Columnar part butt-joint assembly system and butt-joint assembly method

Abstract

The invention discloses a columnar component butt-joint assembly system which comprises a welding device, a butt-joint assembly device, a butt-joint assembly device and a butt-joint assembly device, and the welding device is used for welding a first component and a second component to form an integral component; the calibration device is arranged on one side of the welding device and used for adjusting the position of the first component; the calibration cabin is arranged on the other side of the welding device and used for adjusting the position of the second component; the propelling device is used for changing the position of the second component in the calibration cabin; and the carrying device is used for feeding of the first component and the second component and discharging of the whole component, the calibration cabin comprises a bottom cabin body and sealing doors hinged to the two sides of the bottom cabin body, the sealing doors are connected with door body driving mechanisms, the sealing doors and the bottom cabin body are combined to form a heat preservation cavity, and the heat preservation cavity is used for containing the welding position of the whole component. The problems that existing butt welding equipment is complex in control and low in welding quality are solved. Welding and heat preservation are integrated, heat preservation treatment can be conducted immediately after welding is completed, and the welding quality is guaranteed.

Description

Technical Field

[0001] The invention belongs to the field of welding butt joint equipment, and in particular relates to a columnar component butt joint assembly system. Background Art

[0002] The connection of columnar components is usually assembled by welding. In order to improve the accuracy of welding, a docking mechanism is usually used to adjust the position of the two ends of the product.

[0003] The Chinese patent with announcement number CN220296300U discloses a docking structure with rotation, clamping and docking functions, which improves the convenience of use. It is mainly suitable for butt welding of products with shorter lengths, and is not suitable for heavy-loaded products with longer lengths.

[0004] In addition, in order to facilitate welding alignment, a butt pin is usually provided or a positioning weld is performed to ensure external alignment. Chinese patent publication number CN219725132U discloses a positioning structure including both an internal positioning pin and an external fixing ear plate, which ensures coaxiality through internal and external positioning.

[0005] The Chinese patent application with publication number CN118204606A discloses a butt welding adjustment device and method, which performs butt welding on products by fixing the products and rotating the welding structure.

[0006] Chinese patent publication number CN116511906B discloses a butt welding structure in which a grinding mechanism is added.

[0007] In general, the existing technology mainly improves the docking method and welding scheme. However, it needs to be adjusted many times during use, and the control is complicated. At the same time, it does not have significant advantages for the processing of heavy-loaded products. In addition, due to its simple welding processing method, it is difficult to ensure the welding quality, and the defective rate is high. Summary of the invention

[0008] The purpose of the present invention is to provide a columnar component butt assembly system to solve the problems of complex control and low welding quality of existing butt welding equipment.

[0009] In order to solve the above problems, the present invention discloses a columnar component docking assembly system, comprising:

[0010] A welding device for welding the first component and the second component to form an integral component;

[0011] A calibration device, arranged on one side of the welding device, for adjusting the position of component one;

[0012] A calibration cabin, provided on the other side of the welding device, for adjusting the position of component two;

[0013] A propulsion device, used to change the position of component 2 in the calibration cabin;

[0014] Handling device, used for loading component one and component two and unloading the whole component,

[0015] The calibration cabin comprises a bottom cabin body and closed doors hinged on both sides of the bottom cabin body, the closed doors are connected to a door driving mechanism, and the closed doors and the bottom cabin body are combined to form a heat preservation cavity, which is used to accommodate the welding positions of the integral components.

[0016] As a further improvement of the above technical solution:

[0017] The welding device includes a welding frame, a rotating half ring rotatably matched with the welding frame, and a welding mechanism arranged on the rotating half ring. An outer gear ring is arranged at the bottom of the rotating half ring, and a driving gear meshing with the outer gear ring is arranged on the welding frame. The driving gear meshes with the outer gear ring, so that the rotating half ring drives the welding mechanism to operate to achieve welding of component one and component two.

[0018] The calibration device includes a calibration frame and a calibration platform slidably arranged on the calibration frame, a sliding column is arranged on the calibration platform, a positioning support column is slidably arranged on the sliding column, a bottom support pad is arranged on the calibration platform, and a first screw mechanism is installed at the bottom of the calibration platform, and the position of the calibration platform on the calibration frame is changed by the first screw mechanism.

