Efficient double support welding arm control method and clamping fixing frame thereof

Abstract

The application discloses a high-efficiency double-support welding arm control method and a clamping fixing frame, relates to the technical field of welding, and comprises a machine table, a fixing frame, a mechanical arm and a placing frame. The clamping position is adaptively adjusted through a gear shaft, a pressing plate, a pressure sensor, a second hydraulic cylinder and a third hydraulic cylinder. The first limiting plate and the second limiting plate are cooperated to realize step-by-step positioning of the vehicle frame from front to back and then from left to right. The control method adopts preset welding coordinates, the mechanical arm performs master-slave collaborative work according to the coordinates, the clamping pressure is closed-loop controlled, and abnormal linkage shutdown is realized. The application is suitable for vehicle frames of different sizes, is stable in clamping, accurate in positioning, efficient in double-mechanical-arm cooperation, effectively solves the problems of poor generality of traditional clamps, slow manual positioning, difficulty in welding position matching and the like, and improves the welding automation level and production efficiency of the three-wheeled vehicle frame.

Description

Technical Field

[0001] This invention relates to the field of welding technology, specifically to a high-efficiency double-support welding arm control method and its clamping and fixing frame. Background Technology

[0002] As the core load-bearing component of a tricycle, the welding quality of the tricycle frame directly affects the overall strength and service life of the vehicle. During the welding process, the frame must first be stably clamped and positioned before the welding operation is completed using a welding arm.

[0003] Existing clamping and fixing frames for welding tricycle frames generally suffer from the following defects: The fixing method relies on manual operation, requiring clamping and fixing different parts of the frame one by one, resulting in low positioning efficiency, high labor intensity, and significant influence of human factors on positioning accuracy; Different parts of the tricycle frame have varying heights and widths, and existing clamps are mostly of a single specification, requiring multiple sets of different clamps to adapt to different clamping positions, increasing equipment costs and replacement time; The clamping installation position is fixed, with limited adjustment range, making it unsuitable for different models and sizes of tricycle frames, resulting in poor versatility; Clamping pressure cannot be precisely controlled, easily leading to problems such as welding misalignment due to excessively loose clamping or damage to the frame paint or structure due to excessively tight clamping; The clamping action lacks linkage with the welding arm, the two robotic arms lack coordinated cooperation logic, the welding position relies on manual teaching or on-site adjustment, and it cannot quickly match different sized frames according to preset coordinates, resulting in low welding efficiency and accuracy. Summary of the Invention

[0004] The purpose of this invention is to provide a high-efficiency dual-support welding arm control method and its clamping and fixing frame, so as to solve the problems mentioned in the background art, such as low manual operation efficiency, poor clamp versatility, uncontrollable clamping pressure, lack of coordination between the two robotic arms, and inability to match the welding positions of different sized frames according to preset coordinates.

[0005] To achieve the above object, the present invention is realized by the following technical solutions: An efficient double-bracket welding arm control method and its clamping fixture, which includes a machine table, a fixture, and a robotic arm. Inside the fixture, there is a placement rack. At one end of the placement rack, there is a mounting rack. On one side of the mounting rack, there is a fixedly connected mounting ring. Inside the mounting ring, there is a rotatably connected internal gear ring. Inside the internal gear ring, a gear shaft is slidably arranged. At the top of the gear shaft, there is a pressure plate. At the front end of the pressure plate, there is a pressure sensor. At the bottom of the gear shaft, there is a fixedly connected pull rod. At the bottom of the pull rod, there is a mounting groove. Inside the mounting groove, there are two thrust bearings. At the bottom of the mounting rack, there is a fixedly connected movable rack. Inside the movable rack, an adjusting rod is slidably arranged. On one side of the adjusting rod located at the teeth of the gear shaft, there is a rack meshing with the tooth part of the gear shaft. Inside the movable rack, there is a fixedly connected fixed rack. On the fixed rack, there is a fixedly connected first hydraulic cylinder. At the bottom of the first hydraulic cylinder, there is a fixedly connected connecting plate. The other end of the connecting plate is rotatably connected inside the mounting groove. The two thrust bearings are respectively located on the upper and lower sides of the connecting plate. At one end of the movable rack, there is a fixedly connected second hydraulic cylinder. The telescopic rod end of the second hydraulic cylinder is fixedly connected to the end of the adjusting rod.

