A method and device for detecting welding ring position

Abstract

The present invention provides a method for detecting the position of a welding ring, comprising: acquiring an image of a target object; determining whether the welding ring exists on the target object; if the welding ring does not exist on the target object, outputting an unqualified signal; when the welding ring exists on the target object, determining whether the number of the welding rings matches the target number; outputting an unqualified signal when the number of the welding rings does not match the target number; determining the position of the welding ring on the target object on the target object; according to the position of the welding ring, determining whether the welding ring completely falls into the target area; if the welding ring completely falls into the target area, outputting an qualified signal; if the welding ring does not completely fall into the target area, outputting an unqualified signal. Based on the technical solution of the present invention, it is possible to accurately identify whether the welding ring on the elbow is within the required range.

Description

Technical Field

[0001] The present invention relates to the technical field of welding ring detection, and in particular to a welding ring position detection method and device. Background Art

[0002] Fusion welding is the most widely used welding method in engineering structure manufacturing, and the welding ring is an important raw material for the welding process of small elbows and expansion tubes. Its material, phosphor copper solder (BCu93P), has good high-temperature melting characteristics. After high-temperature melting, the welding ring tightly welds the small elbow and the expanded tube after expansion to form a seamless whole. It has high welding productivity, good quality, and low welding cost, so it is widely used in the field of two devices.

[0003] Due to its particularity compared with traditional welding methods, it is usually put on a small elbow during the processing and manufacturing process, and the height from the pipe end must meet the range of 4.5±0.3mm, and the welding ring size is 1.6×6.9mm. It is difficult to identify with the naked eye whether it meets the requirements during the ring-putting process.

[0004] Currently, the small elbow is inserted into the expansion tube manually and debugging is performed manually, which results in high labor costs and low work efficiency. Summary of the invention

[0005] In view of the above problems in the prior art, the present application proposes a method and device for detecting the position of a welding ring, which can determine whether the position of the welding ring sleeve on the elbow meets the production requirements with high accuracy.

[0006] A method for detecting a welding ring position of the present invention comprises:

[0007] Acquire an image of the target object;

[0008] Determining a position of a welding ring on the target object on the target object;

[0009] According to the position of the welding ring, judging whether the welding ring completely falls into the target area;

[0010] If the welding ring completely falls into the target area, a qualified signal is output;

[0011] If the welding ring does not completely fall into the target area, a failure signal is output.

[0012] In one embodiment, determining whether the welding ring completely falls into the target area includes:

[0013] Extracting image information of the welding ring according to pixel features;

[0014] According to the image information, determining whether the image of the ring falling into the target area is complete;

[0015] If the image of the welding ring falling into the target area is complete, it is determined that the welding ring completely falls into the target area. Through this embodiment, the target object in the image is removed, and the image with only the welding ring is extracted, and then the image is used to determine whether the welding ring falls into the target area.

[0016] In one embodiment, the step of determining based on the pixel feature includes:

[0017] Preset target feature threshold;

[0018] All the pixels in the image are distinguished according to the size relationship between their pixel values ​​and the target feature threshold, and the image information of the welding ring is obtained. Through this embodiment, the pixel information in the image is used to distinguish the target object and the welding ring in the image, and the shape characteristics and spatial relationship characteristics of the image are fully utilized to segment the image to obtain image information of only the welding ring.

[0019] In one embodiment, before determining the position of the welding ring on the target object, the method further includes:

[0020] Determining whether the welding ring exists on the target object;

[0021] If the welding ring does not exist on the target object, an unqualified signal is output. According to this embodiment, in a continuous operation scenario, the welding ring may not exist in the target object. Before determining the position of the welding ring, it is necessary to exclude the situation that the welding ring does not exist in the target object, that is, output an unqualified signal to ensure that the target object has a welding ring.

[0022] In one embodiment, determining whether the welding ring exists on the target object includes:

[0023] Acquire the outer contour features of the object on the image;

[0024] Determining whether the outer contour features of the object completely match the outer contour features of the target object;

[0025] If the outer contour feature of the object completely matches the outer contour feature of the target object, it is determined that the welding ring does not exist on the target object;

[0026] If the outer contour features of the object do not completely match the outer contour features of the target object, it is determined that the welding ring exists on the target object. Through this implementation, the outer contour features of the target object are used as a reference to obtain the outer contour features of the object on the current image. If the welding ring is not present on the current image, its outer contour information will be consistent with the reference object, that is, in this way, it is determined whether the welding ring exists on the target object.