[0019] The propulsion device includes a propulsion frame, a propulsion platform slidably arranged on the propulsion frame, a propulsion rod is arranged on the propulsion platform, one end of the propulsion rod is connected to a propulsion disk, and a second screw mechanism is arranged at the bottom of the propulsion platform, and the position of the propulsion platform on the propulsion frame is changed by the second screw mechanism.

[0020] The transport device includes a gantry, a first loading unit arranged on one side of the gantry, and a second loading unit arranged on the other side of the gantry. The first loading unit and the second loading unit are both slidably arranged on the gantry and both include a lifting drive structure and a clamping drive structure.

[0021] An air extraction hole is provided on one side of the calibration cabin, and a negative pressure unit is connected to one side of the air extraction hole.

[0022] The bottom cabin and the closed door are provided with a heating unit, which uses a resistance wire or other heating elements and can be matched with a temperature control system to set the heating temperature and heating time according to the use requirements.

[0023] A camera capture mechanism is provided on one side of the welding device, and the camera capture mechanism includes a standard sampling end, an adjustment sampling end and a comparison end. The standard position image is obtained through the standard sampling end, and the image of the position to be adjusted is obtained through the adjustment sampling end. The two images are input into the comparison end, and an adjustment instruction is given.

[0024] The present invention also discloses a method for butt-jointing and assembling a columnar component, comprising the following steps:

[0025] S1. Arrange marking points on the contact surface of component 1 and component 2;

[0026] S2. Place component 1 on the calibration device and component 2 in the calibration chamber by using the transport device;

[0027] S3, obtaining position images of component one and component two through a camera capture mechanism, comparing the position images, and giving adjustment instructions;

[0028] S4, input the adjustment instruction into the calibration device, drive component 1 to move, and repeat steps S3 and S4 until component 1 and component 2 are aligned;

[0029] S5, performing surface welding on component one and component two by means of a welding device;

[0030] S6. After welding is completed, the welding position of the whole component is brought into the heat preservation chamber by combining the calibration device and the propulsion device;

[0031] S7, heating and heat-insulating the welding position in the heat-insulating chamber by a heating unit;

[0032] S8. Open the closed door and take out the entire component using the handling device.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The columnar component docking assembly system of the present invention is provided with a calibration cabin with an insulation chamber, which can insulate the welding position, improve the welding quality, effectively improve the strength and stability of the welded joint, and reduce the welding stress and crack generation. The overall system has a compact structure, reasonable design, high degree of automation, reduced labor costs, and improved production efficiency. By rotating the half ring and the welding mechanism, high-precision welding of component one and component two can be achieved to ensure the strength and stability of the overall component. Compared with the traditional clamp-type docking method, the present invention is not easy to slide during docking, has higher docking accuracy, and can reduce the defective rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 It is a structural schematic diagram of the welding device of the present invention;

[0037] Figure 3 This is one of the structural schematic diagrams of the calibration device of the present invention;

[0038] Figure 4This is the second structural schematic diagram of the calibration device of the present invention;

[0039] Figure 5 This is a schematic diagram of the calibration cabin structure of the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of the propulsion device of the present invention;

[0041] Figure 7 It is a schematic diagram of the structure of the handling device of the present invention;

[0042] Figure 8 This is a schematic structural diagram of the first feeding unit of the present invention;

[0043] Fig. 9 It is a schematic structural diagram of the second loading unit of the present invention.

