Combine harvester rack welding detection equipment based on laser-MIG welding

Abstract

The utility model relates to combined harvester rack welding detection equipment based on laser-MIG welding. The problems that common electric arc welding is large in deformation and low in efficiency, no stress relieving method exists after welding, and the detection precision is low after manufacturing is completed are solved. And an automatic welding station, a vibration aging destressing station and a laser tracking detection station are sequentially arranged. The whole machine frame is welded on the robot laser-MIG electric arc hybrid welding system (1), the two head and tail frame overturning position changing machines (2) are connected through a position changing machine rigid frame (3) with sliding rails, the two sliding rails are laid on the rigid frame, the two outer clamping tools (4) can move on the sliding rails, and after the machine frame is installed on the rigid frame, the two outer clamping tools (4) can be clamped by the robot laser-MIG electric arc hybrid welding system (1). The inner supporting tool (5) is installed on a rotary disc of the outer clamping tool, after the inner supporting tool and the outer clamping tool clamp the welding position, automatic welding is carried out, and the vibration aging destressing device (6) is arranged in an independent workshop so as to reduce vibration noise. And the laser tracking detection device (7) is a fixed station.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the manufacturing technical field, concretely relates to a combine harvester frame welding detection equipment and method based on laser-MIG welding. BACKGROUND

[0002] As the most difficult technology and manufacturing difficulty of agricultural equipment, the large feeding amount multi-cereal combine harvester is related to the national economy and people's livelihood. The harvester frame is the main body of the harvester, which is combined by assembly and welding process, and is used for installing power, walking, operation and other systems. The forming precision and structural strength are self-evident. On the one hand, during the whole machine assembly and debugging stage, due to the low forming precision of the structural parts, problems such as interference often occur and need to be repaired. On the other hand, after serving for several years, fatigue strength overload often occurs under continuous operation, strain occurs, and even the connection is welded, which causes serious consequences and maintenance task is difficult.

[0003] To solve the above problems, laser-MIG arc composite automatic welding, weak rigid frame structure part deformation control, weak rigid frame structure part stress elimination, multi-dimensional frame laser precision detection and other technologies are often used. In the prior art:

[0004] 1. Laser-MIG arc composite automatic welding

[0005] At present, there are two kinds of welding methods commonly used for harvester frames. The first kind is manual welding, using a manual arc welding machine or a semi-automatic gas shielded welding machine, generally using a simple anti-deformation rigid welding tool. First, the front axle and the rear axle are fully welded as an assembly part, and the front axle and the rear axle are clamped and fixed on a large platform. The center is determined as the reference, and the measuring tools such as height gauge and bending ruler are used to measure the parts in the longitudinal beam, transverse beam and frame. Since the platform cannot be shifted, the operator often needs to perform horizontal welding or overhead welding, and the quality of manual welding is unstable, and various defects in the welding seam are difficult to solve. This welding method is mainly used for small-scale production.

[0006] The second kind of scheme adopts robot welding. Compared with manual welding, automatic welding forming is better, consistency is better, and welding efficiency is higher. However, since the welding power supply still uses ordinary arc, under the same current and voltage, the heat affected zone is wider, the arc length is shorter, the energy density is lower, and the heat input is higher, which leads to large deformation of the frame after welding.

[0007] 2. Weak rigid frame structure part deformation control

[0008] At present, welding anti-deformation tooling generally adopts two kinds of self-made fixture and three-dimensional flexible fixture. For such weak rigid structure, the use of strong rigid constraint fixed mode is the best. Because the frame is large in volume, and needs to be matched with robot welding, the welding space needs to be left for the robot arm. If the internal weld also needs to be welded, the tooling design is very difficult. The current technology is to divide the frame into front axle, rear axle, side frame, bottom frame and other components, and design the welding fixture of the components. There is no whole fixture to realize automatic welding of robot.

[0009] 3. Stress relief of weak rigid frame structure

[0010] At present, after the rack welding is completed, there is generally no stress relief treatment, and the stress relief effect is not good due to long natural aging period. A few racks with small volume can be stress relieved by tempering, but the product surface needs to be repainted and the fasteners need to be replaced due to burning.

[0011] 4. Multi-dimensional frame laser precision detection

[0012] At present, the finished product detection of the frame is to place it on a platform, level it, and then measure it by using a height gauge, a bending ruler, a level ruler and a tape measure. When three-dimensional laser scanning is adopted, it is difficult to realize and the cost is high due to the large volume of the frame.

