Efficient welding device for automobile swing arm and welding process based on efficient welding device

Abstract

The invention discloses an automobile swing arm efficient welding device and a welding technology based on the automobile swing arm efficient welding device. The automobile swing arm efficient welding device comprises a mechanical arm, a welding gun arranged on the mechanical arm, a detection device arranged at the end of the mechanical arm and a multi-axis device connected with the detection device through a telescopic device, and the welding gun is arranged on the multi-axis device. The detection device can identify the shape, the size and the position of the workpiece to be machined, and different machining programs are called according to different workpieces, so that the multi-model self-adaptive mode or the single-model batch machining mode can be provided for selection, when small-batch and multi-model workpiece machining is conducted, the multi-model self-adaptive mode can be adopted, and the machining efficiency is improved. And manual watching, manual program replacement and manual workpiece replacement are not needed, so that the production efficiency is greatly improved. When large-batch production of single-model workpieces is carried out, a single-model batch machining mode can be adopted, and then the machining efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and more specifically, the present invention relates to an efficient welding device for automotive swing arms and a welding process based on the same. Background Art

[0002] In the patent with the patent number CN202410802193, a welding device for the processing of automotive swing arms is disclosed. Its purpose is to achieve automatic supply of workpieces through a rotating mechanism, so as to reduce the time for manually placing workpieces and improve production efficiency. Although the time for manual feeding is shortened, it still has some defects. For example, when switching workpieces of different models, the program must be reset manually; during mass production, only welding can be directly carried out, and the position, spacing, and yield rate of the workpieces cannot be monitored. Once the installation position of the workpieces on the rotating mechanism changes, it is easy to occur that the welding torch collides with the workpieces, the spacing is too large to be welded, or the relative position of the workpieces is deviated, resulting in a low yield rate after welding. Therefore, how to make the welding device adapt to workpieces of various models without manual adjustment of the processing program; detect the placement position, relative distance, and integrity of the workpieces before processing, and improve the processing efficiency are the technical problems to be solved by the present invention. Summary of the Invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further detailed in the Detailed Description section. The Summary of the Invention section of the present invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0004] To at least partially solve the above problems, the present invention provides an efficient welding device for automotive swing arms and a welding process based on the same, including: a robotic arm, and a welding torch provided on the robotic arm, further including: a detection device provided at the end of the robotic arm, and a multi-axis device connected to the detection device through a telescopic device, and the welding torch is provided on the multi-axis device.

[0005] Preferably, the detection device is composed of a connecting member connected to the end of the robotic arm, an L-shaped mounting plate, and a sensor assembly provided on the mounting plate. The connecting member is provided on the vertical plate of the mounting plate, and both the sensor assembly and the telescopic device are provided on the horizontal plate of the mounting plate. A tension bar is provided between the vertical plate and the horizontal plate of the mounting plate.

[0006] Preferably, the telescopic device is composed of a driving device and a telescopic rod. The driving device is provided on the top surface of the horizontal plate of the mounting plate. One end of the telescopic rod is connected to the driving device, and the other end penetrates through the horizontal plate of the mounting plate and is connected to the multi-axis device.

[0007] Preferably, the sensor assembly consists of two groups of symmetrically arranged detectors and a visual recognition device. The detectors are connected to the horizontally oriented plate of the mounting plate through a connecting plate, and the two groups of detectors are respectively installed on two opposite side walls of the horizontally oriented plate of the mounting plate. The visual recognition device is arranged on the side wall of the horizontally oriented plate of the mounting plate.

[0008] Preferably, two probes are provided on the detector. The probes are movably connected to the detector, and the bottom of the probe is spherical.

[0009] When the detection device confirms the X, Y, and Z axis coordinates of workpiece A and workpiece B, the bottom of the welding torch is located above the probe.

[0010] When the welding torch welds workpiece A and workpiece B, the bottom of the welding torch is located below the probe.

