Combined welding equipment and welding processing method

Abstract

The invention relates to the technical field of welding equipment, and provides combined welding equipment and a welding processing method, a movable single body is adopted, the combined welding equipment can be matched with a large to-be-welded target piece or a to-be-welded target piece inconvenient to carry to form single body use or combined use, welding operation is guaranteed, meanwhile, the use modes are richer, and the practicability is better; comprising a laser welding device and further comprises a combined advancing structure, the combined advancing structure comprises a main wheel frame and an auxiliary wheel frame, the main wheel frame and the auxiliary wheel frame are each provided with a power wide wheel, a parallel telescopic connecting piece is installed between the main wheel frame and the auxiliary wheel frame, and an installation circular truncated cone is installed on the parallel telescopic connecting piece; the mechanical arm is installed on the installation round table, the welding head is installed at the execution end of the mechanical arm, a main clamping frame and an auxiliary clamping frame are rotationally installed on the main wheel frame and the auxiliary wheel frame correspondingly, lifting clamping assemblies are installed on the main clamping frame and the auxiliary clamping frame correspondingly, and first servo motors are installed on the main wheel frame and the auxiliary wheel frame correspondingly.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to a combined welding equipment and a welding processing method. Background Art

[0002] As is well known, welding is a process of achieving atomic bonding to form a permanent connection by heating or pressing two edges or two components that need to be joined. Therefore, the ultimate goal of welding is to combine two edges or two components. To facilitate actual welding operations, we propose a combined welding equipment and a welding processing method.

[0003] After retrieval, a patent with the Chinese patent application number CN202311621382.5 discloses a combined laser welding equipment for a long round rod and an end cover. It is generally described as including two adjacent first welding jigs and second welding jigs. Both the first welding jig and the second welding jig include a flipping cylinder, which is connected to a fixed plate and drives it to flip in a vertical plane. One side of the fixed plate is provided with a first clamping plate, and the other side is provided with a second clamping plate. Both the first clamping plate and the second clamping plate can move towards or away from the fixed plate. When in use, the first welding jig VI is driven by a first rodless cylinder to the loading position, with the hole end of the long round rod facing upwards. The limit top plate is lifted by a top plate cylinder, and an operator manually places the long round rod workpiece into the long round rod hole of the first welding jig VI. The first clamping plate cylinder and the second clamping plate cylinder drive the first clamping plate and the second clamping plate to move towards the fixed plate respectively to clamp the long round rod workpiece. The flipping cylinder of the first welding jig VI drives the first welding jig VI to rotate 180°. An end cover workpiece is placed between the fixed plate and the first clamping plate, and an end cover workpiece is placed between the fixed plate and the second clamping plate. The end cover workpieces are respectively placed into the end cover clamping grooves of the first welding jig VI. The first rodless cylinder drives the first welding jig VI to move from the loading position to the welding position. The X-axis module II, Y-axis module III, and Z-axis module IV drive the laser welding device V to move to the first welding jig VI for welding.

[0004] Although the above-mentioned prior art solutions can achieve combined welding between components, during actual operation, the workpiece to be welded needs to be lifted as a whole and placed on the welding station of the equipment to form a welding operation. Once the overall size of the workpiece to be welded is large or it is inconvenient to carry and move, it is difficult to form a welding operation. At the same time, to increase the welding operation area, the size of the equipment itself also needs to be enlarged, which will also increase the equipment cost. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides a combined welding device and a welding processing method. The device adopts a mobile monomer, which can be used alone or in combination with large or inconveniently transported target parts to be welded, ensuring welding operations while providing a richer usage mode and better practicality.