[0006] Preferably, on both sides of the fixture, there are sliding rails. Inside the sliding rails, there are rotatably connected threaded rods. The placement rack is slidably arranged inside the sliding rails and is threadedly connected to the threaded rods. One end of each of the two threaded rods penetrates through the fixture. At the end of the two threaded rods located outside the fixture, there are fixedly connected synchronous wheels. The two synchronous wheels are connected by a synchronous belt. On one side of the fixture, there is a fixedly connected first motor. The output shaft of the first motor is fixedly connected to one of the synchronous wheels.

[0007] Preferably, at the bottom of the fixture, there are fixedly connected third hydraulic cylinders. The telescopic rod ends of the third hydraulic cylinders are fixedly connected to one side of the movable rack. Inside the movable rack, there is a fixedly connected first limit plate, which is used to limit the left and right positions of the vehicle frame; at one end of the fixture, there is a fixedly connected second limit plate, which is used to limit the front and rear positions of the vehicle frame; the placement rack is in a "day" shape, and there are multiple rollers arranged on the three truss parts of the placement rack.

[0008] Preferably, at the top of the gear shaft, there is a fixed ring. The pressure plate is movably arranged inside the fixed ring. At the top of the fixed ring, there is a butterfly bolt threadedly connected.

[0009] An efficient double-bracket welding arm control method, applied to the clamping fixture, is characterized by including the following steps: S1: Loading and front-rear limiting of the vehicle frame. Place the tricycle frame on the rollers of the placement rack, and push the vehicle frame along the rollers until the second limit plate abuts against the end of the vehicle frame to complete the front-rear position limiting of the vehicle frame. S2: After the left and right limits of the frame are completed and the front and rear limits are completed, the first limiting plate abuts against the side of the frame by the relative movement of the placement frame and the movable frame, thus completing the left and right position limit of the frame. S3: Preset welding coordinate retrieval. The control system retrieves the pre-input welding coordinate data corresponding to different sizes of frames based on the frame model, and determines the welding point, movement path and welding sequence of the robotic arm. S4: Clamping height and lateral adaptive adjustment. The third hydraulic cylinder is activated to drive the movable frame to rise and fall, so that the height of the pressure plate matches the part of the frame to be clamped; the second hydraulic cylinder is activated to drive the rack to rotate the gear shaft, so that the pressure plate is aligned with the clamping point. S5: Automatic and precise clamping. The first hydraulic rod drives the pressure plate to press down. The pressure sensor provides real-time feedback of the pressure value. After reaching the preset threshold, the pressure is maintained to complete stable clamping. S6: The two robotic arms cooperate in a coordinated manner according to preset coordinates. The main robotic arm moves to the preset main welding coordinate, and the auxiliary robotic arm moves to the preset auxiliary welding coordinate. The two arms move alternately and perform zoned operations according to a preset timing sequence to avoid motion interference. S7: Linked welding operation, the clamping position signal triggers the start of the robotic arm, and the robotic arm performs the welding task according to the preset coordinates; during the welding process, the pressure sensor continuously monitors, and if there is an abnormality, the machine will stop immediately and alarm. S8: After welding is completed, the robot arm returns to its original position in sequence, and the first hydraulic rod, the second hydraulic cylinder, and the third hydraulic cylinder reset in sequence to remove the finished vehicle frame.

[0010] Preferably, in step S3, the pre-input welding coordinates include the coordinates of the main weld, branch weld, and reinforcement points of tricycle frames of different sizes, and the system automatically matches and calls them according to the frame model.

[0011] Preferably, in step S6, the dual robotic arms adopt master-slave collaboration + coordinate interlock control. The master robotic arm performs main weld welding, and the slave robotic arm performs auxiliary point welding. The two arms maintain a safe distance according to preset coordinates and cooperate without interference.

