Large frame welding system

Abstract

The invention discloses a large frame welding system, relates to the technical field of welding, and aims to solve the technical problems of low positioning precision, poor welding efficiency, unstable welding seam quality and high manual intervention degree in the existing large frame welding process. The system comprises a welding platform unit, a multi-axis cooperative mechanical arm unit, an intelligent positioning and clamping unit, a welding seam tracking and detecting unit, a central control unit and a cooling and dust removing unit. The central control unit is electrically connected with the welding platform unit, the multi-axis cooperative mechanical arm unit, the intelligent positioning and clamping unit, the welding seam tracking and detecting unit and the cooling and dust removing unit. High-precision positioning and clamping of a large frame are achieved through the intelligent positioning and clamping unit, the weld track is captured in real time through the weld tracking and detecting unit and fed back to the central control unit, the multi-axis cooperative mechanical arm unit is controlled to conduct dynamic adjustment welding, and multi-angle overturning of the welding platform unit is combined, so that the welding efficiency is improved. And the welding efficiency and the welding seam quality are obviously improved.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and more specifically to an automated welding system for large vehicle frames (such as engineering machinery frames, commercial vehicle frames, etc.). Background Technology

[0002] Large vehicle frames, as core load-bearing components of equipment such as construction machinery and commercial vehicles, are typically constructed by welding together multiple large steel sections and plates. They are characterized by their large size, heavy weight, and numerous, complexly distributed welds. Current large vehicle frame welding production largely employs semi-automated or manual welding methods, which presents the following technical challenges: Manual positioning or simple tooling positioning cannot guarantee the relative positional accuracy between various components of a large vehicle frame, resulting in large dimensional deviations in the frame after welding, affecting the accuracy of subsequent assembly. Single robotic arm operation or manual welding requires frequent adjustments to the workpiece posture or robotic arm position when dealing with complex welds, resulting in a discontinuous work process. Especially when multiple welds exist simultaneously, parallel welding cannot be achieved, leading to low production efficiency. Manual welding depends on the skill level of the operator, and welding parameters (such as current, voltage, and welding speed) fluctuate greatly. It is also difficult to adjust the welding trajectory in real time to adapt to minor deviations in the weld, which easily leads to defects such as incomplete penetration, undercut, and porosity, resulting in poor weld quality consistency. During the welding process, manual operations such as workpiece flipping, positioning adjustment, and weld inspection are required, which is not only labor-intensive but also poses safety hazards such as high temperature and dust, which is inconsistent with the development trend of automation and intelligence in modern manufacturing.

[0003] Although there are some automated welding systems for small workpieces in the existing technology, these systems cannot be directly applied due to the special structure and size requirements of large vehicle frames. There is an urgent need for a welding system that can achieve high-precision positioning, high-efficiency welding, high-quality welds and low human intervention, tailored to the characteristics of large vehicle frames. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to overcome the defects of low positioning accuracy, poor welding efficiency, unstable weld quality and high degree of manual intervention in the welding of large vehicle frames in the prior art, and to provide a welding system for large vehicle frames.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A large vehicle frame welding system includes a welding platform unit, a multi-axis collaborative robotic arm unit, an intelligent positioning and clamping unit, a weld seam tracking and detection unit, a central control unit, and a cooling and dust removal unit. The central control unit is electrically connected to the welding platform unit, the multi-axis collaborative robotic arm unit, the intelligent positioning and clamping unit, the weld seam tracking and detection unit, and the cooling and dust removal unit, respectively. The welding platform unit is used to support the large vehicle frame and achieve multi-angle rotation; the intelligent positioning and clamping unit is set on the welding platform unit and is used to position and clamp the large vehicle frame. The multi-axis collaborative robotic arm unit is located next to the welding platform unit and is used to perform welding operations; The weld seam tracking and detection unit is installed at the execution end of the multi-axis collaborative robotic arm unit and is used to detect the weld seam trajectory in real time and transmit the detection data to the central control unit. The cooling and dust removal unit is used to cool and remove dust from the welding area.

[0006] As a further optimization of this technical solution, the welding platform unit includes a fixed base, a tilting table, a drive motor, and a reduction gearbox; the tilting table is rotatably connected to the fixed base via a rotating shaft, the drive motor is drive-connected to the rotating shaft via a reduction gearbox, and the drive motor is electrically connected to the central control unit.

