Sheet metal part welding equipment and welding method

Abstract

The invention discloses sheet metal part welding equipment and a welding method, and relates to the field of sheet metal part welding. The sheet metal part welding equipment comprises a base, the base is arranged in a left-right symmetry mode and is arranged to be in a U shape, lead screw bases are fixedly arranged on the tops of the left side and the right side of the base through bolts, and moving seats are arranged on the lead screw bases; a first motor is arranged in the moving seat, a supporting plate is fixedly arranged on a rotating shaft of the first motor, a welding assembly is arranged at the other end of the supporting plate, supporting columns are arranged on the front side and the rear side of the base, a second motor is arranged on the top of the front supporting column, and a bearing seat is fixedly arranged on the top of the rear supporting column. An overturning clamping assembly is arranged on a rotating shaft of the second motor, and the front side and the rear side of the double-shaft rotary table assembly are fixedly connected with the second motor and the bearing seat correspondingly; and through the double-shaft rotary table assembly, the problem that the angle adjusting range of existing equipment is limited is solved, and the laser welding precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sheet metal welding, in particular to a sheet metal welding device and a welding method. BACKGROUND

[0002] In the fields of mechanical manufacturing, automobile parts, household appliance production, etc., sheet metal parts are widely used as core structural parts, and the welding quality directly determines the structural strength and service life of the product. With the improvement of the automation level of the industry, sheet metal welding gradually transforms from traditional manual welding to automated and intelligent welding, and various types of automated welding equipment emerge as the industry demands, aiming to reduce manual intervention and improve welding efficiency and weld consistency through the cooperation of mechanical structures and electrical control systems.

[0003] At present, the automated sheet metal welding equipment on the market is usually equipped with basic clamping mechanisms and welding execution components, which can realize the automated welding of regular-shaped and single-plane sheet metal parts. However, in actual production, the welding requirements of sheet metal parts often involve multi-surface and multi-angle welds, such as the right-angle welds of L-shaped sheet metal parts, the arc-shaped welds of U-shaped sheet metal parts, and the inclined surface welds of special-shaped sheet metal parts, etc. The existing equipment has certain shortcomings: The clamping structure is usually fixed or single-degree-of-freedom adjustable, which can only realize the horizontal fixation or small-range overturning of the sheet metal part, and cannot adjust the sheet metal part to the optimal welding posture according to the welding requirements of different angles, such as adjusting the inclined weld to a horizontal posture for easy laser focusing, or rotating the multi-surface welds one by one within the working range of the welding assembly.

[0004] To make up for this defect, manual adjustment of the clamping angle of the sheet metal part or multiple changes of special clamping tools are often required in existing production, which increases the complexity of the process and the labor intensity of manual labor, and also easily causes positioning errors due to multiple clamping, resulting in quality problems such as weld offset and uneven penetration. At the same time, manual intervention also breaks the continuous operation process of automated welding, greatly reducing the production efficiency. Especially in batch production scenarios, the angle adaptation capability of existing equipment cannot fully meet the diversified and high-precision welding requirements of sheet metal parts. SUMMARY

[0005] The present application provides a sheet metal welding device and a welding method.

[0006] The sheet metal welding equipment comprises a base, the base is symmetrically arranged left and right, the base is arranged in a V shape, a screw rod base is fixedly arranged on the top of the left and right sides of the base through bolts, a moving seat is arranged on the screw rod base, a motor one is arranged in the moving seat, a support plate is fixedly arranged on the rotating shaft of the motor one, a welding assembly is arranged on the other end of the support plate, support columns are arranged on the front and rear sides of the base, a motor two is arranged on the top of the front side support column, a bearing seat is fixedly arranged on the top of the rear side support column, a turnover clamping assembly is arranged on the rotating shaft of the motor two, the front side of a double shaft turntable assembly is fixedly connected with the rotating shaft of the motor two, the rear side of the double shaft turntable assembly is fixedly connected with the rotating shaft of the bearing seat, the double shaft turntable assembly is used for clamping the sheet metal and can turn over and adjust the angle of the sheet metal, and can adjust the left and right and front and back movements of the sheet metal. The welding assembly is used for welding the sheet metal, the motor one is used for controlling the rotation of the support plate, thereby driving the rotation of the welding assembly, a servo motor is arranged on the rear side of the screw rod base, and the servo motor is used for starting to drive the rotation of the screw rod and thereby driving the movement of the moving seat.

