamping device at two ends, and the second clamping device is used for positioning and clamping of the second workpiece. The application is favorable for improving the welding quality of the workpiece in the arc welding process, improving the yield of the workpiece, intelligently and real-timely detecting and analyzing, improving the production rhythm and improving the welding process level.

Description

Technical Field

[0001] This invention relates to the technical field of automotive parts welding, and in particular to a 3D laser weld seam tracking device for automotive bumper welding. Background Technology

[0002] Currently, with increasingly fierce competition in the automotive industry, automobile production is placing greater emphasis on safety and aesthetics to meet market demands. At present, most bumper welding on automotive production lines utilizes robotic teaching and fixture positioning. This method is prone to welding defects such as incomplete welds, misaligned welds, and thermal deformation. To ensure vehicle safety and quality, post-weld bumpers require re-inspection, necessitating significant manpower and equipment investment, greatly increasing production costs and hindering company competitiveness. Traditional welding methods cannot guarantee a high yield rate for automotive bumpers, and the lack of precision results in rough and unsightly welds. Under these circumstances, automotive production lines struggle to efficiently complete the entire automotive manufacturing process and cannot achieve fully automated, intelligent production at high speeds.

[0003] A utility model patent with Chinese patent document ZL201921523238.7 and authorization announcement date of June 23, 2020, can be found. This patent can realize the real-time measurement of the displacement and position change of the part to be processed through a laser displacement sensor and control the part to be processed to reach the designated welding point, thereby improving the positional accuracy of welding, reducing the error of manual scribing and alignment, and improving welding efficiency. However, this patent cannot realize real-time correction of weld deviation and cannot track in real time. It still requires manual re-inspection of the bumper after welding, resulting in low production efficiency of automobile production lines.

[0004] How to solve the above problems has become an urgent technical issue. Summary of the Invention

[0005] The purpose of this invention is to provide a 3D laser weld seam tracking device for automotive bumper welding, which helps to stabilize the welding posture during the welding process, realize real-time correction of weld seam deviation, intelligent real-time tracking, guide the welding gun to automatically weld, solve the problems caused by weld seam deviation, ensure that the weld seam is beautiful and strong, and improve the production efficiency of automotive production lines.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This invention provides a 3D laser weld seam tracking device for automotive bumper welding, comprising a bumper workpiece and a basic frame. A clamping structure consisting of a first clamping device and a second clamping device is installed on both sides of the basic frame, and the two clamping structures are symmetrically arranged. An arc welding 3D laser device is also installed on the basic frame for welding and real-time weld seam tracking of the bumper workpiece. Furthermore, the bumper workpiece includes a second workpiece, and a first workpiece is installed at the bottom of each end of the second workpiece. Each of the two first workpieces is mounted on a corresponding first clamping device, which is used for positioning and clamping the first workpiece. The two ends of the second workpiece are mounted on second clamping devices, which are used for positioning and clamping the second workpiece.

[0008] Furthermore, the first clamping device includes a first fixing block, a first clamping cylinder, a first pressing block, and a first limiting block; one end of the first fixing block is mounted on the basic frame, the other end of the first fixing block is provided with the first clamping cylinder, the movable end of the first clamping cylinder is provided with the first pressing block, and the two ends of the first limiting block are respectively installed between the first pressing block and the first fixing block, and the first limiting block is used to limit the clamping position of the first clamping cylinder.

[0009] Furthermore, the first clamping device also includes a second fixing block, a first double-guide rod cylinder, a first connecting block, a first positioning pin, a second connecting block, a second positioning pin, and a second limiting block;

[0010] One end of the second fixing block is mounted on the basic frame, and the other end of the second fixing block is provided with the first double-guide rod cylinder. The first connecting block is mounted on the movable end of the first double-guide rod cylinder, the first positioning pin is mounted on the first connecting block, the second connecting block is mounted on the movable end of the first double-guide rod cylinder, and the second positioning pin is mounted on the second connecting block. The first positioning pin and the second positioning pin are used to accurately position the first workpiece. One end of the second limiting block is located at the movable end of the first double-guide rod cylinder, and the other end of the second limiting block is located on the second fixing block. The second limiting block is used to limit the movable position of the first double-guide rod cylinder and to achieve accurate positioning of the first positioning pin and the second positioning pin.

