Vehicle body frame welding equipment and welding method

Abstract

The invention relates to the technical field of automobile welding, and discloses automobile body frame welding equipment and a welding method.The automobile body frame welding equipment comprises a rotating seat, an industrial robot and an automobile body frame clamp integrated on the rotating seat, and an end effector of the industrial robot carries a welding unit and a collaborative clamping unit; according to the scheme, through modular clamping design and dynamic cooperative control, a plurality of horizontally-arranged switching assemblies are arranged for the clamping assemblies, and each switching assembly meets different clamping requirements of welding spot positions and surroundings during welding of the vehicle body frame by switching upper clamping blocks with suction cups, flexible pads or honeycomb holes; the clamping assembly can be carried on one industrial robot, so that the welding cost is effectively reduced.

Description

Technical Field

[0001] The invention relates to the technical field of automobile welding, in particular to a vehicle body frame welding device and a welding method. Background Art

[0002] Automobile body welding equipment is the core equipment for connecting the body structure, mainly including resistance welding machines (such as spot welding, seam welding), arc welding machines (such as MIG / MAG welding) and laser welding systems. Traditional resistance welding relies on electrode pressure and current thermal effect to achieve plate connection, while laser welding can achieve precise and efficient contactless welding with the high-energy beam focusing characteristics, and can complete the automation of complex three-dimensional welds with the help of six-axis industrial robots.

[0003] The prior art designs fixed fixtures for the clamping requirements around automobile welds. The fixture assembled by a single six-axis industrial robot cannot meet the clamping requirements around different welds on the automobile body, and the clamping functionality is single. For example, when welding welds on thin plates or curved structures, pressure applied to the fixture position will cause indentations on the workpiece surface. At the same time, welding will produce heat concentration, causing deformation of the structure around the weld. Usually, additional shaping processes are required to repair the structure around the weld to solve the above problems, which increases the cost of the equipment. Summary of the invention

[0004] The object of the present invention is to provide a vehicle body frame welding device and a welding method, aiming to solve the problems in the prior art.

[0005] The present invention is implemented as follows: a body frame welding device comprises a swivel seat, an industrial robot and a body frame fixture integrated on the swivel seat, wherein the end effector of the industrial robot is equipped with a welding unit and a cooperative clamping unit; The welding unit includes a welding gun and a lower clamping plate; the cooperative clamping unit includes a clamping assembly rotatably mounted above the welding gun, on which three groups of functional upper clamping blocks are rotatably switched through a plurality of switching assemblies, and the force-applying surface of each group of upper clamping blocks to be clamped is adaptively parallel to the lower clamping plate; The three functional upper clamps are: Vacuum adsorption clamp: The surface is equipped with suction cups, which are used to fix thin plates or curved workpieces by negative pressure adsorption; Flexible buffer clamp: The surface is covered with flexible pads, used for anti-indentation clamping of high-strength steel; Composite heat dissipation clamp: honeycomb holes are opened on the surface, and the cooling medium channel is connected inside, which is used for forced heat dissipation in the welding heat concentration area; Several groups of switching components are arranged horizontally above the welding gun. The functional upper clamping block of each group of switching components is switched according to the clamping requirements of the workpiece welding points and cooperates with the lower clamping plate to complete the clamping operation.

[0006] Preferably, the industrial robot comprises a main arm and a side arm whose rotating shaft is connected to one side of the main arm, a first telescopic machine is installed at the end of the main arm, and the welding gun is installed at the telescopic part of the first telescopic machine; A second telescopic machine is installed at the end of the side arm through a rotating shaft, and the lower clamping plate is installed on the telescopic part of the second telescopic machine. A grounding electrode is arranged on the lower clamping plate, and the distance between the grounding electrode and the welding gun is adjustable.

[0007] Preferably, the clamping assembly comprises a support plate, a plurality of slide grooves are evenly distributed on the support plate, and the switching assembly is arranged at the end of the slide groove; A pressure cylinder and an electric control valve are respectively installed above one end of the slide groove away from the switching component. The pressure cylinder drives a force block moving along the direction of the switching component through medium pressure.