[0007] Preferably, the double shaft turntable assembly comprises a multi-edge base frame, the front and rear sides of the multi-edge base frame are provided with rotating shafts, the front side rotating shaft is fixedly connected with the rotating shaft of the motor two, and the rear side rotating shaft is fixedly connected with the bearing seat, a plurality of base cross beams are arranged on the four corners of the front and rear sides and left and right sides of the multi-edge base frame, guide rails are arranged on the base cross beams, pneumatic blocks are arranged on the guide rails, clamping plates are fixedly arranged on the top of the pneumatic blocks through bolts, a control unit is fixedly arranged in the center of the multi-edge base frame, the control unit is connected with the pneumatic block telescopic rods on the left and right and front and rear sides, the control unit is used for driving each pneumatic block to independently move along the corresponding guide rail, so as to clamp and fix the sheet metal through the clamping plate, and the front and rear and left and right positions of the sheet metal in the horizontal plane can be adjusted.

[0008] Preferably, the welding assembly comprises a camera assembly, the camera assembly is arranged in the middle of the support plate, the camera assembly is used for real-time visual positioning and tracking during welding, and after welding, the camera assembly is used for imaging the weld, sending image data to an external processing device for weld quality analysis, a hydraulic cylinder is fixedly arranged on the side of the support plate away from the moving seat, a laser welding assembly is arranged at the bottom of the telescopic rod of the hydraulic cylinder, and the laser welding assembly is used for welding the sheet metal.

[0009] A welding method of a sheet metal welding equipment, comprising S1: feeding and clamping, S2: initial adjustment of welding position, S3: fine adjustment of welding posture, S4: visual positioning and welding, S5: weld quality inspection and discharging.

[0010] Preferably, S1 specifically comprises: placing the sheet metal to be welded on the double shaft turntable assembly, adjusting the positions of each pneumatic clamp unit through the control unit, so as to position and clamp the sheet metal. S2 is specifically: through the servo motor and the lead screw base to start driving the moving seat to move, adjust the longitudinal position of the welding assembly, the motor drives the support plate to rotate, and the two welding assemblies are preliminarily adjusted to the starting position close to the weld of the sheet metal part; S3 is specifically: through the driving motor two to drive the turnover clamping assembly and the sheet metal part to overturn as a whole, adjust the weld to a horizontal position suitable for welding; S4 is specifically: start the camera assembly, identify and position the weld path, and at the same time, the laser welding assembly is lowered to the working distance under the assistance of the hydraulic cylinder, continues to move with the lead screw base and the support plate, and performs synchronous laser welding along the weld path; S5 is specifically: after welding, the camera assembly collects images of the formed weld, and transmits the data to an external system for automatic quality detection, and confirms the quality after the quality is qualified, loosens the clamp, and takes down the welded part.

[0011] Compared with the prior art, the beneficial effects of the present application are: The front and rear sides of the multi-edge chassis frame of the double-shaft rotary table assembly are provided with rotary shafts, the front rotary shaft is in transmission connection with the motor two, and the rear rotary shaft is in rotary connection with the bearing seat, so that the clamped sheet metal part can be driven to overturn in a large range under the driving of the motor two. According to the welding angle of different sheet metal parts, the sheet metal part can be stably adjusted to the optimal welding posture, and the continuous welding of multi-face and multi-angle welds can be completed without manual disassembly and reassembly, thereby solving the pain point of limited angle adjustment range of the existing equipment and widening the application scenarios of the equipment.