[0007] As a further optimization of this technical solution, the flipping table is provided with several T-slots, which are evenly distributed along the length and width directions of the flipping table. The intelligent positioning and clamping unit is detachably connected to the flipping table through the T-slots.

[0008] As a further optimization of this technical solution, the intelligent positioning and clamping unit includes several positioning components and clamping components; the positioning components include a positioning cylinder, a positioning pin, and a displacement sensor, the positioning cylinder drives the positioning pin to extend and retract, and the displacement sensor is used to detect the extension length of the positioning pin and transmit the data to the central control unit; the clamping components include a clamping cylinder, a clamping block, and a pressure sensor, the clamping cylinder drives the clamping block to move, and the pressure sensor is used to detect the clamping force of the clamping block on the large vehicle frame and transmit the data to the central control unit.

[0009] As a further optimization of this technical solution, the multi-axis collaborative robotic arm unit includes at least two six-axis robotic arms. Each six-axis robotic arm is equipped with a welding gun and a weld seam tracking and detection unit at its execution end. The six-axis robotic arms achieve collaborative operation through a central control unit.

[0010] As a further optimization of this technical solution, the weld seam tracking and detection unit includes a laser contour sensor and a vision camera. The laser contour sensor is used to acquire three-dimensional contour data of the weld seam, and the vision camera is used to capture image information of the weld seam. Both the laser contour sensor and the vision camera are electrically connected to the central control unit.

[0011] As a further optimization of this technical solution, the cooling and dust removal unit includes a cooling fan, cooling water pipes, and a dust collection hood; the cooling fan and cooling water pipes are used to cool the welding gun and welding area, and the dust collection hood is connected to the dust collection device through a pipe, and the position of the dust collection hood can be adjusted by adjusting the bracket.

[0012] As a further optimization of this technical solution, the central control unit includes an industrial computer, a PLC controller, and a human-machine interface; the industrial computer is used for data processing and algorithm calculation, the PLC controller is used to control the actions of the actuators of each unit, and the human-machine interface is used for parameter setting and status display.

[0013] As a further optimization of this technical solution, the industrial computer has a built-in weld seam trajectory planning algorithm and a multi-axis collaborative control algorithm. The weld seam trajectory planning algorithm generates a welding path based on the detection data of the weld seam tracking and detection unit, and the multi-axis collaborative control algorithm is used to coordinate the movement of the multi-axis collaborative robotic arm unit.

[0014] As a further optimization of this technical solution, a workpiece conveying unit is also included. The workpiece conveying unit is located at the feeding end of the welding platform unit and is used to convey the large vehicle frame to be welded to the welding platform unit. The workpiece conveying unit is electrically connected to the central control unit.

[0015] Compared with the prior art, the present invention has the following advantages: By coordinating the positioning pins and displacement sensors, clamping blocks and pressure sensors in the intelligent positioning and clamping unit, precise positioning and reliable clamping of large vehicle frames are achieved, with positioning errors controlled within ±0.5mm, significantly improving the welding dimensional accuracy of the vehicle frames. The multi-axis collaborative robotic arm unit, with its multiple six-axis robotic arms, enables parallel collaborative welding. Combined with the multi-angle rotation of the welding platform unit, frequent manual adjustments to the workpiece posture are avoided, increasing welding efficiency by 3-5 times compared to traditional manual welding, meeting the needs of mass production. The weld seam tracking and detection unit captures the weld seam trajectory in real time, and the central control unit dynamically adjusts the robotic arm's welding path and parameters based on the detection data to ensure the weld seam is clean and precise. The welding process always proceeds along the center of the weld, resulting in minimal fluctuations in welding parameters, a reduction in weld defect rate of over 80%, and excellent weld quality consistency. From workpiece positioning and welding operations to cooling and dust removal, the entire process is automated, requiring only operator parameter settings and status monitoring. This significantly reduces labor intensity and avoids direct contact with high temperatures and dusty environments, improving operational safety. The T-slot design on the tilting table allows the intelligent positioning and clamping unit to be flexibly adjusted according to different models and sizes of large vehicle frames. The wide-range motion coverage of the multi-axis robotic arm also adapts to the weld distribution of different vehicle frames, enabling the welding production of various large vehicle frames and reducing equipment investment costs. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the large vehicle frame welding system in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the welding platform unit and the intelligent positioning and clamping unit in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structural framework of the central control unit in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structural framework of the cooling and dust removal unit in an embodiment of the present invention.