[0008] Preferably, the switching assembly comprises a bracket installed on one side of the slide slot, an outer cylinder is installed inside the bracket, a plurality of rotating grooves are opened on the surface of the outer cylinder, and a rotating ring is rotatably installed outside the rotating groove; Three groups of supporting arms are evenly distributed and installed on the outside of the rotating ring. A telescopic rod is arranged on the side of the upper clamping block away from the force-applying surface, and the telescopic rod passes through the end of the supporting arm.

[0009] Preferably, a protrusion is provided on one side of the end of the telescopic rod, and a spring is provided between the protrusion of the telescopic rod and the through portion of the support arm; A medium channel is provided in the telescopic rod corresponding to the vacuum adsorption clamp and the composite heat dissipation clamp, and a socket corresponding to the medium channel of the telescopic rod is provided on the force applying block, and the force applying block provides suction or injects medium into the medium channel of the telescopic rod through the socket.

[0010] Preferably, the slide groove is provided with through grooves at the front and rear parts of the bracket, and one side of the slide groove is also provided with a guide groove corresponding to the upper clamping block.

[0011] Preferably, the angle of the rotating groove is 270°, and the inner wall of the rotating ring is provided with a sliding block penetrating the rotating groove; The inner bearing of the outer cylinder is connected to the inner cylinder, a gear is sleeved on the outer side of the inner cylinder, a tooth groove meshing with the gear teeth on the surface of the gear is opened on the inner wall of the slider, and a rib penetrating the inner side of the gear is arranged on one side of the inner cylinder.

[0012] Preferably, a first switching motor is installed on the bracket located on one side of the support plate, and the output shaft of the first switching motor is transmission-connected to the end of the inner cylinder through a belt; A second switching motor is also installed on the outer side of the end of the inner cylinder, and the output shaft of the second switching motor is connected to a screw extending into the inner cylinder, and the inner wall of the gear is connected to the screw through a thread.

[0013] Preferably, a magnetic sheet is embedded on one side of the end of the support arm, and a metal sheet corresponding to the magnetic sheet is provided on one side of the bottom of the bracket.

[0014] A body frame welding method, applied to the above body frame welding equipment, comprises the following steps: Step 1: The body frame fixture is driven to rotate to a preset position by a swivel seat, and the body frame is fixed based on the curved surface contour of the body frame so that the welding area of ​​the frame is aligned with the motion trajectory of the end effector of the industrial robot; Step 2: According to the welding point position information, adjust the distance between the welding gun and the grounding electrode on the lower clamping plate so that the welding gun and the lower clamping plate are placed at the upper and lower parts of the weldment; Step 3: Rotate and select the target upper clamping block through the switching component of the clamping component, and make its force-applying surface adaptively parallel to the lower clamping plate; If the workpiece to be welded is a thin plate or a curved surface structure, switch to the vacuum adsorption clamp and start the negative pressure generator to stabilize the suction cup adsorption pressure within a certain range; If the workpiece to be welded is high-strength steel and the surface is required to be free of indentations, switch to the flexible buffer clamp to control the contact pressure and compensate for the unevenness of the workpiece surface through the deformation of the flexible pad; If the welding heat input exceeds the standard, switch to the composite heat dissipation clamp and pump phase change coolant into the cooling medium channel to reduce the temperature rise rate in the soldering point area; Step 4: Start the welding gun to weld and dynamically adjust the force of the clamping assembly: The welding fume is discharged through the honeycomb holes of the composite heat dissipation clamp, and the temperature of the welding point is controlled below the recrystallization temperature of the material by using the cooling medium channel of the honeycomb holes; Step 5: Drive the body frame fixture to rotate to the second welding station through the swivel seat, and repeat the above steps to complete the multi-point welding operation on the body frame.