[0027] In one embodiment, after determining whether the welding ring exists on the target object, the method further includes:

[0028] When the welding ring exists on the target object, determining whether the number of the welding rings matches the target number;

[0029] When the number of the welding rings does not match the target number, an unqualified signal is output. According to the present embodiment, since the qualified target object has more than one welding ring, it is further determined whether the current target object is unqualified due to the lack of one welding ring or multiple welding rings, and then it is distinguished into multiple unqualified types, which is convenient for rework in subsequent processing.

[0030] In one embodiment, determining whether the number of the welding rings matches the target number includes:

[0031] Determining the number of objects on the target object that match the welding ring according to the outer contour feature;

[0032] Whether the number of the solder rings matches the target number is determined based on the number of objects on the target object that match the solder rings. In this embodiment, the outer contour features of the solder rings are used as reference objects to determine the number of objects on the current target object that match the reference objects, thereby confirming the number of the solder rings on the target object.

[0033] In one embodiment, it further comprises:

[0034] According to the unqualified signal, the corresponding target object is input into a corresponding storage box.

[0035] A welding ring position detection device of the present invention comprises:

[0036] A material receiving assembly, used for fixing a target object with the welding ring;

[0037] A camera assembly is arranged above the material receiving assembly and faces the target object;

[0038] The control component is electrically connected to the camera component to receive and process the image of the target object captured by the camera component.

[0039] In one embodiment, it further comprises:

[0040] A material unloading component corresponds to the material receiving component and is electrically connected to the control component. The material unloading component can push the target object on the material receiving component into the material channel according to the signal output by the control component. Through this embodiment, the target object that has completed the detection is unloaded from the material receiving component for subsequent production and processing.

[0041] In one embodiment, it further comprises:

[0042] The material dividing component includes an execution component, which is electrically connected to the control component. The execution component causes the target object to fall into the cavity corresponding to the material storage box at the bottom of the material channel according to the signal output by the control component. Through this embodiment, the targets corresponding to the qualified signal and various unqualified signals can fall into the corresponding cavities respectively, which is convenient for the subsequent rework of the target object corresponding to a single unqualified signal, thereby improving the processing efficiency.

[0043] In one embodiment, the unloading assembly comprises:

[0044] A driving component, the driving component being electrically connected to the control assembly;

[0045] The unloading rod includes a rod body corresponding to the driving component and a reset spring sleeved on the rod body. The driving component can drive the rod body to abut the target object on the material receiving component and push the target object into the material channel. Through this embodiment, the driving component is used to push the unloading rod, so that the rod body can abut against the material receiving component and push the target object down. The reset spring sleeved on the rod body can reset the position of the rod body after completing the action, so as to facilitate the next action.

[0046] In one embodiment, it further comprises:

[0047] A turntable is provided with a plurality of the receiving components in the circumferential direction of the turntable, and the unloading component is located above the turntable and corresponds to the center of the turntable. Through this embodiment, the set turntable can replace the existing manual inspection station to form an assembly line for automated inspection of multiple target objects, thereby improving work efficiency.

[0048] The above technical features can be combined in various suitable ways or replaced by equivalent technical features as long as the purpose of the present invention can be achieved.

[0049] The present invention provides a method and device for detecting welding ring welding, which have at least the following beneficial effects compared with the prior art:

[0050] (1) Ability to accurately identify whether the welding ring on the elbow is within the required range;

[0051] (2) Replace the manual inspection station, inspect multiple elbows, and classify and store the elbows to improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings, wherein:

[0053] Figure 1 A schematic diagram showing the structure of the elbow of the present invention installed on a material receiving module;

[0054] Figure 2 Shows Figure 1 A local enlarged schematic diagram of point A;

[0055] Figure 3 A schematic diagram showing a welding ring of the present invention being sleeved on an elbow in one direction;