[0012] Compared with the prior art, the present invention provides a high-efficiency dual-support welding arm control method and its clamping and fixing frame, which has the following beneficial effects: The invention employs a step-by-step positioning method with front and rear limits and left and right limits, combined with a limit plate structure, resulting in more stable and precise positioning. Dual hydraulic cylinders adaptively adjust the clamping position to adapt to frames of different heights and widths, and one set of fixtures is universal for multiple models, reducing costs. Pressure sensor closed-loop control ensures precise and adjustable clamping force, protecting the frame while ensuring welding stability. Dual robotic arms work in a master-slave manner according to preset coordinates, perform zoned welding, and coordinate in a timing sequence, resulting in interference-free and highly efficient operation. Attached Figure Description

[0013] Figure 1 This is an isometric schematic diagram of the structure of the present invention; Figure 2 This is a complete schematic diagram of the fixing frame structure of the present invention; Figure 3 This is an enlarged schematic diagram of the clamping structure of the present invention; Figure 4 This is a bottom view of the fixing frame structure of the present invention; Figure 5 This is an enlarged schematic diagram of the structure at point A in this invention; Figure 6 This is an enlarged schematic diagram of the structure at point B in this invention; Figure 7 This is a schematic diagram showing the location of the mounting groove structure of the present invention.

[0014] In the diagram: 1. Machine base; 2. Fixed frame; 3. Robotic arm; 4. Synchronous pulley; 5. Synchronous belt; 6. Second limit plate; 7. Motor; 8. Threaded rod; 9. Gear shaft; 10. Slide rail; 11. Placement frame; 12. Roller; 13. Slide groove; 14. Pressure plate; 15. Tie rod; 16. First limit plate; 18. Pressure sensor; 19. Gear ring; 20. Mounting ring; 21. Second hydraulic cylinder; 23. First hydraulic cylinder; 26. Mounting frame; 27. Wing bolt; 28. Fixed ring; 29. ​​Third hydraulic cylinder; 30. Adjusting rod; 31. Movable frame; 32. Rack. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Please see Figure 1-7As shown, a high-efficiency double-support welding arm control method and its clamping and fixing frame are disclosed. The clamping and fixing frame for the double-support welding arm uses the machine base 1 as the overall support foundation. The fixing frame 2 is installed on the machine base 1 and provides support for the internal components. A placement frame 11 is set on the inner side of the fixing frame 2 to support the tricycle frame. One end of the placement frame 11 is provided with a mounting frame 26. A mounting ring 20 is fixed on one side of the mounting frame 26. An internal gear ring 19 is rotatably set on the inner side of the mounting ring 20. A gear shaft 9 is slidably assembled inside the internal gear ring 19. A pressure plate 14 is set at the top of the gear shaft 9. A pressure sensor 18 is installed at the front end of the pressure plate 14 to detect the clamping pressure in real time. The bottom of the gear shaft 9 is fixedly connected to a pull rod 15. The bottom of the pull rod 15 has an installation groove and two thrust bearings are set inside. A movable frame 31 is fixed at the bottom of the mounting frame 26. An adjusting rod 30 is slidably installed inside the frame 31. A rack 32 that meshes with the gear shaft 9 is provided on one side of the adjusting rod 30. A first hydraulic rod 23 is installed on the fixed frame 2. The bottom of the first hydraulic rod 23 is connected to a connecting plate. The connecting plate is rotatably connected to the mounting groove of the pull rod 15. Two thrust bearings are located on the upper and lower sides of the connecting plate to reduce rotational friction. A second hydraulic cylinder 21 is fixed at one end of the movable frame 31. The telescopic rod of the second hydraulic cylinder 21 is connected to the end of the adjusting rod 30. When working, the second hydraulic cylinder 21 drives the adjusting rod 30 and the rack 32 to move. Through meshing, the gear shaft 9 rotates in the inner gear ring 19, realizing the rotation of the pressure plate 14. The telescopic extension of the first hydraulic rod 23 drives the gear shaft 9 and the pressure plate 14 to rise and fall, completing the clamping and releasing actions. The pressure sensor 18 provides real-time pressure feedback to achieve precise pressure control.