[0013] Specifically, the disadvantages of the existing rack machining technical scheme are:

[0014] 1. The ordinary electric arc welding adopts MIG welding machine, and the penetration and deposition efficiency are not improved. The frame axle and side frame still need to be double-sided welded by robot, which brings two main problems. One is high total welding amount and large heat input, which leads to large welding deformation. The other is that due to the limitation of the structure of the frame, the robot welding gun is difficult to reach some internal welds, and manual welding is needed.

[0015] 2. The main disadvantage of split welding is that the left side and the right side of the frame are not well controlled in assembly and welding precision, and there are quality problems such as misalignment of mounting holes, parallelism error of frame side plates, and width error of frame inside and outside.

[0016] 3. The disadvantage of not relieving stress after welding is that the frame assembly and debugging are completed, and the stress of the frame is slowly released, which leads to the problems of micro deformation and fastener loosening of the assembled machine. The disadvantage of tempering after welding is that a large heat treatment furnace is needed, which has high cost investment, occupies space, and also has the problems of burning of paint layer of parts, reduction of strength of fasteners, need of repainting and replacement of fasteners, and large labor.

[0017] 4. Manual line detection has limitations. It can meet the requirements for planar size detection, but it is difficult to accurately measure the size precision of three-dimensional space structure such as frame. Practical new type

[0018] The utility model discloses a combined harvester frame welding detection equipment based on laser-MIG welding, solves the problem of ordinary electric arc welding's big deformation, low efficiency, no stress relief method after welding and low detection precision after manufacturing.

[0019] The utility model is realized by the following technical schemes:

[0020] A combined harvester frame welding detection equipment based on laser-MIG welding, including robot laser-MIG electric arc composite welding system 1, head and tail frame overturning positioner 2, positioner rigid frame 3 with guide rail, outer clamping tool 4, inner support tool 5, vibration aging stress relief device 6 and laser tracking detection device 7, robot laser-MIG electric arc composite welding system 1 adopts side gantry structure, robot body 6 axle adds outside 3 axle, and welding power supply adopts 12KV laser and 500A arc welding machine, and welding head integrates laser head and welding gun, and is equipped with weld laser tracking system, and two head and tail frame overturning positioners 2 are connected through positioner rigid frame 3 with slide rail, can rotate 360 degrees synchronously, and two slide rails are laid on the rigid frame, and two outer clamping tools 4 can move on the slide rail, and the inner support tool 5 is installed on the rotary disc of the outer clamping tool 4, and the head and tail frame overturning positioner 2 rotates synchronously with the robot, adjusts the welding posture, and the vibration aging stress relief device 6 is in a single station, and the laser tracking detection device 7 is a fixed station, a laser support is self-made, and multiple target ball magnetic force suction fixing bases are convenient for measuring target ball coordinates.

[0021] The positioner rigid frame with guide rail is a combined structure, including left connecting seat, right connecting seat, longitudinal beam and guide rail, and the left connecting disc and the right connecting disc are connected with the head and tail frame overturning positioner 2 respectively, and the repeated coaxial positioning precision is less than or equal to 0.5 mm, and the spacing repeated spacing positioning precision is less than or equal to 0.5 mm;Two longitudinal beams can adjust the width size according to different specifications of the frame, the top surface of the longitudinal beam is provided with a slide rail, and the mounting surface precision of the left connecting seat, the right connecting seat and the longitudinal beam is controlled within ±0.05 mm.

[0022] The outer clamping tool is internally provided with two servo motors, one motor controls the movement on the guide rail of the positioner rigid frame with guide rail through the gear and rack meshing structure, and the other motor controls the rotation of the turbine rod to realize the rotation of the outer clamping tool tightener, and the outer clamping tool cooperates with the robot welding system, and the outer clamping tool is automatically clamped before welding and is automatically opened and closed after welding.

[0023] The main body structure of the inner support tool adopts a frame structure, and five pairs of tighteners are installed, and the opening and closing are controlled by a hand wheel, and when the inner support tool is opened, the frame inside is rigidly supported.

[0024] The combined harvester frame welding detection equipment based on laser-MIG welding uses the method, which comprises the following steps:

[0025] 1. The assembled but not yet welded frame is hoisted on the positioning surface of the rigid frame, and the outer clamping fixtures at both ends are slid to the parts of the frame with better rigidity, respectively, the frame is adjusted by using the clamping fixture to press, and the frame is fixed on the main frame of the outer clamping fixture by using the pressing plate and the hook, and the frame is kept stable;

[0026] 2. The inner support fixture is hoisted and placed inside the frame, and is placed on the rotary disc of the two outer clamping fixtures at both ends, respectively, the inner support fixture is adjusted to be in the appropriate position of the frame by using the rotating function of the rotary disc, and the internal dimensions of the frame are fixed by simultaneously supporting the frame by the 5 jacks at the same time.