[0017] In the picture: 1-Welding platform unit; 11-Fixed base; 12-Tilting table; 13-Drive motor; 14-Gearbox; 15-T-slot; 2-Multi-axis collaborative robotic arm unit; 21-Six-axis robotic arm; 22-Welding gun; 3-Intelligent positioning and clamping unit; 31-Positioning component; 311-Positioning cylinder; 312-Positioning pin; 313-Displacement sensor; 32-Clamping component; 321-Clamping cylinder; 322-Clamping block; 323-Pressure sensor; 4-Weld seam tracking and detection unit; 41-Laser contour sensor; 42-Vision camera; 5-Central control unit; 51-Industrial computer; 52-PLC controller; 53-Human machine interface; 6-Cooling and dust removal unit; 61-Cooling fan; 62-Cooling water pipeline; 63-Dust collection hood; 7-Workpiece conveying unit; 8-Large vehicle frame. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and specific implementation methods.

[0019] In the description of this invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer" and "vertical" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly fixed and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can be a direct connection or an indirect connection through an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] Furthermore, in the description of this invention, unless otherwise stated, "multiple", "multiple groups", and "multiple roots" mean two or more.

[0022] Please see Figures 1-4 As shown, this embodiment of the invention provides a large vehicle frame welding system, which includes a welding platform unit 1, a multi-axis collaborative robotic arm unit 2, an intelligent positioning and clamping unit 3, a weld seam tracking and detection unit 4, a central control unit 5, and a cooling and dust removal unit 6, wherein: The central control unit 5 is electrically connected to the welding platform unit 1, the multi-axis collaborative robotic arm unit 2, the intelligent positioning and clamping unit 3, the weld seam tracking and detection unit 4, and the cooling and dust removal unit 6. The welding platform unit 1 is used to support the large vehicle frame and achieve multi-angle rotation. The intelligent positioning and clamping unit 3 is set on the welding platform unit 1 and is used to position and clamp the large vehicle frame. The multi-axis collaborative robotic arm unit 2 is set next to the welding platform unit 1 and is used to perform welding operations. The weld seam tracking and detection unit 4 is installed on the execution end of the multi-axis collaborative robotic arm unit 2 and is used to detect the weld seam trajectory in real time and transmit the detection data to the central control unit 5. The cooling and dust removal unit 6 is used to cool and remove dust from the welding area.

[0023] As a preferred embodiment of the present invention, the welding platform unit 1 includes a fixed base 11, a tilting table 12, a drive motor 13 and a reduction gearbox 14; the tilting table 12 is rotatably connected to the fixed base 11 via a rotating shaft, the drive motor 13 is drively connected to the rotating shaft via the reduction gearbox 14, and the drive motor 13 is electrically connected to the central control unit 5.

[0024] The tilting table 12 is provided with several T-slots 15, which are evenly distributed along the length and width of the tilting table 12. The intelligent positioning and clamping unit 3 is detachably connected to the tilting table 12 through the T-slots 15.

[0025] like Figure 1 , 2As shown, the fixed base 11 of the welding platform unit 1 in this embodiment is welded from steel profiles to ensure structural stability; the tilting table 12 has a size of 6m×2.5m and can bear a large vehicle frame 8 with a weight of not less than 50t; the drive motor 13 is a servo motor with a power of 15kW, which drives the rotating shaft to rotate through the reduction gearbox 14 (reduction ratio of 20:1), so that the tilting table 12 can achieve a tilt of 0-180°, and the tilting speed can be adjusted within the range of 0.5-2r / min to meet the adjustment requirements of different welding postures; T-slots 15 with a spacing of 200mm are evenly distributed on the tilting table 12 to facilitate the installation and adjustment of the intelligent positioning clamping unit 3.

[0026] In a preferred embodiment of the present invention, the intelligent positioning and clamping unit 3 includes a plurality of positioning components 31 and clamping components 32; the positioning components 31 include a positioning cylinder 311, a positioning pin 312 and a displacement sensor 313, the positioning cylinder 311 drives the positioning pin 312 to extend and retract, and the displacement sensor 313 is used to detect the extension length of the positioning pin 311 and transmit the data to the central control unit 5; the clamping components 32 include a clamping cylinder 321, a clamping block 322 and a pressure sensor 323, the clamping cylinder 321 drives the clamping block 322 to move, and the pressure sensor 323 is used to detect the clamping force of the clamping block 322 on the large frame 8 and transmit the data to the central control unit 5.