[0017] This embodiment further defines the drive adjustment structure of the placement frame 11. Slide rails 10 are provided on both sides of the fixed frame 2. Threaded rods 8 are rotatably installed inside the slide rails 10. The placement frame 11 is slidably disposed in the slide rails 10 and threadedly engaged with the threaded rods 8. The ends of the two threaded rods 8 pass through the fixed frame 2 and are respectively connected to synchronous pulleys 4. The two synchronous pulleys 4 are synchronously driven by a synchronous belt 5. A motor 7 is installed on one side of the fixed frame 2. The output shaft of the motor 7 is fixedly connected to one of the synchronous pulleys 4. When the motor 7 starts, it drives the synchronous pulley 4 to rotate. Under the action of the synchronous belt 5, the two threaded rods 8 rotate synchronously, thereby driving the placement frame 11 to move smoothly along the slide rails 10, realizing precise fine-tuning of the frame welding position, and aligning the frame weld with the preset coordinates of the robotic arm 3.

[0018] This embodiment further defines the height adjustment and positioning structure. A third hydraulic cylinder 29 is installed at the bottom of the fixed frame 2. The telescopic rod of the third hydraulic cylinder 29 is connected to the movable frame 31. The telescopic rod drives the movable frame 31 to move to adapt to different clamping parts of the frame. A first limiting plate 16 is provided on the inner side of the movable frame 31 to limit the left and right deviation of the frame. A second limiting plate 6 is provided at the end of the fixed frame 2 to limit the front and rear movement of the frame. This achieves step-by-step precise positioning by first completing the front and rear positioning of the frame through the second limiting plate 6, and then completing the left and right positioning of the frame through the first limiting plate 16. The placement frame 11 adopts a H-shaped structure. Multiple freely rotatable rollers 12 are provided on its truss to reduce the resistance of the frame movement, facilitate loading and positioning, and protect the surface of the frame. One side of the mounting frame is fixed, while the other side of the mounting frame can move. Otherwise, the structure is exactly the same.

[0019] This embodiment further defines the fine-tuning structure of the pressure plate 14. A fixing ring 28 is fixedly installed at the top of the gear shaft 9. The pressure plate 14 is movably assembled inside the fixing ring 28. The top of the fixing ring 28 is threaded with a wing bolt 27. The bottom of the wing bolt 27 contacts the top of the pressure plate 14. By rotating the wing bolt 27, the pressure plate 14 can be pushed to move within a small range within the fixing ring 28. In conjunction with the pressure sensor 18, a reasonable clamping gap is set to avoid clamping impact damage to the frame.

[0020] A highly efficient dual-support welding arm control method is also provided, applied to clamping and fixing frames, characterized by including the following steps: S1: Frame loading and front and rear limiting: Place the tricycle frame on the roller of the placement frame, push the frame along the roller until the second limiting plate abuts against the end of the frame, and complete the front and rear position limiting of the frame; S2: After the left and right limits of the frame are completed and the front and rear limits are completed, the first limiting plate abuts against the side of the frame by the relative movement of the placement frame and the movable frame, thus completing the left and right position limit of the frame. S3: Preset welding coordinate retrieval. The control system retrieves the pre-input welding coordinate data corresponding to different sizes of frames based on the frame model, and determines the welding point, movement path and welding sequence of the robotic arm. S4: Clamping height and lateral adaptive adjustment. The third hydraulic cylinder is activated to drive the movable frame to rise and fall, so that the height of the pressure plate matches the part of the frame to be clamped; the second hydraulic cylinder is activated to drive the rack to rotate the gear shaft, so that the pressure plate is aligned with the clamping point. S5: Automatic and precise clamping. The first hydraulic rod drives the pressure plate to press down. The pressure sensor provides real-time feedback of the pressure value. After reaching the preset threshold, the pressure is maintained to complete stable clamping. S6: The two robotic arms cooperate in a coordinated manner according to preset coordinates. The main robotic arm moves to the preset main welding coordinate, and the auxiliary robotic arm moves to the preset auxiliary welding coordinate. The two arms move alternately and perform zoned operations according to a preset timing sequence to avoid motion interference. S7: Linked welding operation, the clamping position signal triggers the start of the robotic arm, and the robotic arm performs the welding task according to the preset coordinates; during the welding process, the pressure sensor continuously monitors, and if there is an abnormality, the machine will stop immediately and alarm. S8: After welding is completed, the robot arm returns to its original position in sequence, and the first hydraulic rod, the second hydraulic cylinder, and the third hydraulic cylinder reset in sequence to remove the finished vehicle frame.