[0012] The chassis cross beam of the double-shaft rotary table assembly is provided with guide rails and independent pneumatic blocks, the pneumatic blocks are connected with clamping plates at the top, and each pneumatic block is independently driven by a central control unit. On the one hand, the pneumatic blocks can move flexibly along the guide rails, and can adapt to sheet metal parts of different sizes and shapes to realize stable clamping; On the other hand, the control unit can drive the pneumatic blocks to finely adjust the front, rear, left and right positions of the sheet metal part in the horizontal plane, so as to ensure that the weld of the sheet metal part is accurately aligned with the operation path of the welding assembly, avoid weld quality problems caused by initial positioning deviation, and meet the high-precision operation of subsequent laser welding. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 A perspective structural schematic view of a sheet metal part welding equipment according to an embodiment of the present disclosure is shown; Figure 2 A front side plane structural schematic view of a sheet metal part welding equipment according to an embodiment of the present disclosure is shown; Figure 3 A perspective structural schematic view of a double-shaft rotary table assembly in a sheet metal part welding equipment according to an embodiment of the present disclosure is shown; Figure 4A planar structure schematic diagram of a biaxial rotary table assembly in a sheet metal part welding device according to an embodiment of the present disclosure is shown. Figure 5 A perspective structure schematic diagram of a pneumatic block in a sheet metal part welding device according to an embodiment of the present disclosure is shown. Figure 6 A block diagram of a welding method of a sheet metal part welding device according to an embodiment of the present disclosure is shown.

[0014] Wherein: 1, base; 2, support column; 201, motor two; 202, bearing seat; 3, welding assembly; 301, camera assembly; 302, hydraulic cylinder; 303, laser welding assembly; 4, biaxial rotary table assembly; 401, multi-sided chassis frame; 402, chassis cross beam; 403, pneumatic block; 404, control unit; 405, clamping plate. DETAILED DESCRIPTION

[0015] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the drawings represent functionally the same or similar elements. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0016] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0017] In addition, for the sake of brevity, a number of specific details are not described in detail herein. Those skilled in the art should understand that the various embodiments described and pictured herein can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been described in detail in order to avoid obscuring the subject matter of the present disclosure.

[0018] Reference Figures 1-5 As shown, the sheet metal part welding device according to the present embodiment includes a base 1, which is shaped like a V and is symmetrically distributed left and right. The top of the left and right sides of the base 1 is fixedly connected to a screw rod base through bolts. This bolt connection facilitates the disassembly and maintenance of the screw rod base, while ensuring the stability of the connection structure. A moving seat is assembled on the screw rod base. A motor one is built inside the moving seat. The rotating shaft of the motor one is fixedly connected to a support plate. This fixed connection can ensure that when the motor one is started, it can directly drive the support plate to rotate synchronously, thereby adjusting the working angle of the welding assembly 3 at the end of the support plate.

[0019] The base 1 is vertically provided with support columns 2 on the front and rear sides, the top of the front side support column 2 is fixedly provided with a motor two 201, and the top of the rear side support column 2 is fixedly provided with a bearing seat 202; the rotating shaft of the motor two 201 is fixedly connected with the front rotating shaft of the double-shaft rotary table assembly 4, and the rear rotating shaft of the double-shaft rotary table assembly 4 is in rotary connection with the bearing seat 202. The structure of “motor driving + bearing supporting” ensures that the double-shaft rotary table assembly 4 can be stably turned under the driving of the motor two 201, so as to realize the angle adjustment of the sheet metal part.

[0020] The double-shaft rotary table assembly 4 comprises a multi-edge chassis frame 401, the four corners of the multi-edge chassis frame 401 are fixedly provided with chassis cross beams 402, the chassis cross beams 402 are provided with guide rails, the guide rails are slidably provided with pneumatic blocks 403, the top of the pneumatic block 403 is connected with a clamping plate 405 through bolts, and the clamping plate 405 can be replaced according to the size of the sheet metal part. The central part of the multi-edge chassis frame 401 is fixedly provided with a control unit 404, the control unit 404 is electrically connected with the telescopic rods of the pneumatic blocks 403, and the control unit 404 can drive the pneumatic blocks 403 to independently move along the guide rails, so as to stably clamp the sheet metal parts of different sizes and finely adjust the front, rear, left and right positions of the sheet metal part in the horizontal plane, thereby ensuring that the welding seam is aligned with the welding assembly 3.