[0056] Figure 4 A schematic diagram showing a welding ring of the present invention being sleeved on an elbow in one direction;

[0057] Figure 5 It shows the range of motion of the welding ring of the present invention when it is sleeved on the elbow to meet production requirements;

[0058] Figure 6 A schematic diagram showing the structure of the detection device of the present invention in one direction;

[0059] Figure 7 A schematic diagram showing the structure of the detection device of the present invention in one direction;

[0060] Figure 8 A schematic diagram showing the structure of the detection device of the present invention in one direction;

[0061] Fig. 9 A flow chart showing one embodiment of the present invention is shown;

[0062] In the drawings, like reference numerals are used for like parts. The drawings are not necessarily to scale.

[0063] Reference numerals:

[0064] 1- camera assembly, 2- baffle, 3- material channel, 4- turntable, 5- waste box, 6- material dividing cylinder, 7- material receiving module, 8- unloading cylinder. DETAILED DESCRIPTION

[0065] The present invention will be further described below in conjunction with the accompanying drawings.

[0066] like Figure 1 and Figure 2 As shown in the figure, the elbow after the ring is fixed on the material receiving module, and the only observable part is the port part; for the welding ring after the ring work is completed, its front view can only reflect whether the axis of the welding ring is parallel to the port axis of the small elbow, such as Figure 3 As shown, the specific position of the welding ring cannot be determined; and the welding ring needs to maintain a certain distance from the pipe end of the elbow during the fusion welding process. In the present invention, the distance range is 4.5±0.3mm, which means that it is difficult to identify it with the naked eye.

[0067] Due to the particularity of the ring structure, its front view projection and side view projection are consistent, and it can only be analyzed through its top view, such as Figure 4 As shown, the dotted area B represents the position where the elbow is fixed on the fixed part, and the dotted area C represents the area where the welding ring can move on the elbow. Take one end, such as Figure 5 As shown, since the welding ring does not need to be completely parallel to the port axis when it is put on the elbow, there can be a certain inclination, and the dotted area D represents the active area of ​​the welding ring on the elbow that meets the range requirements. When a part of the welding ring is located outside the dotted area D, it does not meet the production requirements.

[0068] Acquire an image of the target object;

[0069] Determining a position of a welding ring on the target object on the target object;

[0070] According to the position of the welding ring, judging whether the welding ring completely falls into the target area;

[0071] If the welding ring completely falls into the target area, a qualified signal is output;

[0072] If the welding ring does not completely fall into the target area, a failure signal is output.

[0073] It should be noted that if Figure 1 and Figure 2 As shown, the target object is an elbow. Since the welding ring is set at different positions on the elbow, different effects will be produced in subsequent production and processing. In order to meet the needs of production, it is necessary to ensure that the position of the welding ring on the elbow meets the range of motion. By acquiring the image of the elbow and determining whether the position of the welding ring on the elbow completely falls into the target area, it is possible to detect whether the position of the welding ring is correctly set. There is no need for manual visual observation and identification, which saves time and effort and has high accuracy.

[0074] In one embodiment, determining whether the welding ring completely falls into the target area includes:

[0075] Extracting image information of the welding ring according to pixel features;

[0076] According to the image information, determining whether the image of the ring falling into the target area is complete;

[0077] If the image of the welding ring falling into the target area is complete, it is determined that the welding ring completely falls into the target area.

[0078] It should be noted that, since the pixel features of the elbow and the welding ring are different, the elbow and the welding ring in the image are distinguished according to the pixel features by using the acquired image of the target object, and the image information of the welding ring is extracted separately, such as Figure 5 As shown, the image information of the welding ring falls into a preset target area, and the target area is the maximum movable area of ​​the welding ring that meets the production conditions. Whether the welding ring is completely located in the target area is determined by identifying whether there is image information of the welding ring outside the target area.

[0079] In one embodiment, extracting image information of the welding ring according to the pixel features includes:

[0080] Preset target feature threshold;

[0081] All pixels in the image are distinguished according to the size relationship between their pixel values ​​and the target feature threshold to obtain the image information of the welding ring.