[0021] In step S3, the pre-input welding coordinates include the main weld coordinates, branch weld coordinates, and reinforcement point coordinates of tricycle frames of different sizes. The system automatically matches and calls them according to the frame model.

[0022] In step S6, the dual robotic arms adopt master-slave collaboration + coordinate interlock control. The master robotic arm performs main weld welding, and the slave robotic arm performs auxiliary point welding. The two arms maintain a safe distance according to preset coordinates and cooperate in the operation without interference.

[0023] The two robotic arms avoid mutual interference through a three-layer mechanism of master-slave collaborative control, real-time spatial interlocking, and trajectory planning constraints. The core of the system is to achieve real-time collision avoidance by combining an improved artificial potential field method, an OBB bounding box GJK distance detection algorithm, and a model predictive control (MPC) combination.

[0024] The system pre-creates OBB (Oriented Bounding Box) models for the two robotic arms, simplifying each link of the robotic arms into a regular bounding body. It then uses the GJK algorithm to calculate the shortest spatial distance between the primary and secondary robotic arms in real time, determining whether an area has entered a warning zone. Simultaneously, an improved artificial potential field method is employed: a gravitational field is set up for the target welding point, and the other robotic arm is designated as a dynamic obstacle with a repulsive field applied. This causes the robotic arm to automatically move away from the target while approaching it, thus mitigating interference risks at the trajectory level.

[0025] During the movement, Model Predictive Control (MPC) is used to optimize the online rolling trajectory. With preset welding coordinates as the target and the minimum safe distance between the arms as a constraint, the system solves for the interference-free optimal motion path in real time. The control system uses master-slave collaboration and coordinate interlocking as its scheduling logic. The master robotic arm is the master actuator, and the slave robotic arm is the slave actuator. It receives real-time information on the master robotic arm's joint angles, end-effector pose, and velocity, strictly maintaining preset safe distances and synchronizing timing, and prohibiting entry into each other's workspace restricted areas.

[0026] When the distance between the two arms is less than the warning threshold, the system automatically reduces its operating speed; when the distance is less than the safety threshold, it immediately triggers trajectory replanning or graded braking to ensure that no collisions or interference occur throughout the entire process. It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0027] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-efficiency clamping and fixing bracket for a double-support welding arm, characterized in that: It includes a machine platform (1), a fixing frame (2), and a robotic arm (3). Inside the fixing frame (2), there is a placing rack (11). One end of the placing rack (11) is provided with a mounting rack (26). One side of the mounting rack (26) is fixedly connected with a mounting ring (20). Inside the mounting ring (20), an internal gear ring (19) is rotatably connected. Inside the internal gear ring (19), a gear shaft (9) is slidably arranged. The top of the gear shaft (9) is provided with a pressing plate (14). The front end of the pressing plate (14) is provided with a pressure sensor (18). The bottom of the gear shaft (9) is fixedly connected with a pull rod (15). An installation groove is opened at the bottom of the pull rod (15). Two thrust bearings are arranged inside the installation groove. The bottom of the mounting rack (26) is fixedly connected with a movable frame (31). Inside the movable frame (31), an adjusting rod (30) is slidably arranged. On one side of the teeth of the gear shaft (9), the adjusting rod (30) is provided with a rack (32) meshing with the tooth part of the gear shaft (9). Inside the movable frame (31), it is fixedly connected with the fixing frame (2). On the fixing frame (2), a first hydraulic rod is fixedly connected. The bottom of the first hydraulic rod is fixedly connected with a connecting plate. The other end of the connecting plate is rotatably connected inside the installation groove. The two thrust bearings are respectively located on the upper and lower sides of the connecting plate. One end of the movable frame (31) is fixedly connected with a second hydraulic cylinder (21). The telescopic rod end of the second hydraulic cylinder (21) is fixedly connected to the end of the adjusting rod (30).

2. A clamping and fixing frame for an efficient double - bracket welding arm according to claim 1, wherein: Slide rails (10) are opened on both sides of the fixing frame (2). Inside the slide rails (10), threaded rods (8) are rotatably connected. The placing rack (11) is slidably arranged inside the slide rails (10) and is threadedly connected to the threaded rods (8). One end of each of the two threaded rods (8) penetrates through the fixing frame (2). The ends of the two threaded rods (8) located outside the fixing frame (2) are fixedly connected with synchronous pulleys (4). The two synchronous pulleys (4) are传动连接 by a synchronous belt (5). One side of the fixing frame (2) is fixedly connected with a first motor (7). The output shaft of the first motor (7) is fixedly connected to one of the synchronous pulleys (4).