[0021] The welding assembly 3 is assembled on the support plate, the support plate is fixedly provided with a camera assembly 301 in the middle part, the camera assembly 301 can capture the position of the welding seam in real time during the welding process, realize visual positioning and tracking, and image the welding seam after the welding is completed, so as to transmit the image data to an external processing device for quality analysis; the support plate is fixedly provided with a hydraulic cylinder 302 on the side away from the moving seat, and the bottom of the telescopic rod of the hydraulic cylinder 302 is fixedly connected with a laser welding assembly 303. The height of the laser welding assembly 303 can be adjusted by the extension and retraction of the hydraulic cylinder 302, so that the laser welding assembly 303 can be accurately lowered to the working distance matched with the sheet metal part, thereby ensuring the welding quality.

[0022] Referring to Figure 6 A welding method of the sheet metal part welding device, comprising S1: feeding and clamping, S2: initial adjustment of welding position, S3: fine adjustment of welding position, S4: visual positioning and welding, S5: welding seam quality inspection and discharging.

[0023] Preferably, S1 specifically comprises: placing the sheet metal part to be welded on the double-shaft rotary table assembly, adjusting the positions of the pneumatic clamping units through the control unit, so as to position and clamp the sheet metal part; S2 specifically comprises: starting the moving seat to move through the servo motor and the screw base, adjusting the longitudinal position of the welding assembly, and driving the support plate to rotate through the motor one, so as to preliminarily adjust the two welding assemblies to the starting positions close to the welding seam of the sheet metal part; S3 is specifically: through the driving motor two driving overturns the clamping assembly and the sheet metal whole overturn, adjusts the weld to the horizontal position suitable for welding; S4 is specifically: start the camera assembly, identify and locate the weld path, and at the same time, the laser welding assembly is lowered to the working distance under the assistance of the hydraulic cylinder, continues to cooperate with the lead screw base and the support plate to move, and performs synchronous laser welding along the weld path; S5 is specifically: after welding, the camera assembly collects images of the formed weld, and transmits the data to the external system for automatic quality detection, and confirms that the quality is qualified, loosens the clamp, and takes down the welding part.

[0024] The rear side of the lead screw base is provided with a servo motor, the servo motor is in transmission connection with the lead screw in the lead screw base, the servo motor can drive the lead screw to rotate when started, and then drives the moving seat to move linearly along the lead screw base, so that the longitudinal position of the welding assembly 3 is adjusted, and the welding requirements of sheet metal parts with different lengths are met.

[0025] In some examples, a plurality of buffer springs are evenly arranged inside the multi-sided chassis frame 401, and the two ends of the buffer springs are connected with the inner wall of the multi-sided chassis frame 401 and the side of the chassis beam 402. The buffer spring structure can absorb the impact force when the double-shaft rotary table assembly 4 is quickly turned on and off, reduce the vibration transmission between the chassis beam 402 and the multi-sided chassis frame 401, protect the sliding fit precision of the guide rail and the pneumatic block 403, and prolong the service life of the components.

[0026] In some examples, the outer side of the laser welding assembly 303 is wound with a cooling water pipe, the water inlet of the cooling water pipe is in communication with an external cold water machine, and the water outlet is connected with a water return pipeline. The cooling structure can remove the heat generated by the component in real time when the laser welding assembly 303 works for a long time, prevent the laser generator from performance degradation due to overheating, ensure the stability of the welding power, and avoid problems such as insufficient penetration or burn-through of the weld.

[0027] The working principle of the sheet metal welding equipment in the application is: When using the sheet metal welding equipment, first, the equipment needs to be prepared, the bottom 1 of the U-shaped structure is placed on a flat ground, the left-right symmetry design is used to ensure the overall stability, it is checked whether the bolt connection between the lead screw base and the bottom 1 is firm, whether the front and rear shafts of the double-shaft rotary table assembly 4 are respectively matched with the motor two 201 and the bearing seat 202, at the same time, the camera assembly 301 is connected with the external processing equipment to ensure that the visual positioning and weld quality detection functions can normally operate, and meet the subsequent welding operation.