[0006] To achieve the above object, the present invention provides the following technical solution: A combined welding device includes a laser welding device and a combined traveling structure. The combined traveling structure includes a main wheel frame and an auxiliary wheel frame. Power wide wheels are installed on both the main wheel frame and the auxiliary wheel frame. A parallel telescopic connecting piece is installed between the main wheel frame and the auxiliary wheel frame. An installation turntable is installed on the parallel telescopic connecting piece. The laser welding device includes a robotic arm and a welding head. The robotic arm is installed on the installation turntable, and the welding head is installed at the execution end of the robotic arm. A main clamping frame and an auxiliary clamping frame are respectively rotatably installed on the main wheel frame and the auxiliary wheel frame. Lifting clamping components are installed on both the main clamping frame and the auxiliary clamping frame. First servo motors are installed on both the main wheel frame and the auxiliary wheel frame. The two first servo motors are respectively used for the rotational adjustment of the main clamping frame and the auxiliary clamping frame.

[0007] Preferably, the two lifting clamping components both include a lifting frame and an electric lifting rod. The two lifting frames are respectively slidably connected to the main clamping frame and the auxiliary clamping frame. Step installation tubes are fixedly connected to both the main clamping frame and the auxiliary clamping frame. The two electric lifting rods are respectively installed on the two step installation tubes. The lifting rods of the two electric lifting rods are respectively connected to the two lifting frames. Rotating adjustment frames are rotatably connected to both the two lifting frames. Elastic pin mechanisms are respectively arranged between the two rotating adjustment frames and the two lifting frames. First clamping frames and second clamping frames are rotatably connected to both the two rotating adjustment frames. Electric driving mechanisms are installed on both the two rotating adjustment frames. The two electric driving mechanisms are respectively used for the clamping drive of the two first clamping frames, and the two electric driving mechanisms are also respectively used for the clamping drive of the two second clamping frames.

[0008] Preferably, the elastic pin mechanism includes an external hanging ear, which is fixedly connected to the rotating adjustment frame. A conical spring is fixedly connected to the external hanging ear. An insertion pin is fixedly connected to the conical spring. A through hole matching the insertion pin is provided on the external hanging ear. A plurality of positioning grooves matching the insertion pin are opened on the lifting frame.

[0009] Preferably, both of the electric drive mechanisms include a lead screw shaft and a second servo motor. The two lead screw shafts are respectively rotatably connected in the two rotation and adjustment frames, the two second servo motors are respectively installed on the two rotation and adjustment frames, the output shafts of the two second servo motors are respectively drivingly connected to the two lead screw shafts, a synchronous drive cylinder is threadedly connected to each of the two lead screw shafts, the two synchronous drive cylinders are respectively slidably connected in the two rotation and adjustment frames, a first drive rod and a second drive rod are respectively hinged to each of the two synchronous drive cylinders, the two first drive rods are respectively hinged to the two first clamping frames, and the two second drive rods are respectively hinged to the two second clamping frames.

[0010] Preferably, middle-edge grooves and a plurality of clamping holes are formed in both of the two first clamping frames and the two second clamping frames. A clamping column is slidably connected in each of the plurality of clamping holes, a permanent magnet is fixedly connected to each of the plurality of clamping columns, a plurality of mounting cylinders are fixedly connected to both of the two first clamping frames and the two second clamping frames, an electromagnet is installed in each of the plurality of mounting cylinders, and the plurality of electromagnets respectively match the plurality of permanent magnets.

[0011] Preferably, the parallel telescopic connecting member includes two telescopic cylinders and two telescopic columns. The two telescopic cylinders are both rotatably connected to the main wheel frame, the two telescopic columns are both rotatably connected to the auxiliary wheel frame, a mounting plate is rotatably connected between the two telescopic cylinders, an auxiliary plate is rotatably connected between the two telescopic columns, a mounting frame and an auxiliary frame are respectively rotatably connected to the bottom ends of the mounting plate and the auxiliary plate, an electric drive rod is installed in the mounting frame, the drive rod of the electric drive rod is connected to the auxiliary frame, an electric adjustment rod is installed at the bottom end of one of the two telescopic cylinders, the telescopic rod of the electric adjustment rod is connected to the mounting plate, and the two telescopic cylinders are both rotatably connected to the mounting circular platform.