[0027] like Figure 2 As shown, the intelligent positioning and clamping unit 3 in this embodiment includes a positioning component 31 and a clamping component 32. The positioning cylinder 311 of the positioning component 31 is a standard cylinder with a cylinder diameter of 80mm. The diameter of the positioning pin 312 is set to 20mm according to the positioning hole size of the frame 8. The displacement sensor 313 is a laser displacement sensor with a measurement accuracy of ±0.01mm. The clamping cylinder 321 of the clamping component 32 is a cylinder with a cylinder diameter of 100mm. The clamping block 322 is made of wear-resistant rubber to avoid damaging the surface of the frame. The pressure sensor 323 has a measurement range of 0-50kN and an accuracy of ±0.5%FS.

[0028] As a preferred embodiment of the present invention, the multi-axis collaborative robotic arm unit 2 includes at least two six-axis robotic arms 21. Each six-axis robotic arm 21 is equipped with a welding gun 22 and a weld seam tracking and detection unit 4 at its execution end. The six-axis robotic arms 21 can cooperate with each other through a central control unit 5.

[0029] like Figure 1 As shown, the multi-axis collaborative robotic arm unit 2 in this embodiment includes three six-axis robotic arms 21, model ABBIRB 6700, with a maximum load of 200kg and a working radius of 3.1m, which can completely cover the welding area of ​​the large frame 8 on the tilting table 12; each robotic arm 21 is equipped with a gas metal arc welding gun 22 and a weld seam tracking and detection unit 4 at its execution end.

[0030] As a preferred embodiment of the present invention, the weld seam tracking and detection unit 4 includes a laser contour sensor 41 and a vision camera 42. The laser contour sensor 41 is used to acquire three-dimensional contour data of the weld seam, and the vision camera 42 is used to capture image information of the weld seam. Both the laser contour sensor 41 and the vision camera 42 are electrically connected to the central control unit 5.

[0031] like Figure 1 As shown, in this embodiment, the laser contour sensor 41 of the weld seam tracking and detection unit 4 is a Keyence LK-G80, which can achieve high-speed sampling of 2000Hz and a measurement range of 50-300mm; the vision camera 42 is a Hikvision MV-CA050-10GM with a resolution of 2448×2048 and a frame rate of 10fps. Both are connected to the central control unit 5 for data transmission via EtherCAT bus.

[0032] As a preferred embodiment of the present invention, the cooling and dust removal unit 6 includes a cooling fan 61, a cooling water pipe 62, and a dust collection hood 63; the cooling fan 61 and the cooling water pipe 62 are used to cool the welding gun 22 and the welding area, and the dust collection hood 63 is connected to the dust collection device through a pipe, and the position of the dust collection hood 63 can be adjusted by adjusting the bracket.

[0033] like Figure 4 As shown, the cooling fan 61 of the cooling and dust removal unit 6 in this embodiment is an axial flow fan with an air volume of 5000 m³ / h; the cooling water pipe 62 is made of stainless steel with a pipe diameter of 15 mm, and the cooling water flow is controlled by a flow regulating valve; the dust suction hood 63 has an opening size of 500 mm × 300 mm, and is connected to the pulse bag dust collector through a pipe with a diameter of 200 mm, with a dust removal efficiency of up to 99.5%.

[0034] In a preferred embodiment of the present invention, the central control unit 5 includes an industrial computer 51, a PLC controller 52, and a human-machine interface 53. The industrial computer 51 is used for data processing and algorithm calculation, the PLC controller 52 is used to control the actions of the actuators of each unit, and the human-machine interface 53 is used for parameter setting and status display. The industrial computer 51 has a built-in weld seam trajectory planning algorithm and a multi-axis collaborative control algorithm. The weld seam trajectory planning algorithm generates a welding path based on the detection data of the weld seam tracking and detection unit 4, and the multi-axis collaborative control algorithm is used to coordinate the movement of the multi-axis collaborative robotic arm unit.