[0011] Furthermore, the first clamping device also includes a first adjusting plate, a first telescopic cylinder, a floating plate, a plurality of first hinges, a second hinge, a first connecting plate, a plurality of second pressing blocks, a plurality of third connecting blocks, a first support block, a fourth connecting block, and a guide plate;

[0012] The fixed end of the first telescopic cylinder is mounted on the floating plate, and the movable end of the first telescopic cylinder is mounted on the first connecting plate. The first adjusting plate is mounted on the basic frame and is used to adjust the horizontal position of the first telescopic cylinder. The first connecting plate is mounted on the first adjusting plate. The floating plate is provided with each of the first hinges. The lower ends of each of the third connecting blocks are mounted on the floating plate through each of the first hinges. The middle position of each of the third connecting blocks is connected to the first adjusting plate through a second hinge. The third connecting block is provided with a U-shaped hole in the middle, and the second hinge can slide in the U-shaped hole. Each of the second pressure blocks is mounted on the upper end of each of the third connecting blocks. The fourth connecting block is mounted on the first connecting plate and is provided with the first support block. The guide plate is mounted on the first adjusting plate and is used to guide the first workpiece.

[0013] Furthermore, the number of the first hinge, the second pressure block, and the third connecting block are all three.

[0014] Further, the second clamping device includes a third fixing block, a second clamping cylinder, a third limiting block, a fifth connecting block, and a third pressure block; the third fixing block is mounted on the basic frame, the second clamping cylinder is mounted on the third fixing block, the two ends of the third limiting block are respectively mounted on the third fixing block and the fifth connecting block, the fifth connecting block is mounted on the movable end of the second clamping cylinder, there are two third pressure blocks, and both third pressure blocks are mounted on the fifth connecting block and each third pressure block is used for clamping the second workpiece in the Y direction; the guide cylinder is mounted on the fifth connecting block, the guide rod is mounted on the guide cylinder, and the guide rod is used to limit the Y direction position of the second workpiece.

[0015] Furthermore, the second clamping device also includes a guide cylinder, a guide rod, a fourth fixing block, a positioning cylinder, a slide rail, a sliding block, a column, a sixth connecting block, and a second support block; the fourth fixing block is mounted on the basic frame, the positioning cylinder is mounted on the fourth fixing block, and the positioning cylinder is used to position the sliding block; one side of the slide rail is mounted on the basic frame and the other side of the slide rail is mounted on the sliding block, the sliding block can slide on the slide rail, the column is mounted on the sliding block, and the second support block is mounted on the column through the sixth connecting block and the second support block is used to limit the X-direction position of the second workpiece.

[0016] Furthermore, the second clamping device also includes a third clamping cylinder, a seventh connecting block, a fourth pressure block, and a fourth limiting block; the third clamping cylinder is mounted on the column, the seventh connecting block is mounted on the movable end of the third clamping cylinder, the fourth pressure block is mounted on the seventh connecting block, and the fourth limiting block is respectively mounted between the seventh connecting block and the fixed end of the third clamping cylinder. The fourth limiting block is used to limit the clamping position of the seventh connecting block, thereby limiting the Z-direction position of the second workpiece.

[0017] Furthermore, the second clamping device also includes a protective cover, a fifth limiting block, a sliding cylinder, an eighth connecting block, a first sensor, a fifth fixing block, a fourth clamping cylinder, a sixth limiting block, a ninth connecting block, and a fifth pressure block;

[0018] The protective cover is installed on the sliding block and serves as dust protection for the slide rail; the fifth limiting block is installed between the basic frame and the sliding block, and is used to limit the position of the sliding block; one end of the sliding cylinder is fixed to the basic frame, and the other end of the sliding cylinder is fixed to the sliding block, and the sliding cylinder is used to drive the sliding block to move on the slide rail; the first sensor is installed on the basic frame through the eighth connecting block, and is used to sense whether the first workpiece is in place; the fifth fixing block is installed on the basic frame; one end of the fourth clamping cylinder is fixed to the fifth fixing block; the ninth connecting block is installed at the other end of the fourth clamping cylinder; the sixth limiting block is installed between the ninth connecting block and the fourth clamping cylinder, and is used to limit the position of the ninth connecting block; the fifth pressure block is installed on the ninth connecting block, and is used for Y-axis clamping of the second workpiece.