[0011] Preferably, the multi-axis device consists of a first rotating device and a second rotating device. The first rotating device is arranged at the top of the multi-axis device and is movably connected to the telescopic device. The second rotating device is arranged on the side wall of the multi-axis device and is movably connected to the welding torch. The central rotation axis of the first rotating device and the central rotation axis of the second rotating device are normal.

[0012] Based on the welding process of the high-efficiency welding device for automotive swing arms, the steps are as follows:

[0013] The transfer device places workpiece A and workpiece B to be welded on the platform.

[0014] Start the high-efficiency welding device, and the robotic arm of the high-efficiency welding device moves the detection device and the welding torch above the platform.

[0015] The detection device takes pictures and inspects the workpiece, identifies the marking points of workpiece A and workpiece B, and confirms and retrieves the processing program through the marking points of workpiece A and workpiece B.

[0016] The robotic arm drives the detection device to move downwards. After confirming the X, Y, and Z axis coordinates of workpiece A and workpiece B, it moves upwards.

[0017] The telescopic device drives the multi-axis device to move downwards so that the welding torch reaches the processing position.

[0018] The welding torch performs welding operations on workpiece A and workpiece B according to the program. During the welding process, the multi-axis device drives the welding torch to move along the processing surface.

[0019] After welding is completed, the transfer device transfers the welded workpiece from the platform and places workpiece A and workpiece B to be welded on the platform.

[0020] Preferably, after starting the high-efficiency welding device, select the multi-model adaptive mode or the single-model batch processing mode;

[0021] In the multi-model adaptive mode, after each time the workpiece is photographed to identify the marking points and outer contours of workpiece A and workpiece B, the marking points and processing programs are confirmed. To avoid collisions, the robotic arm drives the detection device to slowly move down, and the probes of the two groups of detectors touch workpiece A and workpiece B synchronously to perform X, Y, and Z-axis coordinate detection;

[0022] In the single-model batch processing mode, after each time the workpiece is photographed to identify the marking points and outer contours of workpiece A and workpiece B, after comparing whether the marking points and outer contours are offset by image, the robotic arm drives the detection workpiece to quickly move down to the specified position, and then the probes of the two groups of detectors touch workpiece A and workpiece B synchronously to perform X, Y, and Z-axis coordinate detection.

[0023] Preferably, there are at least 3 marking points on workpiece A and workpiece B. After the visual recognition device takes a photo, it identifies the marking points of workpiece A, the marking points of workpiece B, and the outer contours of workpiece A and workpiece B, confirms the seam of workpiece A and workpiece B, and takes the center point of the seam as the origin to establish a coordinate system;

[0024] Confirm the shapes of workpiece A and workpiece B, and call the corresponding processing programs. At the same time, confirm whether workpiece A and workpiece B meet the processing requirements. If there are inconsistencies in the relative positions of the marking points and the outer contours, or the outer contour shapes do not match, or the distance between workpiece A and workpiece B exceeds the processing range, stop the subsequent processing and issue an alarm;

[0025] When both workpiece A and workpiece B meet the processing standards, perform the subsequent process.

[0026] Preferably, after the visual recognition device identifies, detects, and retrieves the corresponding program for workpiece A and workpiece B, the robotic arm drives the detector to move down;

[0027] The two groups of detectors are detector A and detector B respectively. Detector A performs coordinate detection on workpiece A, and detector B performs coordinate detection on workpiece B;

[0028] The two probes of detector A will contact workpiece A, and the two probes of detector B will contact workpiece B, so as to obtain the height coordinates of workpiece A and workpiece B, and then confirm whether workpiece A and workpiece B are coplanar or whether there is a height difference;

[0029] If the height difference between workpiece A and workpiece B exceeds the preset range, stop the subsequent processing and issue an alarm.