[0028] The metal plate to be welded is placed on the multi-sided chassis frame 401 of the dual-axis turntable assembly 4, and the central control unit 404 is started. The control unit 404 sends driving signals to the pneumatic blocks 403 on the front and rear chassis cross beams 402, so that each pneumatic block 403 independently slides along the guide rail. According to the size and shape of the metal plate, the pneumatic blocks 403 drive the top clamping plates 405 to gradually approach the edges of the metal plate, until multiple sets of clamping plates 405 jointly adhere to the surface of the metal plate, achieving stable clamping. If there is an initial placement deviation of the metal plate, the control unit 404 can further fine-tune the positions of each pneumatic block 403, driving the metal plate to move forward and backward, left and right in the horizontal plane, ensuring that the weld position of the metal plate is in the central working area of the dual-axis turntable assembly 4, providing a prerequisite for subsequent weld alignment.

[0029] Initial weld position adjustment: Start the servo motor on the rear side of the lead screw base. The servo motor drives the lead screw in the lead screw base to rotate, and then drives the moving seat on the lead screw to move longitudinally, so that the end of the support plate on the moving seat preliminarily approaches the metal plate. At the same time, start motor one in the moving seat. Motor one drives the support plate connected to the shaft to rotate, and according to the initial direction of the weld, synchronously adjusts the left and right weld assemblies 3 to an angle close to the starting end of the weld, completing the preliminary alignment of the weld position.

[0030] Fine weld position adjustment: For different angle welds, start motor two 201 on the front support column 2. Motor two 201 drives the front shaft of the dual-axis turntable assembly 4 to rotate, and the rear shaft synchronously rotates in the bearing seat 202, so that the entire dual-axis turntable assembly 4 drives the clamped metal plate to achieve a wide range of overturning. Through precise speed control of motor two 201, the originally non-horizontal weld can be adjusted to a horizontal state. This overturning function solves the problem of traditional equipment that cannot adapt to multi-angle welds, allowing the laser welding assembly 303 to align the weld in the optimal pose, avoiding problems such as uneven penetration and weld offset caused by improper weld angle.

[0031] After the weld position adjustment is completed, first start the camera assembly 301 in the middle of the support plate. The camera assembly 301 takes real-time photos of the weld path of the metal plate, locates the starting point, end point and path direction of the weld through image recognition technology, and synchronously feeds back the positioning data to the equipment control system. Then start the hydraulic cylinder 302 on the support plate. The telescopic rod of the hydraulic cylinder 302 extends downward, driving the bottom laser welding assembly 303 to a working distance matching the surface of the metal plate.

[0032] During the welding process, the equipment control system synchronously controls the servo motor and the motor one according to the real-time tracking data of the camera assembly 301, so that the laser welding assembly 303 moves uniformly along the weld path, and at the same time, the laser welding assembly 303 releases laser energy to weld the weld. During this process, the camera assembly 301 continuously monitors the weld position, and if there is a slight deviation, it will be immediately fed back to the system and the position of the welding assembly 3 will be adjusted to ensure that the weld always adheres to the weld path.

[0033] After the welding operation is completed, the hydraulic cylinder 302 drives the laser welding assembly 303 to rise to the initial position, and the camera assembly 301 switches to weld quality inspection to collect images of the formed weld in all directions, and transmits image data such as the width, penetration, and surface flatness of the weld to an external processing device. The external device automatically analyzes the data according to the pre-set quality standard to determine whether the weld is qualified.

[0034] If the detection result is qualified, the control unit 404 drives each pneumatic block 403 to slide reversely along the guide rail, and the clamping plate 405 is separated from the surface of the sheet metal part, so that the operator can take down the welded sheet metal part. If the detection result is unqualified, the external device will feedback the specific defect position, so that the operator can adjust the parameters and re-weld.