[0012] Preferably, both of the power wide wheels include a rolling wheel and an axle center frame. The two axle center frames are respectively fixedly connected to the main wheel frame and the auxiliary wheel frame, the two rolling wheels are respectively rotatably connected to the two axle center frames, a drive motor is installed in each of the two axle center frames, and the output shafts of the two drive motors are respectively drivingly connected to the two rolling wheels.

[0013] Preferably, anti-slip ridge strips are arranged outside both of the two rolling wheels.

[0014] Preferably, the main wheel frame and the auxiliary wheel frame are both fixedly connected with outward extension mounting frames, and the two first servo motors are respectively installed on the two outward extension mounting frames.

[0015] A combined welding processing method includes the following steps:

[0016] S1. During use, adjust the lifting and clamping assembly according to the specific structural form of the target part to be welded. During the adjustment process, control the relative position between the main wheel frame and the auxiliary wheel frame so that the two lifting and clamping assemblies have matching relative clamping positions for the target part to be welded.

[0017] S2. After the adjustment is completed, form the welding position of the target part to be welded through the lifting and clamping assembly. Then, install a welding machine for the welding head. When the welding machine is powered on and running, form a welding output operation through the welding head.

[0018] S3. Through the operation of the robotic arm, identify the welding trajectory formed by the welding head relative to the target part to be welded. Then, control the robotic arm to move the welding head to form a welding position relative to the target part to be welded. Finally, start the welding machine and the robotic arm synchronously, and execute the welding progress operation of the welding head to complete the welding operation of the target part to be welded.

[0019] Compared with the prior art, the present invention provides a combined welding device and a welding processing method, which have the following beneficial effects:

[0020] (1) In the present invention, through the provision of a laser welding device, a functional structure for performing welding can be formed to ensure the welding operation relative to the target part to be welded.

[0021] (2) In the present invention, through the design of the combined traveling structure, a moving functional structure of the combined welding device can be formed, which is convenient for moving relative to the target part to be welded and dragging the target part to be welded, and is convenient for adjusting the basic relative welding position of the target part to be welded.

[0022] (3) In the present invention, through the design of the lifting and clamping assembly, it is convenient for the combined traveling structure to relatively clamp the target part to be welded, and the clamping mode is relatively rich and more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a three-dimensional structure schematic diagram of the whole of the present invention;

[0024] Figure 2 is of the present invention Figure 1 a partial enlarged structure schematic diagram at A in;

[0025] Figure 3 is a three-dimensional structure schematic diagram of a partial cross-section of the cooperation of the rolling wheel, the axle center frame and the driving motor, etc. of the present invention;

[0026] Figure 4 is of the present invention Figure 3 a partial enlarged structure schematic diagram at B in;

[0027] Figure 5 is of the present invention Figure 3 a partial enlarged structure schematic diagram at C in;

[0028] Figure 6 Schematic three-dimensional structure diagram of the cooperation of the first clamping frame, the second clamping frame and the first driving rod, etc. of the present invention;

[0029] Figure 7 Schematic three-dimensional structure diagram of the partial cross-section of the cooperation of the lifting frame, the rotation and adjustment frame and the first clamping frame, etc. of the present invention;

[0030] Figure 8 Schematic three-dimensional structure diagram of another angle of the cooperation of the first clamping frame, the second clamping frame and the first driving rod, etc. of the present invention;

[0031] Figure 9 Schematic three-dimensional structure diagram of the overall bottom view of the present invention;

[0032] Figure 10 For the present invention Figure 9 Schematic diagram of the enlarged partial structure at D in;

[0033] Figure 11 Schematic three-dimensional structure diagram of the cooperation of the rotation and adjustment frame and the external hanging ear of the present invention;

[0034] Figure 12 Schematic three-dimensional structure diagram of the corresponding clamping of the welding plates by two sets of this combined welding equipment of the present invention;

[0035] Figure 13 Schematic three-dimensional structure diagram of the corresponding clamping of the welding pipes by four sets of this combined welding equipment of the present invention;

[0036] Figure 14 For the present invention Figure 13 Schematic diagram of the enlarged partial structure at E in.