[0030] Compared with the prior art, the present invention has at least the following beneficial effects:

[0031] The detection device can identify the shape, size, and position of the workpiece to be processed, and retrieve different processing programs according to different workpieces, so that the present invention can provide a multi-model adaptive mode or a single-model batch processing mode for selection. When processing small batches of workpieces of multiple models, the multi-model adaptive mode can be adopted, and the transfer device is used to automatically pick up the finished products and place the workpieces to be processed, enabling the automated processing of multiple categories of workpieces without manual supervision, manual program replacement, and workpiece replacement, thus greatly improving production efficiency. When mass-producing workpieces of a single model, the single-model batch processing mode can be adopted. In this mode, since there is no need to replace the processing program, the detection efficiency of the detection device for the workpiece to be processed can be greatly improved compared with the multi-model adaptive mode, and thus the processing efficiency can be greatly enhanced.

[0032] The high-efficiency welding device for automotive swing arms and the welding process based on it according to the present invention. Other advantages, objectives, and features of the present invention will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0034] Figure 1 It is a schematic diagram of the high-efficiency welding device for automotive swing arms according to the present invention (the welding torch and the multi-axis device are not shown).

[0035] Figure 2 is Figure 1 a schematic diagram of the structure of the detection device in

[0036] Figure 3 a schematic diagram of the structure of the detection device when the bottom of the welding torch is above the probe.

[0037] Figure 4 a schematic diagram of the structure of the detection device when the welding torch is performing welding.

[0038] Figure 5 is a schematic diagram of the structure of the multi-axis device.

[0039] In the figure: 1 robotic arm, 2 welding torch, 3 detection device, 31 connecting piece, 32 mounting plate, 33a, 33b detector, 34 visual recognition device, 35 probe, 4 telescopic device, 41 driving device, 42 telescopic rod, 5 multi-axis device. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments, so that those skilled in the art can implement it with reference to the text of the specification.

[0041] It should be understood that terms such as "having", "comprising", and "including" used herein do not exclude the presence or addition of one or more other elements or their combinations.

[0042] As Figures 1 - 5 shown, the present invention provides an efficient welding device for an automotive swing arm, including: a robotic arm 1, and a welding torch 2 provided on the robotic arm 1. It further includes: a detection device 3 provided at the end of the robotic arm 1, and a multi-axis device 5 connected to the detection device 3 through a telescopic device 4, and the welding torch 2 is provided on the multi-axis device 5.

[0043] The working principle and beneficial effects of the above technical solution: Through the design of the above structure, the detection device 3 can identify the shape, size, and position of the workpiece to be processed, and retrieve different processing programs according to different workpieces, so that the present invention can provide a multi-model adaptive mode or a single-model batch processing mode for selection. When processing small batches of multi-model workpieces, the multi-model adaptive mode can be adopted, and the transfer device can be used to automatically pick up the finished products and place the workpieces to be processed, enabling the automated processing of multi-category workpieces without manual supervision, manual program replacement, and workpiece replacement, thus greatly improving production efficiency. When mass-producing single-model workpieces, the single-model batch processing mode can be adopted. In this mode, since there is no need to replace the processing program, the detection efficiency of the detection device 3 for the workpiece to be processed can be greatly improved compared with the multi-model adaptive mode, and thus the processing efficiency can be greatly enhanced.

[0044] Further, the detection device 3 is composed of a connecting member 31 connected to the end of the robotic arm 1, an L-shaped mounting plate 32, and a sensor assembly provided on the mounting plate 32. The connecting member 31 is provided on the inner side surface of the vertical plate of the mounting plate 32 and is located at the top of the vertical plate. The top surface of the connecting member 31 is connected to the end surface of the robotic arm 1, and there is a gap between the bottom surface of the connecting member 31 and the top surface of the horizontal plate of the mounting plate 32 for installing the driving device 41 of the telescopic device 4, as Figure 2As shown, both the sensor assembly and the telescopic device 4 are arranged on the horizontally-oriented plate of the mounting plate 32. A tension bar is provided between the vertically-oriented plate and the horizontally-oriented plate of the mounting plate 32. In this embodiment, for the convenience of disassembly, assembly, and maintenance of the telescopic device 4, an L-shaped mounting plate 32 is adopted instead of a U-shaped mounting plate 32 with higher stability. This also leads to the risk that the horizontally-oriented plate of the mounting plate 32 is pressed and deformed after the sensor assembly and the telescopic device 4 are suspended for a long time. Therefore, by setting a tension bar between the inner side surface of the vertically-oriented plate and the top surface of the horizontally-oriented plate, the deformation of the horizontally-oriented plate caused by its own weight is reduced.