[0027] 3. Before the robot welding, the robot control system adjusts the two outer clamping fixtures at the front and back to the welding area, and the distance between the two pairs of clamping devices is in the range of 1.5 meters to 2 meters according to the different structures of the welding area, so that the inside and outside of the welding area are pressed tightly.

[0028] 4. The operator performs welding programming, and uses the function of large penetration of laser-MIG arc welding to weld the external weld of the frame; according to the stress simulation in the welding process and the actual welding result, the welding sequence of first middle, then both sides, from inside to outside is adopted, and the continuous welding length of each section is not greater than 500 mm; during the welding process, the laser tracking device detects the position and gap of the weld in real time, and automatically adjusts the welding parameters of the laser and the MIG arc to ensure good weld quality.

[0029] 5. After the welding is completed, the outer clamping fixture is withdrawn and the welding rigid fixing device is hoisted out, the frame is transported to the workshop rolling cage turnover machine, the ground of the frame is upward, and the frame is placed in the inverted position, and then the frame is transported to the aging vibration workshop for aging vibration, before the aging vibration, the frame is fixed by using the fixing device; a fixed plate of the exciter is made of a 50 mm thick steel plate, the steel plate is clamped on the rear axle support, and the harmonic exciter continuously vibrates at the tail of the frame for 20 minutes, and the vibration effect is judged by comparing the acceleration-speed curve changes before and after the vibration.

[0030] 6. After the vibration is completed, the frame is turned over to the positive side, the frame is transported to the laser tracking detection station, a plurality of target ball magnetic force fixing seats are self-made, 4 target ball fixing seats are installed on the bottom of the frame, 3 target ball fixing seats are installed on the left and right sides, respectively, the detection personnel moves the target ball by hand, the tracker device records the coordinate values of each point, the coordinate values are compared and analyzed with the three-dimensional model, the overall deformation of the frame is judged, and the qualified or repair scheme is given.

[0031] The beneficial effects of the utility model are as follows:

[0032] 1. Laser-MIG arc is used for automatic welding of the frame of the harvester, and multiple welds can be single-sided welded instead of double-sided welding, which is beneficial to reduce the welding heat input displacement, is more convenient for welding fixture design, and can shorten the welding time.

[0033] 2. Welding after vibration aging treatment, compared with no treatment, can reduce about 1 / 3 of the internal stress; compared with tempering treatment, there is no high investment cost of tempering furnace equipment, and the problem of burning loss of part paint surface in tempering process.

[0034] 3. The laser tracker is used for measuring the post-weld forming precision of the rack, and the detection precision is higher than that of the mechanical gauge, and the out-of-tolerance problem is easy to find. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 Large feeding capacity multi-crop combine harvester rack schematic diagram;

[0036] Figure 2 Large feeding capacity multi-crop combine harvester rack welding equipment schematic diagram;

[0037] Figure 3 Positioner rigid frame with guide rail schematic diagram;

[0038] Figure 4 External clamping tool schematic diagram;

[0039] Figure 5 Internal support tool schematic diagram;

[0040] Figure 6 Vibration aging exciter installation schematic diagram;

[0041] Figure 7 Laser tracker detection schematic diagram. DETAILED DESCRIPTION

[0042] As Figures 1-7 shown, the utility model is a kind of based on laser-MIG welding's combine harvester rack welding detection equipment and method, this technology has fused laser-MIG electric arc composite automation welding, weak rigid frame structural part deformation control, weak rigid frame structural part stress elimination, multi-dimensional frame laser precision detection etc.technology, finally improves the consistency of rack finished product, to lay the foundation for large feeding capacity combine harvester development, it is helpful to the industrialization development of equipment.

[0043] 1. Laser-MIG electric arc composite automation welding: adopt robot automatic welding, and make laser welding and gas tungsten arc welding combine, derive high energy density, high energy utilization rate, high arc stability, lower tool preparation precision and the advantages such as the surface quality of workpiece to be welded, has become a new type of welding technology with great application prospect.