[0037] In the figure: 1, main wheel frame; 2, auxiliary wheel frame; 3, mounting round table; 4, robotic arm; 5, welding head; 6, main clamping frame; 7, auxiliary clamping frame; 8, first servo motor; 9, lifting frame; 10, electric lifting rod; 11, stepped mounting pipe; 12, rotation and adjustment frame; 13, first clamping frame; 14, second clamping frame; 15, external hanging ear; 16, conical spring; 17, insertion pin; 18, through hole; 19, positioning groove; 20, lead screw shaft; 21, second servo motor; 22, synchronous drive cylinder; 23, first driving rod; 24, second driving rod; 25, middle-edge groove; 26, clamping hole; 27, clamping column; 28, permanent magnet; 29, mounting cylinder; 30, electromagnet; 31, telescopic cylinder; 32, telescopic column; 33, mounting plate; 34, auxiliary plate; 35, mounting frame; 36, auxiliary frame; 37, electric driving rod; 38, electric adjusting rod; 39, rolling wheel; 40, axle center frame; 41, driving motor; 42, anti-slip ridge; 43, externally extending mounting frame. Detailed implementation manners

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] For examples, see Figures 1 - 14 , a combined welding equipment includes a laser welding device and a combined traveling structure, the combined traveling structure includes a main wheel frame 1 and an auxiliary wheel frame 2, the main wheel frame 1 and the auxiliary wheel frame 2 are both equipped with power wide wheels, the two power wide wheels include rolling wheels 39 and axle frames 40, the two axle frames 40 are respectively fixedly connected to the main wheel frame 1 and the auxiliary wheel frame 2, the two rolling wheels 39 are respectively rotatably connected to the two axle frames 40, the two axle frames 40 are both equipped with drive motors 41, the output shafts of the two drive motors 41 are respectively connected to the two rolling wheels 39, and the two rolling wheels 39 are both provided with anti-slip ridges 42. Through the design of the combined traveling structure, the mobile functional structure of the combined welding equipment can be formed, which is convenient for moving relative to the target part to be welded and dragging the target part to be welded, thereby facilitating the adjustment of the basic relative welding position of the target part to be welded. A parallel telescopic connecting piece is installed between the main wheel frame 1 and the auxiliary wheel frame 2, and the parallel telescopic connecting piece is installed between the main wheel frame 1 and the auxiliary wheel frame 2. A mounting table 3 is installed on the connecting piece, and the parallel telescopic connecting piece includes two telescopic cylinders 31 and two telescopic columns 32. The two telescopic cylinders 31 are both rotatably connected to the main wheel frame 1, and the two telescopic columns 32 are both rotatably connected to the auxiliary wheel frame 2. A mounting plate 33 is rotatably connected between the two telescopic cylinders 31, and an auxiliary plate 34 is rotatably connected between the two telescopic columns 32. The bottom ends of the mounting plate 33 and the auxiliary plates 34 are respectively rotatably connected to a mounting frame 35 and an auxiliary frame 36. An electric driving rod 37 is installed in the mounting frame 35, and the driving rod of the electric driving rod 37 is connected to the auxiliary frame 36. An electric adjusting rod 38 is installed at the bottom end of one of the two telescopic cylinders 31, and the telescopic rod of the electric adjusting rod 38 is connected to the mounting plate 33. The two telescopic cylinders 31 are both rotatably connected to the mounting table 3, forming a specific mounting structure between the main wheel frame 1 and the auxiliary wheel frame 2, which is convenient for relative adjustment between the auxiliary wheel frame 2 and the main wheel frame 1 and maintaining the relative posture during the adjustment process.