[0019] Furthermore, the arc welding 3D laser device includes an arc welding robot, an arc welding gun, a fixed bracket, a first adjustment bracket, a second adjustment bracket, a third adjustment bracket, and a laser weld seam tracker;

[0020] One end of the arc welding robot is mounted on one side of the basic frame, the arc welding gun is mounted on the other end of the arc welding robot, the fixed bracket is mounted on the arc welding gun, the first adjustment bracket is mounted on the fixed bracket, and the first adjustment bracket is used for adjusting the laser weld seam tracker in the Y direction; and the second adjustment bracket is mounted on the first adjustment bracket, and the second adjustment bracket is used for adjusting the laser weld seam tracker in the X direction; and the third adjustment bracket is mounted on the second adjustment bracket, and the third adjustment bracket is used for adjusting the laser weld seam tracker in the Z direction and rotation angle, wherein the laser weld seam tracker is mounted on the third adjustment bracket, and the laser weld seam tracker is used for guiding and quality monitoring and tracking the welding of the arc welding gun.

[0021] Due to the adoption of the above structure, the present invention has the following beneficial effects:

[0022] This invention discloses a 3D laser weld seam tracking device for automotive bumper welding. It helps stabilize the welding posture during the welding process, realizes real-time correction of weld seam deviation, intelligent real-time tracking, guides the welding torch for automatic welding, solves the problems caused by weld seam deviation, ensures that the weld seam is beautiful and strong, and improves the production efficiency of automotive production lines.

[0023] The invention will become clearer from the following description, taken in conjunction with the accompanying drawings, which are used to explain embodiments of the invention. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of the bumper workpiece in this invention;

[0027] Figure 3 This is a schematic diagram of the structure of the first clamping device in this invention;

[0028] Figure 4 , Figure 5 This is a schematic diagram of the structure of the second clamping device in this invention;

[0029] Figure 6 This is a schematic diagram of the arc welding 3D laser device in this invention. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Please refer to Figure 1-6 This invention provides a 3D laser weld seam tracking device for automotive bumper welding, comprising a bumper workpiece 100 and a basic frame 400. The basic frame 400 has a clamping structure on each side, consisting of a first clamping device 200 and a second clamping device 300, arranged symmetrically. An arc welding 3D laser device 500 is also mounted on the basic frame 400 for welding and real-time weld seam tracking of the bumper workpiece 100. The bumper workpiece 100 includes a second workpiece 102, with a first workpiece 101 mounted at each end of the second workpiece 102. Each of the two first workpieces 101 is mounted on a corresponding first clamping device 200, which is used for positioning and clamping the first workpiece 101. The two ends of the second workpiece 102 are mounted on the second clamping device 300, which is used for positioning and clamping the second workpiece 102.

[0032] Preferably, the first clamping device 200 includes a first fixing block 201, a first clamping cylinder 202, a first pressing block 203, and a first limiting block 204; one end of the first fixing block 201 is mounted on the basic frame 400, the other end of the first fixing block 201 is provided with the first clamping cylinder 202, the movable end of the first clamping cylinder 202 is provided with the first pressing block 203, and the two ends of the first limiting block 204 are respectively installed between the first pressing block 203 and the first fixing block 201, and the first limiting block 204 is used to limit the clamping position of the first clamping cylinder 202.

[0033] Preferably, the first clamping device 200 further includes a second fixing block 205, a first double guide rod cylinder 206, a first connecting block 207, a first positioning pin 208, a second connecting block 209, a second positioning pin 210, and a second limiting block 211;

[0034] One end of the second fixing block 205 is mounted on the basic frame 400, and the other end of the second fixing block 205 is provided with the first double guide rod cylinder 206. The first connecting block 207 is mounted on the movable end of the first double guide rod cylinder 206, the first positioning pin 208 is mounted on the first connecting block 207, the second connecting block 209 is mounted on the movable end of the first double guide rod cylinder 206, and the second positioning pin 210 is mounted on the second connecting block 209. The first positioning pin 208 and the second positioning pin 210 are used to accurately position the first workpiece 101. One end of the second limiting block 211 is provided at the movable end of the first double guide rod cylinder 206, and the other end of the second limiting block 211 is provided on the second fixing block 205. The second limiting block 211 is used to limit the movable position of the first double guide rod cylinder 206 and realize the accurate positioning of the first positioning pin 208 and the second positioning pin 210.

[0035] Preferably, the first clamping device 200 further includes a first adjusting plate 212, a first telescopic cylinder 213, a floating plate 214, a plurality of first hinges 215, a second hinge 216, a first connecting plate 217, a plurality of second pressing blocks 218, a plurality of third connecting blocks 219, a first support block 220, a fourth connecting block 221, and a guide plate 222.