[0045] Further, the sensor assembly is composed of two groups of symmetrically arranged detectors 33a, 33b, and a visual recognition device 34. The detectors 33a, 33b are connected to the horizontally-oriented plate of the mounting plate 32 through connecting plates, and the two groups of detectors 33a, 33b are respectively installed on two opposite side walls of the horizontally-oriented plate of the mounting plate 32. As Figures 2 - 4 shown, the detector 33a is used to detect the workpiece A, and the detector 33b is used to detect the workpiece B, so that the two detectors can simultaneously obtain the coordinates of the two workpieces. The visual recognition device 34 is arranged on the side wall of the horizontally-oriented plate of the mounting plate 32, usually located between the two detectors, as Figure 2 shown. Two probes 35 are arranged on both the detector 33a and the detector 33b. The probes 35 are movably connected to the detectors 33a and 33b. The bottom of the probe 35 is spherical. Since the visual recognition device 34 can obtain the horizontal coordinates of the workpiece by taking pictures, the main purpose of the probe 35 is to obtain the vertical coordinates of the workpiece surface. It should be noted that the probe 35 can also be used to obtain the horizontal coordinates of the workpiece, only by touching the side of the workpiece. Two probes 35 are arranged for each detector to be able to obtain the vertical coordinates of different points on the same workpiece and the same surface at one time, and judge whether the workpiece has the situation of "one side is higher than the other side" through the difference between the two vertical coordinates, thereby improving the yield rate after processing. In this embodiment, the detectors, the probes 35, and the visual recognition device 34 are all commercially available products or existing technologies.

[0046] It should be noted that:

[0047] When the detection device 3 confirms the X, Y, and Z axis coordinates of the workpiece A and the workpiece B, the telescopic device 4 drives the welding torch 2 to move upward, as Figure 3 shown, so that the bottom of the welding torch 2 is located above the probe 35 to avoid the welding torch 2 colliding with the workpiece during the detection process;

[0048] When the welding torch 2 welds the workpiece A and the workpiece B, the telescopic device 4 drives the welding torch 2 to move downward, as Figure 4As shown, the bottom of the welding torch 2 is positioned below the probe 35, preventing the detection device 3 from colliding with the workpiece when the welding torch 2 performs contour welding.

[0049] Further, the telescopic device 4 is composed of a driving device 41 and a telescopic rod 42. The driving device 41 is arranged on the top surface of the horizontally oriented plate of the mounting plate 32, between the bottom surface of the connecting member 31 and the top surface of the horizontally oriented plate of the mounting plate 32. As Figure 2 shown, one end of the telescopic rod 42 is connected to the driving device 41, and the other end passes through the horizontally oriented plate of the mounting plate 32 and is movably connected to the multi-axis device 5. Both the driving device 41 and the telescopic rod 42 are commercially available products or prior art. The telescopic device 4 is mainly used to control the relative position between the welding torch 2 and the detection device 3.

[0050] Further, the multi-axis device 5 is composed of a first rotating device and a second rotating device. The first rotating device is arranged at the top of the multi-axis device 5 and is movably connected to the telescopic device 4. The second rotating device is arranged on the side wall of the multi-axis device 5 and is movably connected to the welding torch 2. The central rotation axis of the first rotating device is normal to the central rotation axis of the second rotating device. Both the first rotating device and the second rotating device are commercially available products or prior art. The first rotating device is used to drive the multi-axis device 5 to rotate relative to the telescopic rod 42, and the second rotating device is used to drive the welding torch 2 to rotate relative to the multi-axis device 5. By providing the multi-axis device 5, the robotic arm 1 does not need to swing significantly during the welding process, thus preventing the detection device 3 from colliding with the workpiece due to the significant swing of the robotic arm 1. During processing, the robotic arm 1 is mainly used to control the translation of the welding torch 2. The telescopic device 4 and the multi-axis device 5 can form a small three-axis system, enabling the welding torch 2 to move along the shape of the workpiece. Furthermore, without increasing the volume of the equipment, the welding process will neither affect the detection device 3, and the welding torch 2 can also perform contour welding, improving the adaptability of the device for welding complex workpieces.