[0040] It should be further explained that the laser welding device includes a robot arm 4 and a welding head 5. The robot arm 4 is installed on the mounting table 3, and the welding head 5 is installed at the execution end of the robot arm 4. Through the configuration of the laser welding device, a functional structure for performing welding can be formed to ensure the welding operation relative to the target part to be welded. The main wheel frame 1 and the auxiliary wheel frame 2 are respectively rotatably installed with a main clamping frame 6 and an auxiliary clamping frame 7. The main clamping frame 6 and the auxiliary clamping frame 7 are both installed with a lifting clamping assembly. The main wheel frame 1 and the auxiliary wheel frame 2 are both installed with a first servo motor 8. The main wheel frame 1 and the auxiliary wheel frame 2 are both fixedly connected with an outrigger frame 43. Two first servo motors 8 are respectively installed on the two outrigger frames 43. The two first servo motors 8 are respectively used for the main clamping frame 6 and the auxiliary clamping frame 7. Rotation adjustment, the two lifting and clamping assemblies each include a lifting frame 9 and an electric lifting rod 10, the two lifting frames 9 are respectively slidably connected to the main clamping frame 6 and the auxiliary clamping frame 7, the main clamping frame 6 and the auxiliary clamping frame 7 are fixedly connected with a step mounting tube 11, the two electric lifting rods 10 are respectively installed on the two step mounting tubes 11, the lifting rods of the two electric lifting rods 10 are respectively connected to the two lifting frames 9, the two lifting frames 9 are rotatably connected with a transfer frame 12, the two transfer frames 12 are respectively provided with an elastic latch mechanism between the two lifting frames 9, the two transfer frames 12 are rotatably connected with a first clamping frame 13 and a second clamping frame 14, the two transfer frames 12 are installed with an electric drive mechanism, and the two electric drive mechanisms are respectively used for two The first clamping frame 13 is clamped and driven, and the two electric drive mechanisms are also used for the clamping and driving of the two second clamping frames 14 respectively. The elastic latch mechanism includes an external hanging ear 15, which is fixedly connected to the transfer frame 12, and a conical spring 16 is fixedly connected to the external hanging ear 15. The conical spring 16 is fixedly connected to an insertion pin 17. The external hanging ear 15 is provided with a through hole 18 matching the insertion pin 17. The lifting frame 9 is provided with a plurality of positioning grooves 19 matching the insertion pin 17. The two electric drive mechanisms each include a screw shaft 20 and a second servo motor 21. The two screw shafts 20 are respectively rotatably connected to the two transfer frames 12, and the two second servo motors 21 are respectively installed on the two transfer frames 12. The output shafts of the two second servo motors 21 are respectively connected to the two screw shafts 20 and the second servo motors 21. The lever shaft 20 is connected for transmission, and the two lead screw shafts 20 are both threadedly connected with synchronous drive cylinders 22, and the two synchronous drive cylinders 22 are respectively slidably connected in the two transfer frames 12, and the two synchronous drive cylinders 22 are both hinged with a first drive rod 23 and a second drive rod 24, and the two first drive rods 23 are respectively hinged with the two first clamping frames 13, and the two second drive rods 24 are respectively hinged with the two second clamping frames 14, and the two first clamping frames 13 and the two second clamping frames 14 are both provided with a middle side groove 25 and a plurality of clamping holes 26, and the plurality of clamping holes 26 are all slidably connected with clamping columns 27, and the plurality of clamping columns 27 are all fixedly connected with permanent magnets 28, and the two first clamping frames 13 and the two second clamping frames 14 are both fixedly connected with a plurality of mounting cylinders 29,Electromagnets 30 are installed in the multiple installation cylinders 29, and the multiple electromagnets 30 are matched with the multiple permanent magnets 28 respectively. Through the design of the lifting and clamping assembly, the relative clamping of the combined traveling structure relative to the target part to be welded is convenient, and the clamping mode is richer and more practical.

[0041] The first servo motor 8, electric lifting rod 10, second servo motor 21, permanent magnet 28, electric drive rod 37, electric adjustment rod 38 and drive motor 41 in this embodiment are all conventional equipment purchased on the market and well known to technicians in this field. In the present invention, we only use them and do not improve their structure and function. For technicians in this field, their setting method, installation method and electrical connection method only need to be debugged according to the requirements of their instruction manual, and they will not be described in detail here.