[0035] The above has described various embodiments of the present disclosure, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles, practical applications, or technical improvements in the market of the embodiments, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A sheet metal welding equipment, characterized in that, The utility model relates to a welding device for sheet metal parts, comprising: a base (1), the base (1) is arranged symmetrically left and right, the base (1) is arranged as a concave shape, a screw rod base is arranged on the top of the left and right sides of the base (1) by bolt fixing, a moving seat is arranged on the screw rod base, a motor one is arranged in the moving seat, a support plate is fixedly arranged on the rotating shaft of the motor one, a welding assembly (3) is arranged on the other end of the support plate, support columns (2) are arranged on the front and back sides of the base (1), a motor two (201) is arranged on the top of the front side support column (2), a bearing seat (202) is fixedly arranged on the top of the rear side support column (2), a turnover clamping assembly (4) is arranged on the rotating shaft of the motor two (201), the front side of the double-shaft rotary table assembly (4) is fixedly connected with the rotating shaft of the motor two (201), the rear side of the double-shaft rotary table assembly (4) is fixedly connected with the rotating shaft of the bearing seat (202), the double-shaft rotary table assembly (4) is used for clamping the sheet metal part and can turn over and adjust the angle of the sheet metal part, and can adjust the left and right and front and back movement of the sheet metal part; the welding assembly (3) is used for welding the sheet metal part, the motor one is used for controlling the rotation of the support plate, thereby driving the rotation of the welding assembly, a servo motor is arranged on the rear side of the screw rod base, and the servo motor is used for starting to drive the rotation of the screw rod and thereby drive the movement of the moving seat.

2. The sheet metal welding apparatus according to claim 1, wherein The double-shaft rotary table assembly (4) comprises: a multi-edge base frame (401), the front and back sides of the multi-edge base frame (401) are provided with rotating shafts, the front side rotating shaft is fixedly connected with the rotating shaft of the motor two (201), and the rear side rotating shaft is fixedly connected with the bearing seat (202), a plurality of base cross beams (402) are arranged on the front, rear, left and right corners of the multi-edge base frame (401), guide rails are arranged on the base cross beams (402), pneumatic blocks (403) are arranged on the guide rails, clamping plates (405) are fixedly arranged on the top of the pneumatic blocks (403) by bolts, a control unit (404) is fixedly arranged in the center of the multi-edge base frame (401), the control unit (404) is connected with the telescopic rods of the left and right and front and back pneumatic blocks (403), and the control unit (404) is used for driving each pneumatic block (403) to independently move along the corresponding guide rail, so as to clamp and fix the sheet metal part by the clamping plate (405) and adjust the front and back and left and right positions of the sheet metal part in the horizontal plane.

3. The sheet metal welding apparatus of claim 1, wherein The welding assembly (3) comprises: a camera assembly (301), the camera assembly (301) is arranged in the middle of the support plate, the camera assembly (301) is used for real-time visual positioning and tracking in the welding process, and after the welding is completed, the camera assembly (301) is used for imaging the weld, and the image data is sent to an external processing device for weld quality analysis, a hydraulic cylinder is fixedly arranged on the side of the support plate away from the moving seat, a laser welding assembly (303) is arranged at the bottom of the telescopic rod of the hydraulic cylinder, and the laser welding assembly (303) is used for welding the sheet metal part.

4. A welding method of a sheet metal member welding apparatus, wherein the welding method uses the sheet metal member welding apparatus according to any one of claims 1 to 3, characterized by It comprises S1: feeding and clamping, S2: initial adjustment of welding position, S3: fine adjustment of welding position, S4: visual positioning and welding, and S5: weld quality inspection and discharging.

5. The welding method of the sheet metal member welding apparatus according to claim 4, characterized by, S1 is specifically: the sheet metal parts to be welded are placed on the double-axis turntable assembly (4), the position of each pneumatic clamp unit is adjusted by the control unit (404), so as to position and clamp the sheet metal parts; S2 is specifically: the mobile seat is driven to move by the servo motor and the screw base, the longitudinal position of the welding assembly (3) is adjusted, the motor drives the support plate to rotate, and the two welding assemblies (3) are preliminarily adjusted to the starting positions close to the weld of the sheet metal parts; S3 is specifically: the whole is overturned by driving the overturning clamping assembly (4) and the sheet metal parts by the driving motor two (201), and the weld is adjusted to a horizontal position suitable for welding; S4 is specifically: the camera assembly (301) is started, the weld path is identified and positioned, and the laser welding assembly (303) is lowered to the working distance under the assistance of the hydraulic cylinder (302), and continues to cooperate with the screw base and the support plate to move, and performs synchronous laser welding along the weld path; S5 is specifically: after welding, the formed weld is image collected by the camera assembly (301), and the data is transmitted to an external system for automatic quality detection, and after confirming that the quality is qualified, the clamp is loosened, and the welded part is taken down.

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