[0015] The invention discloses a vehicle body frame welding device and a welding method, the beneficial effects of which are as follows: the scheme uses modular clamping design and dynamic coordinated control to set a plurality of horizontally arranged switching components for the clamping components; each group of switching components switches an upper clamping block with a suction cup, a flexible pad or a honeycomb hole to meet the different clamping requirements of the welding point position and the surrounding during the welding of the vehicle body frame; the clamping component can be mounted on an industrial robot, effectively reducing the welding cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of a vehicle body frame welding device provided by an embodiment of the present invention; Figure 2 is a schematic diagram of an industrial robot for a vehicle body frame welding device provided by an embodiment of the present invention; Figure 3 The present invention provides a vehicle body frame welding device. Figure 2 Schematic diagram of local structure; Figure 4 It is a schematic structural diagram of a clamping assembly of a vehicle body frame welding device provided by an embodiment of the present invention; Figure 5 A vehicle body frame welding device provided by an embodiment of the present invention Figure 4 Schematic diagram of local structure; Figure 6 A vehicle body frame welding device provided by an embodiment of the present invention Figure 5 Schematic diagram of local structure; Figure 7 A vehicle body frame welding device provided by an embodiment of the present invention Figure 6 Schematic diagram of the structure from another perspective.

[0017] Marking Description: 1. Rotating seat; 2. Body frame fixture; 3. Industrial robot; 4. Clamping assembly; 31. Main arm; 32. Side arm; 33. First telescopic machine; 34. Rotating shaft; 35. Second telescopic machine; 36. Lower clamping plate; 361. Grounding electrode; 331. Welding gun; 41. Support plate; 42. Pressure cylinder; 43. Electric control valve; 44. Switching assembly; 411, slide groove; 412, through groove; 413, guide groove; 421, force block; 441, bracket; 442, outer cylinder; 4421, rotating groove; 443, first switching motor; 444, inner cylinder; 4441, rib; 445, second switching motor; 4451, screw; 446, gear; 447, rotating ring; 4471, slider; 448, support arm; 4481, magnetic sheet; 449, upper clamp; 4491, telescopic rod; 4492, spring; 4493, suction cup; 4494, flexible pad; 4495, honeycomb hole. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0020] The implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0021] The present invention aims to solve the problem that the prior art designs fixed fixtures for clamping requirements around automobile welding points. The fixture assembled by a single six-axis industrial robot cannot meet the clamping requirements around different welding points on the automobile body, and the clamping functionality is single. Usually, multiple six-axis industrial robots need to be equipped with different fixtures to solve the above problems, which increases the cost of the equipment.

[0022] In this embodiment: Reference Figure 1 -Attached Figure 2 As shown, a preferred embodiment of the present invention is provided.

[0023] The body frame welding equipment of this embodiment includes a swivel seat 1, an industrial robot 3 and a body frame fixture 2 integrated on the swivel seat 1, and the end effector of the industrial robot 3 is equipped with a welding unit and a cooperative clamping unit; The welding unit includes a welding gun 331 and a lower clamping plate 36; the cooperative clamping unit includes a clamping assembly 4 rotatably mounted above the welding gun 331, on which three groups of functional upper clamping blocks 449 are rotatably switched through a plurality of switching assemblies 44, and the force-applying surface of each group of upper clamping blocks 449 to be clamped is adaptively parallel to the lower clamping plate 36; The three groups of functional upper clamping blocks 449 are: Vacuum adsorption clamp: The surface is distributed with suction cups 4493, which are used to fix thin plates or curved workpieces by negative pressure adsorption, so as to avoid the situation that the thin plates or curved workpieces around the welding points are also deformed by force during welding; Flexible buffer clamp: The surface is covered with flexible pad 4494, which is used for anti-indentation clamping of high-strength steel to avoid deformation of the welding point of thin plates due to clamping; Composite heat dissipation clamp: The surface is provided with honeycomb holes 4495, which are connected to the cooling medium channel inside, and are used for forced heat dissipation in the welding heat concentration area to avoid heat deformation around the thin plate welding point; A plurality of groups of switching components 44 are horizontally arranged above the welding gun 331 . The functional upper clamping block 449 of each group of switching components 44 is switched according to the clamping requirements of the workpiece welding points and cooperates with the lower clamping plate 36 to complete the clamping operation.