3. A clamping and fixing frame for an efficient double - bracket welding arm according to claim 1, wherein: Third hydraulic cylinders (29) are fixedly connected to the bottom of the fixing frame (2). The telescopic rod ends of the third hydraulic cylinders (29) are fixedly connected to one side of the movable frame (31). Inside the movable frame (31), a first limiting plate (16) is fixedly connected. The first limiting plate (16) is used to limit the left - right position of the vehicle frame; One end of the fixing frame (2) is fixedly connected with a second limiting plate (6). The second limiting plate (6) is used to limit the front - rear position of the vehicle frame; The placing rack (11) is in the shape of a "day". A plurality of rollers (12) are arranged on the three truss parts of the placing rack (11). It should be noted that in the original text, the description "两个所述同步轮(4)通过同步带(5)传动连接" has an incorrect character "传动连接" which should be "driven and connected". The corrected translation is provided above.

4. The high-efficiency double-bracket welding arm clamping and fixing frame according to claim 1, characterized in that: a fixing ring (28) is provided at the top end of the gear shaft (9), the pressure plate (14) is movably disposed in the fixing ring (28), and a wing bolt (27) is threadedly connected to the top end of the fixing ring (28).

5. A high-efficiency double-support welding arm control method, applied to the clamping and fixing frame according to any one of claims 1-4, characterized in that, Includes the following steps: S1: Frame loading and front and rear limiting: Place the tricycle frame on the roller (12) of the placement frame (11), push the frame along the roller (12) to the second limiting plate (6) to abut the end of the frame, and complete the front and rear position limiting of the frame; S2: After the frame is left and right limited and front and rear limited, the first limiting plate (16) abuts against the side of the frame by the relative movement of the placement frame (11) and the movable frame (31), thus completing the left and right position limit of the frame. S3: Preset welding coordinate retrieval. The control system retrieves the pre-input welding coordinate data corresponding to different sizes of frames according to the frame model, and determines the welding point, movement path and welding sequence of the robotic arm (3). S4: Clamping height and lateral adaptive adjustment, start the third hydraulic cylinder (29) to drive the movable frame (31) to rise and fall, so that the height of the pressure plate (14) matches the part of the frame to be clamped; start the second hydraulic cylinder (21) to drive the rack (32) to drive the gear shaft (9) to rotate, so that the pressure plate (14) is aligned with the clamping point; S5: Automatic and precise clamping, the first hydraulic rod drives the pressure plate (14) to press down, the pressure sensor (18) provides real-time feedback of the pressure value, and the pressure is maintained after reaching the preset threshold to complete stable clamping; S6: The two robotic arms cooperate in a coordinated manner according to preset coordinates. The main robotic arm moves to the preset main welding coordinate, and the auxiliary robotic arm moves to the preset auxiliary welding coordinate. The two arms move alternately and perform zoned operations according to a preset timing sequence to avoid motion interference. S7: In the linkage welding operation, the clamping position signal triggers the start of the robotic arm (3), and the robotic arm (3) performs the welding task according to the preset coordinates; during the welding process, the pressure sensor (18) continuously monitors, and if there is an abnormality, the machine will stop immediately and alarm. S8: After welding is completed, the robot arm (3) returns to the origin in sequence, and the first hydraulic rod, the second hydraulic cylinder (21), and the third hydraulic cylinder (29) are reset in sequence to remove the finished vehicle frame.

6. The high-efficiency dual-support welding arm control method according to claim 1, characterized in that: In step S3, the pre-input welding coordinates include the coordinates of the main weld, branch weld, and reinforcement points of tricycle frames of different sizes. The system automatically matches and calls them according to the frame model.

7. The high-efficiency dual-support welding arm control method according to claim 1, characterized in that: In step S6, the dual robotic arms adopt master-slave collaboration + coordinate interlock control. The master robotic arm performs main weld welding, and the slave robotic arm performs auxiliary point welding. The two arms maintain a safe distance according to preset coordinates and cooperate without interference.

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