[0035] like Figure 3As shown, in this embodiment, the industrial computer 51 of the central control unit 5 is an Advantech IPC-610L, equipped with an Intel Core i7 processor, 16GB of memory, and a 1TB solid-state drive; the PLC controller 52 is a Siemens S7-1500 series, equipped with digital input / output modules and analog input / output modules; the human-machine interface 53 is a Weintek MT8150iE touchscreen, 15 inches in size, supporting multi-touch. The weld trajectory planning algorithm built into the industrial computer 51 adopts an interpolation method based on B-spline curves, which can generate a smooth welding path based on the three-dimensional data of the laser contour sensor 41; the multi-axis collaborative control algorithm adopts a time-synchronization-based coordination control strategy to ensure the motion synchronization of the three six-axis robotic arms 21 and avoid interference.

[0036] As a preferred embodiment of the present invention, the large vehicle frame welding system further includes a workpiece conveying unit 7, which is disposed at the feeding end of the welding platform unit 1 and is used to convey the large vehicle frame 8 to be welded to the welding platform unit 1. The workpiece conveying unit 1 is electrically connected to the central control unit 5.

[0037] like Figure 1 As shown, the workpiece conveying unit 7 in this embodiment adopts a roller conveyor with a roller length of 10m and a roller spacing of 300mm. The conveying speed can be adjusted within the range of 0.5-2m / min. The position of the frame 8 is detected by a photoelectric sensor and the signal is transmitted to the central control unit 5 to realize the collaborative operation with the welding platform unit 1.

[0038] The working process of the large vehicle frame welding system in this embodiment is as follows: Workpiece loading: The operator places the large frame 8 to be welded on the roller conveyor of the workpiece conveying unit 7, starts the system through the human-machine interface 53, and the central control unit 5 controls the workpiece conveying unit 7 to transport the frame 8 to the tilting table 12 of the welding platform unit 1.

[0039] Positioning and clamping: The central control unit 5 controls the positioning cylinder 311 of the intelligent positioning and clamping unit 3 to extend, the positioning pin 312 is inserted into the positioning hole of the frame 8, the displacement sensor 313 detects the extension length of the positioning pin 312, and after confirming accurate positioning, the clamping cylinder 321 extends, the clamping block 322 presses the frame 8 onto the tilting table 12, the pressure sensor 323 detects the clamping force, and when the clamping force reaches the preset value (20kN), the clamping cylinder 321 stops operating, and the positioning and clamping is completed.

[0040] Welding preparation: The operator selects the corresponding welding program through the human-machine interface 53 and sets the welding parameters (such as welding current 280A, welding voltage 32V, welding speed 300mm / min). The central control unit 5 controls the drive motor 13 of the welding platform unit 1 to rotate the tilting table 12 to a suitable welding posture (such as 45°) according to the welding program.

[0041] Welding Operation: The central control unit 5 controls the three six-axis robotic arms 21 of the multi-axis collaborative robotic arm unit 2 to start, and the welding torch 22 is energized to ignite the arc, initiating the welding operation. Simultaneously, the laser contour sensor 41 and vision camera 42 of the weld seam tracking and detection unit 4 collect weld seam data in real time and transmit it to the industrial computer 51. The industrial computer 51 calculates the weld seam deviation through a weld seam trajectory planning algorithm and sends an adjustment signal to the PLC controller 52. The PLC controller 52 controls the six-axis robotic arms 21 to adjust their movement trajectory, ensuring that the welding torch 22 always welds along the center of the weld seam. The cooling fan 61 and cooling water pipe 62 of the cooling and dust removal unit 6 start simultaneously to cool the welding torch 22 and the welding area; the dust extraction hood 63 sucks away the welding fumes and dust and transports them to the dust collector.

[0042] Posture adjustment and welding continuation: After the welding of the seam in the current posture is completed, the central control unit 5 controls the welding gun 22 to extinguish the arc, the six-axis robotic arm 21 returns to the safe position, and the drive motor 13 drives the tilting table 12 to tilt to the next welding posture. Step 4 is repeated until all seams are welded.

[0043] Workpiece unloading: After all welds are completed, the central control unit 5 controls the clamping cylinder 321 and positioning cylinder 311 of the intelligent positioning and clamping unit 3 to retract, and the workpiece conveying unit 7 starts to convey the welded frame 8 out of the welding platform unit 1, completing one welding cycle.

[0044] Through the above-described process, the large vehicle frame welding system of this embodiment achieves automated, high-precision, and high-efficiency welding of large vehicle frames, with stable weld quality, low degree of manual intervention, and is suitable for mass production of various large vehicle frames.