[0024] Refer to the attached Figure 2 -Attached Figure 3 As shown, the industrial robot 3 includes a main arm 31 and a side arm 32 whose rotating shaft is connected to one side of the main arm 31, a first telescopic machine 33 is installed at the end of the main arm 31, the welding gun 331 is installed at the telescopic part of the first telescopic machine 33, a second telescopic machine 35 is installed at the end of the side arm 32 through a rotating shaft 34, and the lower clamping plate 36 is installed at the telescopic part of the second telescopic machine 35. Through the action of the first telescopic machine 33 and the second telescopic machine 35, the side arm 32 installed on one side of the main arm 31 is rotated in cooperation, so that the upper clamping block 449 and the lower clamping plate 36 can complete the clamping operation, and the lower clamping plate 36 is provided with a grounding electrode 361, which can also ensure that the distance between the grounding electrode 361 and the welding gun 331 is adjustable, and always cooperate to achieve the welding operation.

[0025] Further, see Figure 2 , Attachment Figure 4 and attached Figure 5 As shown, the clamping assembly 4 includes a support plate 41, on which a plurality of slide grooves 411 are evenly distributed, and the switching assembly 44 is arranged at the end of the slide groove 411; a pressure cylinder 42 and an electric control valve 43 are respectively installed above one end of the slide groove 411 away from the switching assembly 44, and the pressure cylinder 42 drives a force block 421 moving along the direction of the switching assembly 44 by medium pressure, and the electric control valve 43 controls a switch for injecting medium pressure into the pressure cylinder 42, so that the pressure cylinder 42 can push the force block 421 to slide in the slide groove 411, and exert a force on the upper clamping block 449 on the switching assembly 44 in the direction of the lower clamping plate 36, thereby completing the clamping operation; The switching assembly 44 includes a bracket 441 installed on one side of the slide groove 411, an outer cylinder 442 is installed inside the bracket 441, a plurality of rotation grooves 4421 are opened on the surface of the outer cylinder 442, a rotating ring 447 is rotatably installed on the outside of the rotating groove 4421, and three groups of supporting arms 448 are evenly distributed and installed on the outside of the rotating ring 447. The rotating ring 447 is slidably installed on the outside of the outer cylinder 442 through the rotating groove 4421, thereby driving the three groups of supporting arms 448 to rotate and switch the upper clamping block 449 installed through the supporting arm 448. The side of the upper clamping block 449 away from the force application surface is provided A telescopic rod 4491 is provided, and the telescopic rod 4491 passes through the end of the support arm 448; a protrusion is provided on one side of the end of the telescopic rod 4491, and a spring 4492 is provided between the protrusion of the telescopic rod 4491 and the penetrating portion of the support arm 448. By default, due to the action of the spring 4492, the upper clamping block 449 at the end of the telescopic rod 4491 will always be squeezed against the support arm 448, and when the pressure cylinder 42 pushes the force block 421 to act on the support arm 448, the upper clamping block 449 at the other end of the support arm 448 will be pushed away from the support arm 448; The telescopic rod 4491 corresponding to the vacuum adsorption clamp and the composite heat dissipation clamp is provided with a medium channel, and the force applying block 421 is provided with a plug hole corresponding to the medium channel of the telescopic rod 4491, and the force applying block 421 provides suction or injects medium into the medium channel of the telescopic rod 4491 through the plug hole; When the suction force is provided to the medium channel of the vacuum adsorption clamping block through the jack of the force applying block 421, the suction cups 4493 distributed on the upper clamping block 449 generate negative pressure suction force, which is used to adsorb the workpiece around the welding point to avoid deformation of the workpiece around the welding point during the welding process; When the cooling medium is injected into the composite heat dissipation clamp through the jack of the force block 421, the cooling medium can flow through the honeycomb hole 4495 flow channel of the upper clamp 499, taking away the temperature of the workpiece around the welding point, and avoiding thermal deformation of the workpiece around the welding point.

[0026] Among them, in order to enable the upper clamping block 449 to be driven to rotate to the inside of the slide groove 411 through the switching component 44, the slide groove 411 is provided with through grooves 412 at the front and rear parts of the bracket 441, and the two through grooves 412 are respectively placed on the circumference of the rotation of the upper clamping block 449. One side of the slide groove 411 is also provided with a guide groove 413 corresponding to the upper clamping block 449, so that the upper clamping block 449 at the end of the telescopic rod 4491 can slide linearly inside the guide groove 413 by pushing the force block 421, so as to keep the clamping surface of the upper clamping block 449 and the lower clamping plate 36 always parallel.