[0044] 2. Weak rigid frame structure deformation control: the frame is formed by assembling and welding thin steel sheet metal parts with medium thickness, the size of the frame is 5m x 1.8m x 2m, the self weight is only 1 ton, and the frame is a typical weak rigid frame structure. Single-sided penetration welding is achieved by laser-MIG arc hybrid automatic welding, part of the internal weld is cancelled, the welding amount is reduced by nearly 40%, the welding deformation is reduced, and the welding efficiency is improved. A set of anti-deformation welding tooling is designed, which is easy to operate and has strong practicality, can well cooperate with automatic welding, and plays a rigid fixing role.

[0045] 3. Weak rigid frame structure stress relief: harmonic vibration stress relief is adopted to reduce the post-weld stress concentration problem, make the stress distribution more uniform, and solve the problem of structural looseness caused by slow stress release due to the fact that the current frame is not subjected to stress relief after welding.

[0046] 4. Multi-dimensional frame laser precision detection: the frame is a polyhedral structure, and the forming precision is manually measured by mechanical gauges such as platform, tape and height gauge, and the detection precision of the space size is low. Based on the three-dimensional high-precision detection function of the laser tracker, the influence of the over-difference parts and over-difference values is analyzed by comparing the three-dimensional model to determine whether the product is qualified.

[0047] The utility model discloses a robot welding workstation for frame, adopts laser-arc hybrid welding power supply, can melt through most of the welding structure of the frame, realizes single-sided welding instead of double-sided welding. And it is equipped with laser arc tracking system, can detect the minimum weld gap of 0.2mm, is applicable to intelligent tracking welding of all bevels of the harvester.

[0048] The frame welding tooling adopts an inner support and outer clamp rigid fixing scheme, the inner support tooling main body is a 5m long frame, is equipped with 5 pairs of tightener, and the tightener can be synchronously rotated to realize tightness by rotating the hand wheel; the outer clamp tooling is arranged at the front and tail of the frame, is installed on the track, has two servo motors inside to control the walking on the track and the opening and closing of the clamp, and the outer clamp tooling is moved to the position to be clamped when welding.

[0049] During stress relief, the frame is buckled and placed, is fixed on the rack by using the clamp, the exciter fixing plate is fixed on the rear axle mounting support by using the 50mm thick steel plate self-made exciter fixing plate, and the harmonic stress relief vibration equipment is used for stress relief treatment.

[0050] The laser tracker is used for final product precision detection, and the three-dimensional detection precision can be improved to ±0.2mm by comprehensively considering various factors.

[0051] Embodiment:

[0052] 1. The frame welding detection equipment for the large feeding amount multi-cereal combine harvester

[0053] 1. Structure composition

[0054] The rack of large feeding amount multi-cereal combine harvester Figure 1 The welding and detection equipment mainly comprises a robot laser-MIG electric arc composite welding system 1, a head and tail frame overturning positioner 2, a positioner rigid frame 3 with guide rails, an outer clamping tool 4, an inner supporting tool 5, a vibration stress relief device 6 and a laser tracking detection device 7 Figure 2 .

[0055] 2. Connection relationship between parts

[0056] According to the manufacturing process, three workstations are sequentially arranged, which are an automatic welding workstation, a vibration stress relief workstation and a laser tracking detection workstation. The overall welding of the rack is completed by the robot laser-MIG electric arc composite welding system 1. The robot adopts a side gantry structure, the robot body has 6 axes and the external 3 axes, the welding power source adopts a 12KV laser and a 500A arc welding machine, the welding head integrates the laser head and the welding gun, and is provided with a weld laser tracking system. The two head and tail frame overturning positioners 2 are connected through the positioner rigid frame 3 with guide rails, can synchronously rotate by 360 degrees in single axis, two sliding rails are laid on the rigid frame, and the two outer clamping tools 4 can move on the sliding rails. When the rack is installed on the rigid frame, the inner supporting tool 5 is installed on the rotary disc of the outer clamping tool, the inner supporting tool and the outer clamping tool clamp the welding position, and then the automatic welding can be performed. The head and tail frame overturning positioner cooperates with the robot to synchronously rotate and adjust the welding posture. The vibration stress relief device 6 is in a separate workshop to reduce the vibration noise. The laser tracking detection device 7 is a fixed workstation, a laser support is self-made, and multiple target ball magnetic force suction fixing seats are provided to facilitate the measurement of the target ball coordinates.

[0057] 3. Shape of specific components

[0058] The patent has three specific components, which are the positioner rigid frame with guide rails, the outer clamping tool and the inner supporting tool.