[0036] The fixed end of the first telescopic cylinder 213 is mounted on the floating plate 214, and the movable end of the first telescopic cylinder 213 is mounted on the first connecting plate 217. The first adjusting plate 212 is mounted on the basic frame 400 and is used to adjust the horizontal position of the first telescopic cylinder 213. The first connecting plate 217 is mounted on the first adjusting plate 212. Each of the first hinges 215 is provided on the floating plate 214. The lower ends of each of the third connecting blocks 219 are mounted on the floating plate 214 through the first hinges 215. The third connecting block 219 is connected to the first adjusting plate 212 at its middle position via the second hinge 216. The third connecting block 219 has a U-shaped hole in its middle, and the second hinge 216 can slide in the U-shaped hole. Each second pressure block 218 is installed on the upper end of each third connecting block 219. The fourth connecting block 221 is installed on the first connecting plate 217. The fourth connecting block 221 is provided with the first support block 220. The guide plate 222 is installed on the first adjusting plate 212. The guide plate 222 is used to guide the first workpiece 101. The specific clamping action is as follows: the first telescopic cylinder 213 extends and drives the floating plate 214 to move downward. Under the action of the first hinge 215 and the second hinge 216, the third connecting block 219 drives the second pressing block 218 to press down, thereby clamping the first workpiece 101. Similarly, when the first telescopic cylinder 213 retracts and drives the floating plate 214 to move upward, the second pressing block 218 flips upward, thereby opening the clamp on the first workpiece 101.

[0037] Preferably, there are three of each of the first hinge 215, the second pressure block 218, and the third connecting block 219.

[0038] Preferably, the second clamping device 300 includes a third fixing block 301, a second clamping cylinder 302, a third limiting block 303, a fifth connecting block 304, and a third pressing block 305; the third fixing block 301 is mounted on the basic frame 400, the second clamping cylinder 302 is mounted on the third fixing block 301, the two ends of the third limiting block 303 are respectively mounted on the third fixing block 301 and the fifth connecting block 304, the fifth connecting block 304 is mounted on the movable end of the second clamping cylinder 302, there are two third pressing blocks 305, and both third pressing blocks 305 are mounted on the fifth connecting block 304, and each third pressing block 305 is used for clamping the second workpiece 102 in the Y direction; the guide cylinder 306 is mounted on the fifth connecting block 304, the guide rod 307 is mounted on the guide cylinder 306, and the guide rod 307 is used to limit the Y direction position of the second workpiece 102.

[0039] Preferably, the second clamping device 300 further includes a guide cylinder 306, a guide rod 307, a fourth fixing block 308, a positioning cylinder 309, a slide rail 310, a sliding block 311, a column 312, a sixth connecting block 313, and a second support block 314; the fourth fixing block 308 is mounted on the basic frame 400, the positioning cylinder 309 is mounted on the fourth fixing block 308, and the positioning cylinder 309 is used to position the sliding block 311; one side of the slide rail 310 is mounted on the basic frame 400 and the other side of the slide rail 310 is mounted on the sliding block 311, the sliding block 311 can slide on the slide rail 310, the column 312 is mounted on the sliding block 311, and the second support block 314 is mounted on the column 312 through the sixth connecting block 313 and the second support block 314 is used to limit the X-direction position of the second workpiece 102.

[0040] Preferably, the second clamping device 300 further includes a third clamping cylinder 315, a seventh connecting block 316, a fourth pressing block 317, and a fourth limiting block 318; the third clamping cylinder 315 is mounted on the column 312, the seventh connecting block 316 is mounted on the movable end of the third clamping cylinder 315, the fourth pressing block 317 is mounted on the seventh connecting block 316, and the fourth limiting block 318 is respectively mounted between the seventh connecting block 316 and the fixed end of the third clamping cylinder 315. The fourth limiting block 318 is used to limit the clamping position of the seventh connecting block 316, thereby limiting the Z-direction position of the second workpiece 102.

[0041] Preferably, the second clamping device 300 further includes a protective cover 319, a fifth limiting block 320, a sliding cylinder 321, an eighth connecting block 322, a first sensor 323, a fifth fixing block 324, a fourth clamping cylinder 325, a sixth limiting block 326, a ninth connecting block 327, and a fifth pressing block 328.