[0027] It is worth noting that, referring to Figure 6 -Attached Figure 7As shown, the angle of the rotating groove 4421 is 270°, and the inner wall of the rotating ring 447 is provided with a slider 4471 penetrating the rotating groove 4421. The slider 4471 slides in the rotating groove 4421, so that the three groups of upper clamping blocks 449 can rotate through the through groove 412 and enter the sliding groove 411; the inner bearing of the outer cylinder 442 is connected to the inner cylinder 444, and the outer side of the inner cylinder 444 is sleeved with a gear 446. The inner wall of the slider 4471 is provided with a The gear 446 has a tooth groove with meshing teeth on its surface, and a rib 4441 penetrating the inner side of the gear 446 is provided on one side of the inner cylinder 444. When the inner cylinder 444 rotates, the rib 4441 on its outer side drives the gear 446 to rotate synchronously. Since the gear 446 meshes with the inner wall of the slider 4471 through the teeth on its surface, the gear 446 slides with the slider 4471 in the rotating groove 4421, thereby driving the three groups of upper clamping blocks 449 on the outer side of the rotating ring 447 to realize the rotation function. In order to realize the rotation of the gear 446, a first switching motor 443 is installed on the bracket 441 located on one side of the support plate 41, and the output shaft of the first switching motor 443 is connected to the end of the inner cylinder 444 through a belt. In order to realize the sliding of the gear 446 outside the inner cylinder 444, a second switching motor 445 is further installed on the outer side of the end of the inner cylinder 444, and the output shaft of the second switching motor 445 is connected to a screw 4451 extending into the inner cylinder 444, and the inner wall of the gear 446 is connected to the screw 4451 through a thread. When the second switching motor 445 drives the screw 4451 to rotate, the screw 4451 drives the gear 446 to transmit outside the inner cylinder 444 through the thread, and when the gear 446 slides outside the inner cylinder 444, the gear 446 also slides outside the rib 4441, so that the gear 446 can be adjusted to mesh with different sliders 4471 without affecting the rotation of the gear 446 driven by the inner cylinder 444; In the attached Figure 4 In the figure, a magnetic sheet 4481 is embedded on one side of the end of the support arm 448, and a metal sheet corresponding to the magnetic sheet 4481 is provided on one side of the bottom of the bracket 441. When the support arm 448 rotates to the inside of the slide groove 411, the magnetic sheet 4481 will be adsorbed and positioned with the metal sheet, thereby reducing the sliding error of the slider 4471 in the rotating groove 4421 of the outer cylinder 442, improving the sliding accuracy of the upper clamping block 449 in the slide groove 411, and preventing jamming.

[0028] The three-state clamping assembly of the present application adopts a 270° rotating groove 4421, a gear 446 and a slider 4471, and realizes precise switching of the vacuum adsorption clamping block suction cup 4493, the flexible buffering clamping block silicone pad 4494 and the composite heat dissipation clamping block honeycomb hole 4495 through the first switching motor 443 and the second switching motor 445. The magnetic suction sheet 4481 cooperates with the metal sheet to achieve a positioning and locking deviation of ≤0.05mm; the pressure cylinder 42 drives the force block 421 through the medium pressure gas / liquid, combined with the cooling medium channel in the telescopic rod 4491, to achieve dynamic matching of adsorption force, buffering force and heat dissipation flow.

[0029] This solution uses modular clamping design and dynamic collaborative control to set up a number of horizontally arranged switching components 44 for the clamping component 4. Each group of switching components 44 switches the upper clamping block 449 with a suction cup 4493, a flexible pad 4494 or a honeycomb hole 4495 to meet the different clamping requirements of the welding point position and the surrounding area during the welding of the vehicle body frame. The clamping component 4 can be mounted on an industrial robot 3, effectively reducing the welding cost.

[0030] On the basis of the above-mentioned embodiment, the first telescopic machine 33 and the second telescopic machine 35 may adopt structures such as air cylinders, oil cylinders, and motors with lifting rods, which are not limited in this embodiment.