[0042] In summary, the working principle of the combined welding equipment and the welding processing method is that before use, the control circuit is correspondingly installed for the first servo motor 8, the electric lifting rod 10, the second servo motor 21, the permanent magnet 28, the electric drive rod 37, the electric adjustment rod 38 and the drive motor 41. When in use, the lifting and clamping assembly is adjusted according to the specific structural form of the target part to be welded. During the adjustment process, the relative position between the main wheel frame 1 and the auxiliary wheel frame 2 is controlled so that the two lifting and clamping assemblies match the target part to be welded with a matching relative clamping position, corresponding to the relative position adjustment between the main wheel frame 1 and the auxiliary wheel frame 2. The electric drive rod 37 and the electric adjustment rod 38 are operated in combination, wherein the operation of the electric drive rod 37 can realize the relative position adjustment of the mounting plate 33 and the auxiliary plate 34, and then realize the relative position adjustment of the two telescopic cylinders 31 relative to the two telescopic columns 32, and finally achieve the adjustment of the relative distance between the main wheel frame 1 and the auxiliary wheel frame 2, and the operation of the electric adjustment rod 38 can realize the rotation adjustment of the mounting plate 33 relative to the telescopic cylinder 31 installed by the electric adjustment rod 38, and then realize the adjustment of the relative distance of the two telescopic cylinders 31, and finally realize the rotation adjustment of the auxiliary wheel frame 2 relative to the main wheel frame 1. Figure 12 and attached Figure 13 There are two application states of lifting and clamping components, with Figure 13 In the use state where the target part to be welded is a structure similar to a pipe, the two lifting and clamping assemblies in the single combined welding equipment are respectively distributed on both sides of the target part to be welded, and the rotation drive of the screw shaft 20 is realized by controlling the second servo motor 21. The rotation of the screw shaft 20 drives the synchronous drive cylinder 22 to form a relative sliding in the transfer frame 12. The synchronous drive cylinder 22 moves through the first drive rod 23 and the second drive rod 24 to realize the movement of the first clamping frame 13 and the second clamping frame 14, and finally forms a clamping state relative to the target part to be welded, thereby realizing the clamping and positioning of the target part to be welded. Figure 12This is a working schematic diagram when the target part to be welded is a structure similar to a plate. At this time, first overcome the cone spring 16 to pull out the insertion pin 17, so that the insertion pin 17 is pulled out relative to the original positioning groove 19 into which it is inserted. Then rotate and adjust the rotation adjustment frame 12 relative to the lifting frame 9, so that the rotation adjustment frame 12 rotates from the vertical state as shown in the appendix Figure 1 to the horizontal state. Then, after the second servo motor 21 is powered on and runs, a small rotation adjustment of the first clamping frame 13 and the second clamping frame 14 relative to the rotation adjustment frame 12 to which they are correspondingly installed is realized, so that the middle side groove 25 has a posture of relatively protruding relative to the rotation adjustment frame 12. Then, insert the target part to be welded into the middle side groove 25, control the electromagnet 30 to be energized to generate an electromagnetic field, and control the acting force of the electromagnetic field on the permanent magnet 28 to be a repulsive force, so as to achieve the pushing out of the clamping column 27 relative to the clamping hole 26. After the clamping column 27 is pushed out from the clamping hole 26, it can form clamping and positioning relative to the target part to be welded inserted into the middle side groove 25. Before clamping and positioning, the height adjustment of the lifting frame 9 is realized by powering on and running the electric lifting frame 9 in advance, so that the rotation adjustment frame 12 adapts to the height of the target part to be welded. During the clamping process, the target part to be welded can be assisted to be pried up by a crowbar to facilitate the insertion of the target part to be welded relative to the middle side groove 25.