[0051] The present invention also provides a welding process for an efficient welding device based on an automotive swing arm, the steps being as follows:

[0052] The transfer device places the workpiece A and the workpiece B to be welded on the platform;

[0053] The efficient welding device is started, and the robotic arm 1 of the efficient welding device moves the detection device 3 and the welding torch 2 above the platform;

[0054] The detection device 3 takes pictures of the workpieces to detect, identify the marking points of workpiece A and workpiece B, as well as the outer contours of workpiece A and workpiece B, and confirm whether workpiece A and workpiece B meet the dimensional requirements. Usually, there are at least 3 marking points on each workpiece. When identifying the marking points, workpiece A provides 3 marking points and workpiece B provides 3 marking points. The models and relative position relationships of workpiece A and workpiece B are confirmed through the marking points of workpiece A and workpiece B, and it can be judged whether there is relative rotation or relative displacement between the two workpieces, so as to judge whether the weld meets the welding requirements. For example, when workpiece A rotates relative to workpiece B, the gap between the two workpieces will be large at one end and small at the other end. At this time, it is necessary to judge whether the gap is within the tolerance range. If it exceeds the tolerance range, the subsequent process will be stopped and an alarm will be issued. After confirming the type of the processed workpiece through the marking points, the corresponding processing program is retrieved;

[0055] The robotic arm 1 drives the detection device 3 to move downwards, confirms the X, Y, and Z axis coordinates of workpiece A and workpiece B, and then moves upwards;

[0056] The telescopic device 4 drives the multi-axis device 5 to move downwards, so that the welding torch 2 reaches the processing position;

[0057] The welding torch 2 performs welding operations on workpiece A and workpiece B according to the program. During the welding process, the multi-axis device 5 drives the welding torch 2 to move along the processing surface;

[0058] After welding is completed, the transfer device transfers the welded workpiece from the platform and places workpiece A and workpiece B to be welded on the platform.

[0059] Further, after starting the high-efficiency welding device, select the multi-model adaptive mode or the single-model batch processing mode;

[0060] In the multi-model adaptive mode, after each time taking pictures of the workpieces to identify the marking points and outer contours of workpiece A and workpiece B, both the marking points and the processing program are confirmed. To avoid collisions, the robotic arm 1 drives the detection device 3 to move downwards slowly, and the probe 35 of the detector 33a touches the top surface and / or side surface of workpiece A, and the probe 35 of the detector 33b touches the top surface and / or side surface of workpiece B for X, Y, and Z axis coordinate detection;

[0061] In the single-model batch processing mode, after each time taking pictures of the workpieces to identify the marking points and outer contours of workpiece A and workpiece B, after comparing whether the marking points and outer contours are offset through images, the robotic arm 1 drives the detection workpiece to move downwards quickly to the specified position, and then the probes 35 of the two groups of detectors 33a and 33b touch workpiece A and workpiece B synchronously for X, Y, and Z axis coordinate detection.

[0062] There are at least 3 marking points on workpiece A and workpiece B. After the vision recognition device 34 takes pictures, it recognizes the marking points of workpiece A, the marking points of workpiece B, and the outer contours of workpiece A and workpiece B, confirms the seam between workpiece A and workpiece B, and takes the center point of the seam as the origin to establish a coordinate system;

[0063] Confirm the outer shapes of workpiece A and workpiece B, and call the corresponding processing programs. At the same time, confirm whether workpiece A and workpiece B meet the processing requirements. If there are inconsistencies in the relative positions of the marking points and the outer contours, or the outer contour shapes do not match, or the distance between workpiece A and workpiece B exceeds the processing range, stop the subsequent processing and issue an alarm;

[0064] When both workpiece A and workpiece B meet the processing standards, proceed with the subsequent processes.