[0082] It should be noted that the pixel information in the image is used to distinguish the target object and the welding ring in the image, and the shape characteristics and spatial relationship characteristics of the image are fully utilized to segment all the pixels in the image, thereby obtaining image information having only the welding ring.

[0083] In one embodiment, before determining the position of the welding ring on the target object, the method further includes:

[0084] Determining whether the welding ring exists on the target object;

[0085] If the welding ring does not exist on the target object, a failure signal is output.

[0086] It should be noted that, due to the continuous operation, that is, the scenario of inspecting multiple elbows, there may be a situation where the welding ring does not exist on the elbow. Obviously, this situation does not meet the production needs. Before determining the position of the welding ring, it is necessary to exclude the situation where the welding ring does not exist on the elbow, that is, output an unqualified signal to ensure that the welding ring is present on the elbow and then detect whether the position of the welding ring meets the requirements. On the one hand, it can improve the efficiency of detection, and on the other hand, it can avoid the situation where the image information of the welding ring cannot be extracted when detecting the position of the welding ring.

[0087] In one embodiment, determining whether the welding ring exists on the target object includes:

[0088] Acquire the outer contour features of the object on the image;

[0089] Determining whether the outer contour features of the object completely match the outer contour features of the target object;

[0090] If the outer contour feature of the object completely matches the outer contour feature of the target object, it is determined that the welding ring does not exist on the target object;

[0091] If the outer contour feature of the object does not completely match the outer contour feature of the target object, it is determined that the welding ring exists on the target object.

[0092] It should be noted that the outer contour features of the target object, i.e., the elbow, are used as a reference to obtain the outer contour features of the object on the current image. If the welding ring is not present on the current image, its outer contour information will be consistent with the reference object. In this way, it can be directly determined whether there is a welding ring on the elbow. The determination method is simple and the detection efficiency is improved.

[0093] In one embodiment, after determining whether the welding ring exists on the target object, the method further includes:

[0094] When the welding ring exists on the target object, determining whether the number of the welding rings matches the target number;

[0095] A failure signal is output when the number of the solder rings does not match the target number.

[0096] It should be noted that if Figure 4 As shown, since welding rings need to be put on both ends of the elbow, there will be the following two situations in the case of unqualified parts: one is that there are no welding rings on both ends, but only one end has a welding ring; then further distinguishing whether the elbow is unqualified due to the lack of one welding ring or two welding rings can facilitate the subsequent rework of a single type of unqualified parts.

[0097] In one embodiment, determining whether the number of the welding rings matches the target number includes:

[0098] Determining the number of objects on the target object that match the welding ring according to the outer contour feature;

[0099] Whether the number of the solder rings matches the target number is determined based on the number of objects on the target object that match the solder rings.

[0100] It should be noted that the outer contour feature of the welding ring is used as a reference to determine the number of objects on the current target object that match the reference, and then confirm the number of the welding rings on the target object.

[0101] In one embodiment, the detection process of the present invention is as follows Fig. 9 As shown:

[0102] Acquire an image of the target object;

[0103] Determining whether the welding ring exists on the target object;

[0104] If the welding ring does not exist on the target object, output a failure signal;

[0105] When the welding ring exists on the target object, determining whether the number of the welding rings matches the target number;

[0106] outputting a failure signal when the number of the welding rings does not match the target number;

[0107] Determining a position of a welding ring on the target object on the target object;

[0108] According to the position of the welding ring, judging whether the welding ring completely falls into the target area;

[0109] If the welding ring completely falls into the target area, a qualified signal is output;

[0110] If the welding ring does not completely fall into the target area, a failure signal is output.

[0111] A welding ring position detection device of the present invention comprises:

[0112] A material receiving assembly, used for fixing a target object with the welding ring;

[0113] The camera assembly 1 is arranged above the material receiving assembly and faces the target object;

[0114] The control component is electrically connected to the camera component 1 to receive and process the image of the target object captured by the camera component 1.

[0115] In one embodiment, Figure 1 and 7 As shown, the material connection component is a material connection module 7, and the target object is an elbow, that is, the material connection component 7 is used to clamp and fix the elbow to keep the elbow in a horizontal state.

[0116] In one embodiment, the camera assembly 1 includes an image processing module capable of processing the acquired image of the elbow.