[0043] Furthermore, after the adjustment is completed, the combined welding equipment moves through the lifting and clamping assembly to achieve the welding in-place of the target part to be welded. When the driving motor 41 is powered on and runs, the rotation drive of the rolling wheel 39 relative to the axle center frame 40 can be realized. The rotation of the two rolling wheels 39 can realize the movement of the main wheel frame 1 and the auxiliary wheel frame 2. This movement can realize the relative position adjustment of the combined welding equipment as a whole relative to the target part to be welded when the lifting and clamping assembly has not yet clamped the target part to be welded. After the lifting and clamping assembly completes the clamping of the target part to be welded, the combined welding equipment can realize the position adjustment of the target part to be welded to facilitate the welding in-place of the target part to be welded, that is, the corresponding adjustment of the relative position of the welding edges between the two target parts to be welded, so that there is an appropriate welding distance between the two target parts to be welded. Then, a welding machine is installed for the welding head 5. When the welding machine is powered on and runs, welding output operations are formed through the welding head 5. Through the operation of the robotic arm 4, the recognition of the welding trajectory of the welding head 5 relative to the target part to be welded is realized. Then, the robotic arm 4 operates to control the welding head 5 to be in place for welding relative to the target part to be welded. Finally, the welding machine and the robotic arm 4 are started synchronously to execute the welding progress operation of the welding head 5 to realize the welding operation of the target part to be welded.

[0044] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A combined welding device, comprising a laser welding device, characterized in that, It further includes a combined traveling structure, the combined traveling structure includes a main wheel frame (1) and an auxiliary wheel frame (2), power wide wheels are installed on both the main wheel frame (1) and the auxiliary wheel frame (2), a parallel telescopic connecting member is installed between the main wheel frame (1) and the auxiliary wheel frame (2), an installation round table (3) is installed on the parallel telescopic connecting member, the laser welding device includes a robotic arm (4) and a welding head (5), the robotic arm (4) is installed on the installation round table (3), the welding head (5) is installed at the execution end of the robotic arm (4), a main clamping frame (6) and an auxiliary clamping frame (7) are respectively rotatably installed on the main wheel frame (1) and the auxiliary wheel frame (2), lifting clamping assemblies are installed on both the main clamping frame (6) and the auxiliary clamping frame (7), first servo motors (8) are installed on both the main wheel frame (1) and the auxiliary wheel frame (2), and the two first servo motors (8) are respectively used for the rotational adjustment of the main clamping frame (6) and the auxiliary clamping frame (7).

2. The combined welding device according to claim 1, characterized in that Both of the two lifting clamping assemblies include a lifting frame (9) and an electric lifting rod (10), the two lifting frames (9) are respectively slidably connected to the main clamping frame (6) and the auxiliary clamping frame (7), stepped installation pipes (11) are fixedly connected to both the main clamping frame (6) and the auxiliary clamping frame (7), the two electric lifting rods (10) are respectively installed on the two stepped installation pipes (11), the lifting rods of the two electric lifting rods (10) are respectively connected to the two lifting frames (9), rotation adjustment frames (12) are rotatably connected to both the two lifting frames (9), elastic pin mechanisms are respectively arranged between the two rotation adjustment frames (12) and the two lifting frames (9), first clamping frames (13) and second clamping frames (14) are rotatably connected to both the two rotation adjustment frames (12), electric driving mechanisms are installed on both the two rotation adjustment frames (12), and the two electric driving mechanisms are respectively used for the clamping drive of the two first clamping frames (13), and the two electric driving mechanisms are also respectively used for the clamping drive of the two second clamping frames (14).

3. The combined welding device according to claim 2, characterized in that, The elastic pin mechanism includes an external hanging ear (15), the external hanging ear (15) is fixedly connected to the rotation adjustment frame (12), a conical spring (16) is fixedly connected to the external hanging ear (15), an insertion pin (17) is fixedly connected to the conical spring (16), a through hole (18) matching the insertion pin (17) is arranged on the external hanging ear (15), and a plurality of positioning grooves (19) matching the insertion pin (17) are formed on the lifting frame (9).