[0065] After the vision recognition device 34 recognizes, detects, and retrieves the corresponding programs for workpiece A and workpiece B, the robotic arm 1 drives the detectors 33a and 33b to move downward;

[0066] The two groups of detectors 33a and 33b are the A detector 33a and the B detector 33b respectively. The A detector 33a performs coordinate detection on workpiece A, and the B detector 33b performs coordinate detection on workpiece B;

[0067] The two probes 35 of the A detector 33a will contact workpiece A, and the two probes 35 of the B detector 33b will contact workpiece B, so as to obtain the height coordinates of workpiece A and workpiece B, and then confirm whether workpiece A and workpiece B are coplanar or whether there is a height difference;

[0068] If the height difference between workpiece A and workpiece B exceeds the preset range, stop the subsequent processing and issue an alarm.

[0069] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship 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 orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention.

[0070] In the present invention, unless otherwise clearly specified or limited, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0071] Although the embodiments of the present invention have been disclosed as above, it is not limited to the applications listed in the specification and embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily achieved. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to the specific details and the examples shown and described herein.

Claims

1. An efficient welding device for an automobile swing arm, comprising: A robotic arm (1), and a welding torch (2) provided on the robotic arm (1), characterized in that it further comprises: a detection device (3) provided at the end of the robotic arm (1), and a multi-axis device (5) connected to the detection device (3) through a telescopic device (4), and the welding torch (2) is provided on the multi-axis device (5).

2. The high-efficiency welding device for an automobile swing arm according to claim 1, characterized in that, The detection device (3) consists of a connecting member (31) connected to the end of the robotic arm (1), an L-shaped mounting plate (32), and a sensor assembly provided on the mounting plate (32). The connecting member (31) is provided on the vertical plate of the mounting plate (32), and both the sensor assembly and the telescopic device (4) are provided on the horizontal plate of the mounting plate (32). A tension bar is provided between the vertical plate and the horizontal plate of the mounting plate (32).

3. The high-efficiency welding device for automobile swing arms according to claim 2, characterized in that, The telescopic device (4) consists of a driving device (41) and a telescopic rod (42). The driving device (41) is provided on the top surface of the horizontal plate of the mounting plate (32). One end of the telescopic rod (42) is connected to the driving device (41), and the other end penetrates through the horizontal plate of the mounting plate (32) and is connected to the multi-axis device (5).

4. The high-efficiency welding device for automobile swing arms according to claim 2, characterized in that, The sensor assembly consists of two groups of symmetrically arranged detectors (33a, 33b) and a visual recognition device (34). The detectors (33a, 33b) are connected to the horizontal plate of the mounting plate (32) through a connecting plate, and the two groups of detectors (33a, 33b) are respectively installed on two opposite side walls of the horizontal plate of the mounting plate (32). The visual recognition device (34) is provided on the side wall of the horizontal plate of the mounting plate (32).

5. The high-efficiency welding device for an automotive swing arm according to claim 4, characterized in that, Two probes (35) are provided on the detectors (33a, 33b). The probes (35) are movably connected to the detectors (33a, 33b), and the bottom of the probes (35) is spherical; When the detection device (3) confirms the X, Y, and Z axis coordinates of workpiece A and workpiece B, the bottom of the welding torch (2) is located above the probe (35); When the welding torch (2) welds workpiece A and workpiece B, the bottom of the welding torch (2) is located below the probe (35).