[0117] It should be noted that when inspecting an elbow alone, the image of the elbow is first obtained using the camera assembly 1; based on the image processing module built into the camera assembly 1, it is determined whether the welding ring on the elbow is completely within the movable range, and whether the position of the welding ring on the elbow meets the production requirements can be determined.

[0118] In one embodiment, it further includes:

[0119] A turntable 4, wherein a plurality of receiving components 7 are arranged in the circumferential direction of the turntable 4, and a discharge component is located above the turntable 4 and corresponds to the center of the turntable;

[0120] The turntable 4 performs uniform circular motion to rotate the material receiving assembly 7 to the target position in sequence, so that the camera assembly can collect images of the target object in sequence.

[0121] It should be noted that in large-scale batch production, multiple elbows need to be inspected in sequence, and the current manual inspection stations are not only inefficient, but also require high labor costs. Figure 6 As shown, the turntable 4 performs uniform circular motion, and rotates the elbow on the material receiving module 7 to the bottom of the camera assembly 1 in turn, so that the camera assembly 1 can obtain images. The set turntable 4 can replace the existing manual inspection station to form an automated inspection line for multiple target objects, thereby improving work efficiency.

[0122] In one embodiment, it further includes:

[0123] The unloading component corresponds to the receiving component and is electrically connected to the control component. The unloading component can push the target object on the receiving component into the material channel according to the signal output by the control component 3.

[0124] In one embodiment, Figure 6 and Figure 7 As shown, the unloading assembly includes:

[0125] A driving component, the driving component being electrically connected to the control assembly;

[0126] The unloading rod comprises a rod body corresponding to the driving component and a return spring sleeved on the rod body. The driving component can drive the rod body to abut against the target object on the material receiving assembly and push the target object into the material channel 3.

[0127] In one embodiment, the driving component is a discharge cylinder 8 , which is disposed at the through hole of the turntable 4 .

[0128] In one embodiment, Figure 6 and Figure 7 As shown, the material storage box includes a waste box 5 and a collection box arranged at the bottom of the material channel 3. The waste box 5 has three cavities to accommodate the elbows corresponding to the above three unqualified signals.

[0129] In one embodiment, it further includes:

[0130] The material dividing component includes an execution component, which is electrically connected to the control component. The execution component causes the target object to fall into the cavity corresponding to the material storage box at the bottom of the material channel 3 according to the signal output by the control component; the targets corresponding to the qualified signal and various unqualified signals can fall into the corresponding cavities respectively, which is convenient for the subsequent direct rework of the target object corresponding to a single unqualified signal, thereby improving the processing efficiency.

[0131] In one embodiment, Figure 7 and Figure 8 As shown, the actuator is a material dividing cylinder 6 , which acts on the waste box 5 .

[0132] It should be noted that the targets corresponding to the qualified signals and various unqualified signals can fall into the corresponding cavities in the collection box or the waste box 5 respectively, so as to distinguish multiple target objects on the assembly line, so as to facilitate the subsequent rework of the elbows corresponding to a single unqualified signal and improve the processing efficiency.

[0133] Specifically, during the operation of the detection device, the material return cylinder 8 removes the elbows on the material receiving module 7 in sequence, and the control component receives the signal emitted by the injection component after detection, and controls the operation of the material distribution cylinder 6 according to the signal, thereby selectively unloading the elbows into the corresponding cavity of the collection box or the waste box.

[0134] Specifically, when the first unqualified signal is received, the dividing cylinder 6 moves the receiving groove corresponding to the type that does not meet the required range in the waste box 5 to the bottom of the elbow; when the second unqualified signal is received, the receiving groove corresponding to the single ring type in the waste box 5 is moved to the bottom of the elbow; when the third unqualified signal is received, the dividing cylinder 6 moves the receiving groove corresponding to the no-ring type in the waste box 5 to the bottom of the elbow; and when a qualified signal is received, the dividing cylinder 6 moves the waste box 5 to the initial position, so that the qualified elbow can fall into the corresponding collection box.

[0135] In one embodiment, Figure 6 As shown, the material channel also has a baffle 2 to prevent the elbow from falling into the opening of the material channel 3 due to excessive force of the return cylinder 7 during the unloading process.