[0042] The protective cover 319 is mounted on the sliding block 311 and serves as dust protection for the slide rail 310; the fifth limiting block 320 is respectively installed between the basic frame 400 and the sliding block 311, and the fifth limiting block 320 is used to limit the position of the sliding block 311; one end of the sliding cylinder 321 is fixed to the basic frame 400, and the other end of the sliding cylinder 321 is fixed to the sliding block 311, and the sliding cylinder 321 is used to drive the sliding block 311 to move on the slide rail 310; the first sensor 323 is mounted on the basic frame 400 through the eighth connecting block 322. The first sensor 323 is used to sense whether the first workpiece 101 is in position. The fifth fixing block 324 is installed on the basic frame 400. One end of the fourth clamping cylinder 325 is fixed on the fifth fixing block 324. The ninth connecting block 327 is installed on the other end of the fourth clamping cylinder 325. The sixth limiting block 326 is installed between the ninth connecting block 327 and the fourth clamping cylinder 325. The sixth limiting block 326 is used to limit the position of the ninth connecting block 327. The fifth pressure block 328 is installed on the ninth connecting block 327. The fifth pressure block 328 is used for clamping the second workpiece 102 in the Y direction. The second workpiece 102 is elongated and uses a double clamping method. Each of the third pressure blocks 305 and the fifth pressure block 328 is used for clamping the second workpiece 102 in the Y direction.

[0043] Preferably, the arc welding 3D laser device 500 includes an arc welding robot 401, an arc welding gun 402, a fixed bracket 403, a first adjustment bracket 404, a second adjustment bracket 405, a third adjustment bracket 406, and a laser weld seam tracker 407.

[0044] One end of the arc welding robot 401 is mounted on one side of the basic frame 400, and the arc welding gun 402 is mounted on the other end of the arc welding robot 401. The fixed bracket 403 is mounted on the arc welding gun 402. The first adjustment bracket 404 is mounted on the fixed bracket 403 and is used for adjusting the Y-axis of the laser weld seam tracker 407. The second adjustment bracket 405 is mounted on the first adjustment bracket 404 and is used for adjusting the X-axis of the laser weld seam tracker 407. The third adjustment bracket 406 is mounted on the second adjustment bracket 405 and is used for adjusting the Z-axis and rotation angle of the laser weld seam tracker 407. The laser weld seam tracker 407 is mounted on the third adjustment bracket 406 and is used for guiding and quality monitoring of the welding of the arc welding gun 402.

[0045] In specific use, the first clamping device fixes the first workpiece 101 of the bumper workpiece 100 to the left and right sides of the basic frame 400, and the second clamping device 200 fixes the second workpiece 102 of the bumper workpiece 100 above the basic frame 400 and combines it with the first workpiece 101. The laser weld seam tracker 407 on the arc welding 3D laser device 400 scans the combined gap to generate three-dimensional data of the weld seam position. The laser weld seam tracker 407 calculates and analyzes to obtain the precise position information and welding path information of the weld seam. The laser weld seam tracker 407 transmits the welding path information to the arc welding robot 401 for processing. After processing the welding path information, the arc welding robot 401 provides the correct welding path data for the arc welding gun 402. The arc welding robot 401 correctly guides the arc welding gun 402 to accurately weld the first workpiece 101 and the second workpiece 102 according to the welding gun path data of the arc welding gun 402, thereby generating a complete bumper workpiece 100.

[0046] The preferred embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and the devices and structures not described in detail should be understood as being implemented in a conventional manner in the art. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention using the methods and techniques disclosed above, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the present invention. This does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the present invention's technical solutions still fall within the protection scope of the present invention.