[0059] Positioner rigid frame with guide rails Figure 3It is a modular structure, 8048mm long, 2940mm wide, with a connecting plate diameter of 1400mm, and consists of four parts: left connecting seat, right connecting seat, longitudinal beams, and guide rails. The left and right connecting plates have a repeatable coaxial positioning accuracy of ≤0.5mm and a spacing repeatable positioning accuracy of ≤0.5mm. The two longitudinal beams can be adjusted in width according to different frame specifications. Slide rails are installed on the top surface of the longitudinal beams, allowing for the sliding movement of external clamping fixtures. Because the longitudinal beams of the rigid frame are detachable and adjustable in spacing, the assembly still ensures the precision of the spacing and flatness of the two slide rails, which is a core technology in the manufacturing of the rigid frame. Each set of mounting holes in the rigid frame is machined in a precision gantry machining center to ensure that the accuracy of each mounting surface of the left connecting seat, right connecting seat, and longitudinal beams is controlled within ±0.05mm. After assembly, the guide rail mounting holes are machined uniformly, and after inspection and adjustment by a laser interferometer, the positioning pin holes of the guide rails are machined to ensure their repeatable positioning accuracy.

[0060] External clamping fixture Figure 4 The ability to move on the clamping device and automatically rotate the clamping device is achieved through two internal servo motors. One motor controls the movement on the guide rail via a gear and rack mechanism, while the other motor controls the rotation of the worm gear rod to achieve the rotation of the clamping device. Through the robot control system, the external clamping fixture can coordinate with the robotic welding system, automatically clamping before welding and automatically opening and closing after welding.

[0061] Internal support tooling Figure 5 The main structure adopts a rigid frame structure and is equipped with 5 pairs of clamps. The opening and closing are controlled by a hand crank. When the internal support fixture is opened, it can play a rigid support role inside the frame.

[0062] 2. Methodology

[0063] First, suspend the assembled but not yet welded frame on the positioning surface of the rigid frame. Since the frame will inevitably be asymmetrical at this point, slide the external clamps at both ends to the parts of the frame with better rigidity, use the clamps to press down and straighten the frame, and use pressure plates, hooks and other tools to fix the frame to the main frame of the clamps and keep it stable.

[0064] The inner support fixture is suspended and placed inside the frame, with both ends placed on the rotary tables of two servo clamps. By using the rotation function of the rotary tables, the inner support fixture can be easily adjusted to be in the appropriate position on the frame. Turning the handwheel will simultaneously open and hold the frame in place with the five pairs of clamps, thus fixing the internal dimensions of the frame.

[0065] The fixed task outside the frame is also borne by the outer clamping tool, before the robot welding, the robot control system adjusts the front and rear two outer clamping tools to the area to be welded, according to the structure of the welding area, the spacing of the two pairs of clamping devices is in the range of 1.5 meters to 2 meters, so that the inside and outside of the welding area can be pressed tightly.

[0066] Next, the operator carries out welding programming, utilizes the function of large penetration of laser-MIG arc composite welding, and only needs to weld the weld outside the frame, and does not need to weld the internal weld; thus, the problem that the internal welding rigidity fixing device cannot be welded is well solved. According to the welding process stress simulation and the actual welding groping result, a segmented symmetrical welding sequence from inside to outside is adopted, and the continuous welding length of each segment is not greater than 500 mm. In the welding process, the laser tracker detects the welding position and gap in real time, and automatically adjusts the welding parameters of the laser and the MIG arc, so as to ensure good welding quality.

[0067] After welding, the outer clamping tool is withdrawn and the welding rigidity fixing device is lifted out, the frame is transported to the workshop roll cage turnover machine, the frame is placed with the ground upward and upside down, and then is transported to the aging vibration workshop. Before aging vibration, the frame is fixed by using the fixing device, since the frame structure is weak in rigidity, the vibration is large, and therefore the excitation point is very critical, in the scheme, a 50mm thick steel plate is used to make a fixing plate of an excitation vibrator, the steel plate is clamped on the rear axle support, and the harmonic excitation vibrator continuously vibrates at the tail of the frame for 20 minutes, the vibration effect is judged by comparing the acceleration-speed curve changes before and after vibration Figure 6 .