6. The high-efficiency welding device for an automotive swing arm according to claim 1, characterized in that, The multi-axis device (5) consists of a first rotating device and a second rotating device. The first rotating device is provided on the top of the multi-axis device (5) and is movably connected to the telescopic device (4). The second rotating device is provided on the side wall of the multi-axis device (5) and is movably connected to the welding torch (2). The central rotation axis of the first rotating device and the central rotation axis of the second rotating device are normal to each other.

7. The welding process of an efficient welding device for automotive swing arms is characterized in that, The steps are as follows: The transfer device places workpiece A and workpiece B to be welded on the platform; Start the high-efficiency welding device, and the robotic arm (1) of the high-efficiency welding device moves the detection device (3) and the welding torch (2) above the platform; The detection device (3) takes pictures and detects the workpiece, identifies the marking points of workpiece A and workpiece B, and confirms and retrieves the processing program through the marking points of workpiece A and workpiece B; The robotic arm (1) drives the detection device (3) to move down, confirms the X, Y, and Z axis coordinates of workpiece A and workpiece B and then moves up; The telescopic device (4) drives the multi-axis device (5) to move downward, so that the welding torch (2) reaches the processing position; The welding torch (2) performs welding operations on workpiece A and workpiece B according to the program. During the welding process, the multi-axis device (5) drives the welding torch (2) to move along the processing surface; After welding is completed, the transfer device transfers the welded workpiece from the platform and places workpiece A and workpiece B to be welded on the platform.

8. The welding process of the high-efficiency welding device for automotive swing arms according to claim 7, characterized in that After starting the high-efficiency welding device, select the multi-model adaptive mode or the single-model batch processing mode; In the multi-model adaptive mode, after each time the workpiece is photographed to identify the marking points and outer contours of workpiece A and workpiece B, the marking points and the processing program are confirmed. To avoid collisions, the robotic arm (1) drives the detection device (3) to move downward slowly, and the probes (35) of the two detectors (33a, 33b) touch workpiece A and workpiece B synchronously to perform X, Y, and Z axis coordinate detection; In the single-model batch processing mode, after each time the workpiece is photographed to identify the marking points and outer contours of workpiece A and workpiece B, after comparing whether the marking points and the outer contours are offset by image, the robotic arm (1) drives the detection workpiece to quickly move downward to the specified position, and then the probes (35) of the two detectors (33a, 33b) touch workpiece A and workpiece B synchronously to perform X, Y, and Z axis coordinate detection.

9. The welding process of the high-efficiency welding device for automobile swing arms according to claim 7, characterized in that, There are at least 3 marking points on workpiece A and workpiece B. After the visual recognition device (34) takes a photo, it recognizes the marking points of workpiece A, the marking points of workpiece B, and the outer contours of workpiece A and workpiece B, confirms the seam of workpiece A and workpiece B, and takes the center point of the seam as the origin to establish a coordinate system; Confirm the outer shapes of workpiece A and workpiece B, and call the corresponding processing program. At the same time, confirm whether workpiece A and workpiece B meet the processing requirements. If there is a mismatch in the relative position of the marking points and the outer contour, or the outer contour shape does not match, or the distance between workpiece A and workpiece B exceeds the processing range, stop the subsequent processing and issue an alarm; When both workpiece A and workpiece B meet the processing standards, perform the subsequent process.

10. The welding process of the high-efficiency welding device for automobile swing arms according to claim 7, characterized in that, After the visual recognition device (34) recognizes, detects and retrieves the corresponding program for workpiece A and workpiece B, the robotic arm (1) drives the detectors (33a, 33b) to move downward; The two detectors (33a, 33b) are the A detector (33a) and the B detector (33b) respectively. The A detector (33a) performs coordinate detection on workpiece A, and the B detector (33b) performs coordinate detection on workpiece B; The two probes (35) of the A detector (33a) will contact workpiece A, and the two probes (35) of the B detector (33b) will contact workpiece B, so as to obtain the height coordinates of workpiece A and workpiece B, and then confirm whether workpiece A and workpiece B are coplanar or whether there is a height difference; If the height difference between workpiece A and workpiece B exceeds the preset range, stop the subsequent processing and issue an alarm.

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