[0031] The present embodiment also includes a body frame welding method, comprising the following steps: step 1: driving the body frame fixture 2 to rotate to a preset position through the swivel seat 1, and fixing the body frame based on the curved surface contour of the body frame, so that the to-be-welded area of ​​the frame is aligned with the motion trajectory of the end effector of the industrial robot 3; step 2: adjusting the distance between the welding gun 331 and the grounding electrode 361 on the lower clamping plate 36 according to the welding point position information, ensuring that the welding current loop impedance is ≤10mΩ, and placing the welding gun 331 and the lower clamping plate 36 at the upper and lower parts of the weldment; Step 3: Rotate and select the target upper clamping block 449 through the switching assembly 44 of the clamping assembly 4, and make its force-applying surface and the lower clamping plate 36 in an adaptive parallel alignment; If the workpiece to be welded is a thin plate or a curved structure, switch to the vacuum adsorption clamp, start the negative pressure generator to stabilize the adsorption pressure of the suction cup 4493 at -0.06~-0.08MPa; if the workpiece to be welded is high-strength steel and the surface is required to be free of indentations, switch to the flexible buffer clamp, control the contact pressure to 1.5~3MPa, and compensate for the unevenness of the workpiece surface through the deformation of the flexible pad 4494; if the welding heat input is ≥5kJ / cm, switch to the composite heat dissipation clamp, pump the phase change coolant into the cooling medium channel at a flow rate of 10~20L / min, so that the temperature rise rate of the welding point area is ≤50℃ / s; Step 4: Start the welding gun 331 for welding, and dynamically adjust the force pressure of the clamping assembly 4: discharge welding smoke through the honeycomb holes 4495 of the composite heat dissipation clamp, and use the honeycomb holes 4495 cooling medium channel to control the welding point temperature below the recrystallization temperature of the material; Step 5: Drive the body frame fixture 2 to rotate to the second welding station through the swivel seat 1, and repeat the above steps to complete the multi-point welding operation on the body frame.

[0032] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle body frame welding device, characterized in that: It includes a swivel seat, an industrial robot and a body frame fixture integrated on the swivel seat, wherein the end effector of the industrial robot is equipped with a welding unit and a cooperative clamping unit; The welding unit includes a welding gun and a lower clamping plate; the cooperative clamping unit includes a clamping assembly rotatably mounted above the welding gun, on which three groups of functional upper clamping blocks are rotatably switched through a plurality of switching assemblies, and the force-applying surface of each group of upper clamping blocks to be clamped is adaptively parallel to the lower clamping plate; The three functional upper clamps are: Vacuum adsorption clamp: The surface is equipped with suction cups, which are used to fix thin plates or curved workpieces by negative pressure adsorption; Flexible buffer clamp: The surface is covered with flexible pads, used for anti-indentation clamping of high-strength steel; Composite heat dissipation clamp: honeycomb holes are opened on the surface, and the cooling medium channel is connected inside, which is used for forced heat dissipation in the welding heat concentration area; Several groups of switching components are arranged horizontally above the welding gun. The functional upper clamping block of each group of switching components is switched according to the clamping requirements of the workpiece welding points and cooperates with the lower clamping plate to complete the clamping operation.

2. A vehicle body frame welding device as claimed in claim 1, characterized in that: The industrial robot comprises a main arm and a side arm whose rotating shaft is connected to one side of the main arm, a first telescopic machine is installed at the end of the main arm, and the welding gun is installed at the telescopic part of the first telescopic machine; A second telescopic machine is installed at the end of the side arm through a rotating shaft, and the lower clamping plate is installed on the telescopic part of the second telescopic machine. A grounding electrode is arranged on the lower clamping plate, and the distance between the grounding electrode and the welding gun is adjustable.

3. A vehicle body frame welding device as claimed in claim 1, characterized in that: The clamping assembly includes a support plate, a plurality of slide grooves are evenly distributed on the support plate, and the switching assembly is arranged at the end of the slide groove; A pressure cylinder and an electric control valve are respectively installed above one end of the slide groove away from the switching component. The pressure cylinder drives a force block moving along the direction of the switching component through medium pressure.