Claims

1. A 3D laser weld seam tracking device for automotive bumper welding, comprising a bumper workpiece (100) and a base frame (400), characterized in that: The basic frame (400) is provided with a clamping structure composed of a first clamping device (200) and a second clamping device (300) on both sides, the two clamping structures are symmetrically arranged, an arc welding 3D laser device (500) is further installed on the basic frame (400), and the arc welding 3D laser device (500) is used for welding and real-time weld tracking of the bumper workpiece (100); and the bumper workpiece (100) comprises a second workpiece (102), and a first workpiece (101) is installed at the bottom of each end of the second workpiece (102), the two first workpieces (101) are respectively installed on the corresponding first clamping device (200), the first clamping device (200) is used for positioning and clamping of the first workpiece (101), and the second workpiece (102) is installed at both ends on the second clamping device (300), and the second clamping device (300) is used for positioning and clamping of the second workpiece (102); The first clamping device (200) comprises a first fixed block (201), a first clamping cylinder (202), a first pressing block (203) and a first limiting block (204); one end of the first fixed block (201) is installed on the basic frame (400), the other end of the first fixed block (201) is provided with the first clamping cylinder (202), the movable end of the first clamping cylinder (202) is provided with the first pressing block (203), and the first limiting block (204) is installed between the first pressing block (203) and the first fixed block (201) at both ends, and the first limiting block (204) is used for limiting the clamping position of the first clamping cylinder (202); The first clamping device (200) further comprises a second fixed block (205), a first double guide rod cylinder (206), a first connecting block (207), a first positioning pin (208), a second connecting block (209), a second positioning pin (210) and a second limiting block (211). One end of the second fixed block (205) is installed on the basic frame (400), the other end of the second fixed block (205) is provided with the first double guide rod cylinder (206), the first connecting block (207) is installed on the movable end of the first double guide rod cylinder (206), the first positioning pin (208) is installed on the first connecting block (207), the second connecting block (209) is installed on the movable end of the first double guide rod cylinder (206), the second positioning pin (210) is installed on the second connecting block (209), the first positioning pin (208) and the second positioning pin (210) are used for accurately positioning the first workpiece (101); one end of the second limiting block (211) is arranged on the movable end of the first double guide rod cylinder (206) and the other end of the second limiting block (211) is arranged on the second fixed block (205), the second limiting block (211) is used for limiting the movable position of the first double guide rod cylinder (206) and realizing accurate positioning of the first positioning pin (208) and the second positioning pin (210).

2. A 3D laser weld seam tracking device for welding of automotive bumpers as claimed in claim 1 characterized in that: The first clamping device (200) further comprises a first adjusting plate (212), a first telescopic cylinder (213), a floating plate (214), a plurality of first hinges (215), a second hinge (216), a first connecting plate (217), a plurality of second pressing blocks (218), a plurality of third connecting blocks (219), a first supporting block (220), a fourth connecting block (221) and a guide plate (222); The fixed end of the first telescopic cylinder (213) is installed on the floating plate (214), the movable end of the first telescopic cylinder (213) is installed on the first connecting plate (217), the first adjusting plate (212) is installed on the basic frame (400), and the first adjusting plate (212) is used for adjusting the horizontal position of the first telescopic cylinder (213); the first connecting plate (217) is installed on the first adjusting plate (212), the floating plate (214) is provided with the first hinges (215), the lower ends of the third connecting blocks (219) are installed on the floating plate (214) through the first hinges (215), the middle positions of the third connecting blocks (219) are connected to the first adjusting plate (212) through the second hinge (216), the middle of the third connecting block (219) is provided with a U-shaped hole, the second hinge (216) can slide in the U-shaped hole, and the second pressing blocks (218) are installed on the upper ends of the third connecting blocks (219); the fourth connecting block (221) is installed on the first connecting plate (217), the first supporting block (220) is arranged on the fourth connecting block (221), and the guide plate (222) is installed on the first adjusting plate (212), and the guide plate (222) is used for guiding the first workpiece (101).

3. A 3D laser weld seam tracking device for welding of automotive bumpers as claimed in claim 2, characterized in that: The first hinge (215), the second pressing block (218) and the third connecting block (219) are three in number.

4. A 3D laser weld seam tracking device for welding of automotive bumpers as claimed in claim 1 characterized in that: The second clamping device (300) comprises a third fixed block (301), a second clamping cylinder (302), a third limiting block (303), a fifth connecting block (304) and a third pressing block (305); the third fixed block (301) is installed on the basic frame (400), the second clamping cylinder (302) is installed on the third fixed block (301), the two ends of the third limiting block (303) are respectively installed on the third fixed block (301) and the fifth connecting block (304), the fifth connecting block (304) is installed on the movable end of the second clamping cylinder (302), and the third pressing block (305) is two in number and is installed on the fifth connecting block (304), and each third pressing block (305) is used for Y-direction clamping of the second workpiece (102); a guide cylinder (306) is installed on the fifth connecting block (304), a guide rod (307) is installed on the guide cylinder (306), and the guide rod (307) is used for limiting the Y-direction position of the second workpiece (102).