4. A combined welding device according to claim 3, characterized in that, Both of the two electric drive mechanisms include a lead screw shaft (20) and a second servo motor (21). The two lead screw shafts (20) are respectively rotatably connected in the two rotary adjustment frames (12). The two second servo motors (21) are respectively installed on the two rotary adjustment frames (12). The output shafts of the two second servo motors (21) are respectively in transmission connection with the two lead screw shafts (20). Synchronous drive cylinders (22) are in threaded connection with both of the two lead screw shafts (20). The two synchronous drive cylinders (22) are respectively slidably connected in the two rotary adjustment frames (12). A first drive rod (23) and a second drive rod (24) are respectively hinged to both of the two synchronous drive cylinders (22). The two first drive rods (23) are respectively hinged to the two first clamping frames (13). The two second drive rods (24) are respectively hinged to the two second clamping frames (14).

5. The combined welding device according to claim 4, characterized in that, Middle-edge grooves (25) and a plurality of clamping holes (26) are formed in both of the two first clamping frames (13) and the two second clamping frames (14). Clamping columns (27) are slidably connected in the plurality of clamping holes (26). Permanent magnets (28) are fixedly connected to the plurality of clamping columns (27). A plurality of mounting cylinders (29) are fixedly connected to both of the two first clamping frames (13) and the two second clamping frames (14). Electromagnets (30) are installed in the plurality of mounting cylinders (29). The plurality of electromagnets (30) respectively match the plurality of permanent magnets (28).

6. The combined welding equipment according to claim 5, characterized in that, The parallel telescopic connecting member includes two telescopic cylinders (31) and two telescopic columns (32). The two telescopic cylinders (31) are both rotatably connected to the main wheel frame (1). The two telescopic columns (32) are both rotatably connected to the auxiliary wheel frame (2). A mounting plate (33) is rotatably connected between the two telescopic cylinders (31). An auxiliary plate (34) is rotatably connected between the two telescopic columns (32). A mounting frame (35) and an auxiliary frame (36) are respectively rotatably connected to the bottom end of the mounting plate (33) and the bottom end of the auxiliary plate (34). An electric drive rod (37) is installed in the mounting frame (35). The drive rod of the electric drive rod (37) is connected to the auxiliary frame (36). An electric adjustment rod (38) is installed at the bottom end of one of the two telescopic cylinders (31). The telescopic rod of the electric adjustment rod (38) is connected to the mounting plate (33). The two telescopic cylinders (31) are both rotatably connected to the mounting round table (3).

7. A combined welding device according to claim 6, wherein, Both of the two power wide wheels include rolling wheels (39) and axle center frames (40). The two axle center frames (40) are respectively fixedly connected to the main wheel frame (1) and the auxiliary wheel frame (2). The two rolling wheels (39) are respectively rotatably connected to the two axle center frames (40). Drive motors (41) are installed in the two axle center frames (40). The output shafts of the two drive motors (41) are respectively in transmission connection with the two rolling wheels (39).

8. A combined welding device according to claim 7, characterized in that Anti-slip ridge strips (42) are arranged outside both of the two rolling wheels (39).

9. The combined welding equipment according to claim 8, characterized in that, The main wheel frame (1) and the auxiliary wheel frame (2) are both fixedly connected with an outstretched mounting frame (43), and the two first servo motors (8) are respectively installed on the two outstretched mounting frames (43).

10. A combined welding processing method, characterized in that, Using a combined welding device according to any one of claims 1-9, comprising the following steps: S1. During use, adjust the lifting and clamping assembly according to the specific structural form of the target part to be welded. During the adjustment process, control the relative positions between the main wheel frame (1) and the auxiliary wheel frame (2) so that the two lifting and clamping assemblies are in matching relative clamping positions for the target part to be welded; S2. After the adjustment is completed, form the welding in-place of the target part to be welded through the lifting and clamping assembly. Then, install a welding machine for the welding head (5). When the welding machine is powered on and running, form a welding output operation through the welding head (5); S3. Through the operation of the robotic arm (4), identify the welding trajectory of the welding head (5) relative to the target part to be welded. Then, the robotic arm (4) operates to control the welding head (5) to form welding in-place relative to the target part to be welded. Finally, synchronously start the welding machine and the robotic arm (4) to perform the welding travel operation of the welding head (5) and achieve the welding operation of the target part to be welded.

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