4. A vehicle body frame welding device as claimed in claim 3, characterized in that: The switching assembly comprises a bracket installed on one side of the slide slot, an outer cylinder is installed inside the bracket, a plurality of rotating grooves are opened on the surface of the outer cylinder, and a rotating ring is rotatably installed outside the rotating groove; Three groups of supporting arms are evenly distributed and installed on the outside of the rotating ring. A telescopic rod is arranged on the side of the upper clamping block away from the force-applying surface, and the telescopic rod passes through the end of the supporting arm.

5. A vehicle body frame welding device as claimed in claim 4, characterized in that: A protrusion is provided on one side of the end of the telescopic rod, and a spring is provided between the protrusion of the telescopic rod and the through portion of the support arm; A medium channel is provided in the telescopic rod corresponding to the vacuum adsorption clamp and the composite heat dissipation clamp, and a socket corresponding to the medium channel of the telescopic rod is provided on the force applying block, and the force applying block provides suction or injects medium into the medium channel of the telescopic rod through the socket.

6. A vehicle body frame welding device as claimed in claim 4, characterized in that: The slide groove is provided with through grooves at the front and rear parts of the bracket, and a guide groove corresponding to the upper clamping block is also provided on one side of the slide groove.

7. A vehicle body frame welding device as claimed in claim 4, characterized in that: The angle of the rotating groove is 270°, and the inner wall of the rotating ring is provided with a sliding block penetrating the rotating groove; The inner bearing of the outer cylinder is connected to the inner cylinder, a gear is sleeved on the outer side of the inner cylinder, a tooth groove meshing with the gear teeth on the surface of the gear is opened on the inner wall of the slider, and a rib penetrating the inner side of the gear is arranged on one side of the inner cylinder.

8. A vehicle body frame welding device as claimed in claim 7, characterized in that: A first switching motor is installed on a bracket located on one side of the support plate, and an output shaft of the first switching motor is transmission-connected to the end of the inner cylinder through a belt; A second switching motor is also installed on the outer side of the end of the inner cylinder, and the output shaft of the second switching motor is connected to a screw extending into the inner cylinder, and the inner wall of the gear is connected to the screw through a thread.

9. A vehicle body frame welding device as claimed in claim 4, characterized in that: A magnetic sheet is embedded on one side of the end of the support arm, and a metal sheet corresponding to the magnetic sheet is arranged on one side of the bottom of the bracket.

10. A vehicle body frame welding method, applied to a vehicle body frame welding device according to any one of claims 1 to 9, characterized in that: The steps include: Step 1: The body frame fixture is driven to rotate to a preset position by a swivel seat, and the body frame is fixed based on the curved surface contour of the body frame so that the welding area of ​​the frame is aligned with the motion trajectory of the end effector of the industrial robot; Step 2: According to the welding point position information, adjust the distance between the welding gun and the grounding electrode on the lower clamping plate so that the welding gun and the lower clamping plate are placed on the upper and lower parts of the weldment; Step 3: Rotate and select the target upper clamping block through the switching component of the clamping component, and make its force-applying surface adaptively parallel to the lower clamping plate; If the workpiece to be welded is a thin plate or a curved surface structure, switch to the vacuum adsorption clamp and start the negative pressure generator to stabilize the suction cup adsorption pressure within a certain range; If the workpiece to be welded is high-strength steel and the surface is required to be free of indentations, switch to the flexible buffer clamp to control the contact pressure and compensate for the unevenness of the workpiece surface through the deformation of the flexible pad; If the welding heat input exceeds the standard, switch to the composite heat dissipation clamp and pump phase change coolant into the cooling medium channel to reduce the temperature rise rate in the soldering point area; Step 4: Start the welding gun to weld and dynamically adjust the force of the clamping assembly: The welding fume is discharged through the honeycomb holes of the composite heat dissipation clamp, and the temperature of the welding point is controlled below the recrystallization temperature of the material by using the cooling medium channel of the honeycomb holes; Step 5: Drive the body frame fixture to rotate to the second welding station through the swivel seat, and repeat the above steps to complete the welding operation on multiple points of the body frame.

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