5. A 3D laser weld seam tracking device for welding of automotive bumpers as claimed in claim 4, characterized in that: The second clamping device (300) further comprises a guide cylinder (306), a guide rod (307), a fourth fixed block (308), a positioning cylinder (309), a sliding rail (310), a sliding block (311), a stand column (312), a sixth connecting block (313) and a second supporting block (314); the fourth fixed block (308) is installed on the basic frame (400), the positioning cylinder (309) is installed on the fourth fixed block (308), and the positioning cylinder (309) is used for positioning the position of the sliding block (311); one side of the sliding rail (310) is installed on the basic frame (400), and the other side of the sliding rail (310) is installed on the sliding block (311), the sliding block (311) can slide on the sliding rail (310), the stand column (312) is installed on the sliding block (311), the second supporting block (314) is installed on the stand column (312) through the sixth connecting block (313), and the second supporting block (314) is used for limiting the X-direction position of the second workpiece (102).

6. A 3D laser weld seam tracking device for welding of automotive bumpers as claimed in claim 5, characterized in that: The second clamping device (300) further comprises a third clamping cylinder (315), a seventh connecting block (316), a fourth pressing block (317), and a fourth limiting block (318); the third clamping cylinder (315) is installed on the vertical column (312); the seventh connecting block (316) is installed on the movable end of the third clamping cylinder (315); the fourth pressing block (317) is installed on the seventh connecting block (316); the fourth limiting block (318) is installed between the seventh connecting block (316) and the fixed end of the third clamping cylinder (315); and the fourth limiting block (318) is used for limiting the clamping position of the seventh connecting block (316) and thus limiting the Z-direction position of the second workpiece (102).

7. A 3D laser weld seam tracking device for welding of automotive bumpers as claimed in claim 6, characterized in that: The second clamping device (300) further comprises a protective cover (319), a fifth limiting block (320), a sliding cylinder (321), an eighth connecting block (322), a first inductor (323), a fifth fixed block (324), a fourth clamping cylinder (325), a sixth limiting block (326), a ninth connecting block (327), and a fifth pressing block (328). The protective cover (319) is installed on the sliding block (311) and is used for dustproof protection of the slide rail (310); the fifth limiting block (320) is installed between the basic frame (400) and the sliding block (311); the fifth limiting block (320) is used for limiting the position of the sliding block (311); one end of the sliding cylinder (321) is fixed on the basic frame (400); the other end of the sliding cylinder (321) is fixed on the sliding block (311); the sliding cylinder (321) is used for driving the sliding block (311) to move on the slide rail (310); the first inductor (323) is installed on the basic frame (400) through the eighth connecting block (322); the first inductor (323) is used for sensing whether the first workpiece (101) is in place; the fifth fixed block (324) is installed on the basic frame (400); one end of the fourth clamping cylinder (325) is fixed on the fifth fixed block (324); the ninth connecting block (327) is installed on the other end of the fourth clamping cylinder (325); the sixth limiting block (326) is installed between the ninth connecting block (327) and the fourth clamping cylinder (325); the sixth limiting block (326) is used for limiting the position of the ninth connecting block (327); and the fifth pressing block (328) is installed on the ninth connecting block (327) and is used for Y-direction clamping of the second workpiece (102).

8. A 3D laser weld seam tracking device for welding of automotive bumpers as claimed in claim 1 characterized in that: The arc welding 3D laser device (500) comprises an arc welding robot (401), an arc welding gun (402), a fixed support (403), a first adjusting support (404), a second adjusting support (405), a third adjusting support (406), and a laser weld seam tracker (407). One end of the arc welding robot (401) is installed on one side of the basic frame (400), the arc welding gun (402) is installed on the other end of the arc welding robot (401), the fixed support (403) is installed on the arc welding gun (402), the first adjusting support (404) is installed on the fixed support (403), and the first adjusting support (404) is used for Y direction adjustment of the laser weld tracking device (407); and the second adjusting support (405) is installed on the first adjusting support (404), and the second adjusting support (405) is used for X direction adjustment of the laser weld tracking device (407); And the third adjusting support (406) is installed on the second adjusting support (405), and the third adjusting support (406) is used for Z direction and rotation angle adjustment of the laser weld tracking device (407), wherein the laser weld tracking device (407) is installed on the third adjusting support (406), and the laser weld tracking device (407) is used for guiding and quality monitoring tracking of the arc welding gun (402) welding.

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