[0136] In one embodiment, Figure 6 and Figure 7 As shown, the feeding section of the material channel 3 is provided with a through hole for the waste box 5 to penetrate, so that without changing the feeding port, the elbow can be selectively unloaded into the corresponding position using a material distribution cylinder 6.

[0137] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "bottom", "top", "front", "back", "inside", "outside", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0138] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. A method for detecting a welding ring position, characterized in that: include: Acquire an image of the target object; Determining a position of a welding ring on the target object on the target object; According to the position of the welding ring, judging whether the welding ring completely falls into the target area; If the welding ring completely falls into the target area, a qualified signal is output; If the welding ring does not completely fall into the target area, an unqualified signal is output; Wherein, judging whether the welding ring completely falls into the target area includes: Extracting image information of the welding ring according to pixel features; Determining whether the image of the welding ring falling into the target area is complete according to the image information; If the image of the welding ring falling into the target area is complete, it is determined that the welding ring completely falls into the target area.

2. The method for detecting the position of the welding ring according to claim 1, characterized in that: Extracting image information of the welding ring according to the pixel features includes: Preset target feature threshold; All pixel points in the image are distinguished according to the size relationship between their pixel values ​​and the target feature threshold, so as to obtain image information of the welding ring.

3. The method for detecting the position of the welding ring according to claim 1, characterized in that: Before determining the position of the welding ring on the target object, the method further includes: Determining whether the welding ring exists on the target object; If the welding ring does not exist on the target object, a failure signal is output.

4. The method for detecting the position of the welding ring according to claim 3, characterized in that: Determining whether the welding ring exists on the target object includes: Acquire the outer contour features of the object on the image; Determining whether the outer contour features of the object completely match the outer contour features of the target object; If the outer contour feature of the object completely matches the outer contour feature of the target object, it is determined that the welding ring does not exist on the target object; If the outer contour feature of the object does not completely match the outer contour feature of the target object, it is determined that the welding ring exists on the target object.

5. The method for detecting the position of the welding ring according to claim 3, characterized in that: After determining whether the welding ring exists on the target object, the method further includes: When the welding ring exists on the target object, determining whether the number of the welding rings matches the target number; A failure signal is output when the number of the solder rings does not match the target number.

6. The method for detecting the position of the welding ring according to claim 3, characterized in that: Determining whether the number of the welding rings matches the target number includes: Determining the number of objects on the target object that match the welding ring according to the outer contour feature; Whether the number of the solder rings matches the target number is determined based on the number of objects on the target object that match the solder rings.

7. The method for detecting the position of the welding ring according to claim 1, characterized in that: Also includes: According to the unqualified signal, the corresponding target object is input into a corresponding storage box.

8. A detection device for detecting the position of a welding ring using the detection method according to any one of claims 1 to 7, characterized in that: include: A material receiving assembly, used for fixing a target object with the welding ring; A camera assembly is arranged above the material receiving assembly and faces the target object; The control component is electrically connected to the camera component to receive and process the image of the target object captured by the camera component.

9. The device for detecting the welding ring position according to claim 8, characterized in that: Also includes: A material unloading component, the material unloading component corresponds to the material receiving component and is electrically connected to the control component, and the material unloading component can push the target object on the material receiving component into the material channel according to the signal output by the control component.

10. The device for detecting the welding ring position according to claim 9, characterized in that: Also includes: The material distribution component includes an execution component, which is electrically connected to the control component. The execution component causes the target object to fall into the cavity corresponding to the material storage box at the bottom of the material channel according to the signal output by the control component.

11. The device for detecting the position of the welding ring according to claim 9, characterized in that: The unloading assembly comprises: A driving component, the driving component being electrically connected to the control assembly; The unloading rod comprises a rod body corresponding to the driving component and a reset spring sleeved on the rod body. The driving component can drive the rod body to abut against the target object on the material receiving assembly and push the target object into the material channel.

12. The device for detecting the position of the welding ring according to claim 9, characterized in that: Also includes: A turntable is provided with a plurality of the material receiving assemblies in the circumferential direction of the turntable, and the material discharging assembly is located above the turntable and corresponds to the center of the turntable.

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