[0045] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the scope of protection of this invention.

Claims

1. A large vehicle frame welding system, characterized in that, It includes a welding platform unit, a multi-axis collaborative robotic arm unit, an intelligent positioning and clamping unit, a weld seam tracking and detection unit, a central control unit, and a cooling and dust removal unit; The central control unit is electrically connected to the welding platform unit, the multi-axis collaborative robotic arm unit, the intelligent positioning and clamping unit, the weld seam tracking and detection unit, and the cooling and dust removal unit, respectively. The welding platform unit is used to support the large vehicle frame and achieve multi-angle rotation; the intelligent positioning and clamping unit is set on the welding platform unit and is used to position and clamp the large vehicle frame. The multi-axis collaborative robotic arm unit is located next to the welding platform unit and is used to perform welding operations; The weld seam tracking and detection unit is installed at the execution end of the multi-axis collaborative robotic arm unit and is used to detect the weld seam trajectory in real time and transmit the detection data to the central control unit. The cooling and dust removal unit is used to cool and remove dust from the welding area.

2. The large vehicle frame welding system according to claim 1, characterized in that, The welding platform unit includes a fixed base, a tilting table, a drive motor, and a reduction gearbox; the tilting table is rotatably connected to the fixed base via a rotating shaft, the drive motor is drive-connected to the rotating shaft via a reduction gearbox, and the drive motor is electrically connected to the central control unit.

3. The large vehicle frame welding system according to claim 2, characterized in that, The flipping platform is provided with several T-slots, which are evenly distributed along the length and width of the flipping platform. The intelligent positioning and clamping unit is detachably connected to the flipping platform through the T-slots.

4. The large vehicle frame welding system according to claim 1, characterized in that, The intelligent positioning and clamping unit includes several positioning components and clamping components; the positioning components include a positioning cylinder, a positioning pin, and a displacement sensor. The positioning cylinder drives the positioning pin to extend and retract, and the displacement sensor is used to detect the extension length of the positioning pin and transmit the data to the central control unit; the clamping components include a clamping cylinder, a clamping block, and a pressure sensor. The clamping cylinder drives the clamping block to move, and the pressure sensor is used to detect the clamping force of the clamping block on the large vehicle frame and transmit the data to the central control unit.

5. The large vehicle frame welding system according to claim 1, characterized in that, The multi-axis collaborative robotic arm unit includes at least two six-axis robotic arms. Each six-axis robotic arm is equipped with a welding gun and a weld seam tracking and detection unit at its execution end. The six-axis robotic arms work collaboratively with each other through a central control unit.

6. The large vehicle frame welding system according to claim 5, characterized in that, The weld seam tracking and detection unit includes a laser contour sensor and a vision camera. The laser contour sensor is used to acquire three-dimensional contour data of the weld seam, and the vision camera is used to capture image information of the weld seam. Both the laser contour sensor and the vision camera are electrically connected to the central control unit.

7. The large vehicle frame welding system according to claim 1, characterized in that, The cooling and dust removal unit includes a cooling fan, cooling water pipes, and a dust collection hood; the cooling fan and cooling water pipes are used to cool the welding gun and welding area, and the dust collection hood is connected to the dust collection device through a pipe, and the position of the dust collection hood can be adjusted by adjusting the bracket.

8. The large vehicle frame welding system according to claim 1, characterized in that, The central control unit includes an industrial computer, a PLC controller, and a human-machine interface; the industrial computer is used for data processing and algorithm calculation, the PLC controller is used to control the actions of the actuators of each unit, and the human-machine interface is used for parameter setting and status display.

9. The large vehicle frame welding system according to claim 8, characterized in that, The industrial computer has a built-in weld seam trajectory planning algorithm and a multi-axis collaborative control algorithm. The weld seam trajectory planning algorithm generates a welding path based on the detection data of the weld seam tracking and detection unit, and the multi-axis collaborative control algorithm is used to coordinate the movement of the multi-axis collaborative robotic arm unit.

10. The large vehicle frame welding system according to claim 1, characterized in that, It also includes a workpiece conveying unit, which is located at the feeding end of the welding platform unit and is used to convey the large vehicle frame to be welded to the welding platform unit. The workpiece conveying unit is electrically connected to the central control unit.

Images