[0068] After vibration, the frame is turned over to face upward, is transported to the laser tracking detection station, a plurality of target ball magnetic force fixing seats are self-made, 4 target ball fixing seats are installed on the bottom of the frame, 3 target ball fixing seats are installed on the left and right sides, a detection personnel moves the target ball by hand, and the tracking instrument equipment records the coordinate values of each point, and the coordinate values are compared and analyzed with the three-dimensional model by professional technicians, the overall deformation of the frame is judged, and a qualified or repair scheme is given Figure 7 .

[0069] The utility model has the following characteristics:

[0070] 1. The characteristics of large penetration of laser-MIG arc composite welding are utilized, and the structure of the frame welding position is changed, so that single-sided welding full penetration welding of the harvester frame is realized, and the disadvantages of double-sided welding are solved.

[0071] 2. Through welding stress simulation analysis, a set of strong rigid multi-constraint clamping method suitable for the inner support and outer clamping type of the harvester frame welding is researched, and the post-weld forming precision is improved.

[0072] 3. Through a set of suitable for harvester frame welding inner support outer clamping type strong rigid multi-constraint clamping method, with quick tightening and folding function, the combined inner and outer combined clamping can improve the post-weld forming accuracy.

[0073] 4. Adopting vibration aging treatment method, eliminating the residual stress of harvester frame, solves the problem of lack of welding stress elimination means.

[0074] 5. After stress relief of the frame, laser tracker is used to detect the frame forming size, which can control the detection accuracy within ±0.2mm, improving the size detection accuracy of large frame.

Claims

1. A laser-MIG based combine frame weld inspection apparatus, characterized by: The robot laser-MIG electric arc composite welding system (1), head and tail frame overturning positioner (2), positioner rigid frame with guide rail (3), outer clamping tooling (4), inner support tooling (5), vibration aging stress relief device (6) and laser tracking detection device (7), two head and tail frame overturning positioners (2) are connected through the positioner rigid frame with guide rail (3), two sliding rails are laid on the rigid frame, two outer clamping toolings (4) can move on the sliding rails, the inner support tooling (5) is installed on the rotary disc of the outer clamping tooling (4), the head and tail frame overturning positioner (2) is synchronously rotated with the robot, the welding posture is adjusted, the vibration aging stress relief device (6) is in a separate station, and the laser tracking detection device (7) is a fixed station.

2. The laser-MIG hybrid welding based combine frame welding inspection apparatus according to claim 1, characterized in that: The robot laser-MIG electric arc composite welding system (1) adopts a side gantry structure, the robot body has 6 axes and an external 3-axis, a 12KV laser and a 500A arc welding machine are used as the welding power supply, the welding head integrates the laser head and the welding gun, and is provided with a weld laser tracking system.

3. The laser-MIG hybrid welding based combine frame welding inspection apparatus according to claim 1, characterized in that: The two head and tail frame overturning positioners (2) can synchronously rotate in a 360-degree single-axis mode.

4. The laser-MIG hybrid welding based combine frame welding inspection apparatus according to claim 1, characterized in that: The laser tracking detection device (7) comprises a laser support and a plurality of target ball magnetic force absorbing fixing seats.

5. The laser-MIG hybrid welding based combine frame welding inspection apparatus according to claim 1, characterized in that: The positioner rigid frame with guide rail is a combined structure, comprising a left connecting seat, a right connecting seat, longitudinal beams and guide rails, the left connecting disc and the right connecting disc are connected with the head and tail frame overturning positioners (2) respectively, the coaxial positioning accuracy is ≤0.5mm, and the interval positioning accuracy is ≤0.5mm; the two longitudinal beams can adjust the width size according to different specifications of the frame, the top surface of the longitudinal beam is provided with a sliding rail, and the mounting surface accuracy of the left connecting seat, the right connecting seat and the longitudinal beam is controlled within ±0.05mm.

6. The laser-MIG hybrid welding based combine frame welding inspection apparatus according to claim 1, characterized in that: The outer clamping tooling is internally provided with two servo motors, one motor controls the movement on the guide rail of the positioner rigid frame with guide rail through a gear and rack meshing structure, and the other motor controls the rotation of the turbine rod to realize the rotation of the outer clamping tooling tightener, the outer clamping tooling cooperates with the robot welding system, and is automatically clamped before welding and is automatically opened and closed after welding.

7. The laser-MIG hybrid welding based combine frame welding inspection apparatus according to claim 1, characterized in that: The main structure of the inner support tooling adopts a frame structure, and five pairs of tighteners are installed, and the opening and closing are controlled by a hand wheel, and when the inner support tooling is opened, the frame inside plays a rigid support role.

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