[0044] Figure numerals: 1. welding device; 10. welding frame; 11. rotating half ring; 12. welding mechanism; 13. outer gear ring; 14. driving gear; 2. calibration device; 20. calibration frame; 21. calibration platform; 22. sliding column; 23. positioning support column; 24. bottom support pad; 25. first screw mechanism; 3. calibration cabin; 31. bottom cabin body; 32. closed door; 33. door body driving mechanism; 4. propulsion device; 40. propulsion frame; 41. propulsion platform; 42. propulsion rod; 43. second screw mechanism; 44. propulsion disk; 5. handling device; 50. gantry; 51. first loading unit; 52. second loading unit; 53. lifting drive structure; 54. clamping drive structure; 34. exhaust hole. DETAILED DESCRIPTION

[0045] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0046] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0047] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Example 1

[0050] The columnar component docking assembly system of this embodiment is as follows: Figure 1 As shown, including:

[0051] Welding device 1, for welding component 1 and component 2 to form an integral component; Figure 2 As shown, the welding device 1 includes a welding frame 10, a rotating half ring 11 that rotates with the welding frame 10, and a welding mechanism 12 arranged on the rotating half ring 11. An outer gear ring 13 is arranged at the bottom of the rotating half ring 11, and a driving gear 14 that meshes with the outer gear ring 13 is arranged on the welding frame 10. The driving gear 14 meshes with the outer gear ring 13, so that the rotating half ring 11 drives the welding mechanism 12 to operate to achieve welding of component one and component two. The welding mechanism 12 is of conventional design here, and the driving structure can be changed here to ensure circular welding. The welding frame 10 is set as a lifting structure here, that is, the height of the welding mechanism 12 is changed so that the welding mechanism 12 is aligned with the welding center.

[0052] The calibration device 2 is arranged on one side of the welding device 1 and is used to adjust the position of the component 1; Figure 3 and Figure 4 As shown, the calibration device 2 includes a calibration frame 20 and a calibration table 21 slidably arranged on the calibration frame 20, a sliding column 22 is arranged on the calibration table 21, a positioning support column 23 is slidably arranged on the sliding column 22, a bottom support pad 24 is arranged on the calibration table 21, and a first screw mechanism 25 is installed at the bottom of the calibration table 21, and the position of the calibration table 21 on the calibration frame 20 is changed by the first screw mechanism 25.

[0053] The calibration cabin 3 is arranged on the other side of the welding device 1 and is used to adjust the position of the second component; Figure 5As shown, the calibration cabin 3 includes a bottom cabin body 31, a closed door 32 hinged on both sides of the bottom cabin body 31, the closed door 32 is connected to a door body driving mechanism 33, and the closed door 32 and the bottom cabin body 31 are combined to form a heat preservation chamber, which is used to accommodate the welding position of the integral component. An exhaust hole 34 is provided on one side of the calibration cabin 3, and a negative pressure unit is connected to one side of the exhaust hole 34. The smoke generated during welding can be absorbed by connecting the negative pressure unit through the exhaust hole 34, and the gas is transmitted to the exhaust gas treatment unit for treatment. In order to improve the heat preservation effect, a heating unit is provided in the bottom cabin body 31 and the closed door 32. The heating unit can use a resistance wire. The contact surface of the bottom cabin body 31 and the closed door 32 is set as a heat-conducting metal material, and the resistance wire is installed in the heat-conducting metal material. The heat is transferred to the heat preservation chamber by heating the resistance wire to ensure the welding effect. A temperature control unit can be provided in the heat preservation chamber to control the temperature, and the heating temperature and heating time can be adjusted according to design requirements.

[0054] The propulsion device 4 is used to change the position of the component 2 in the calibration chamber 3; Figure 6 As shown, the propulsion device 4 includes a propulsion frame 40, a propulsion platform 41 slidably arranged on the propulsion frame 40, a propulsion rod 42 is arranged on the propulsion platform 41, one end of the propulsion rod 42 is connected to a propulsion disk 44, and a second screw mechanism 43 is arranged at the bottom of the propulsion platform 41, and the position of the propulsion platform 41 on the propulsion frame 40 is changed by the second screw mechanism 43.

[0055] The handling device 5 is used for loading the first and second components and unloading the whole component. Figure 7 As shown, the handling device 5 includes a gantry 50, a first loading unit 51 disposed on one side of the gantry 50, and a second loading unit 52 disposed on the other side of the gantry 50. The first loading unit 51 and the second loading unit 52 are both slidably disposed on the gantry 50. Figure 8 and Fig. 9 As shown, the first loading unit 51 and the second loading unit 52 both include a lifting drive structure 53 and a clamping drive structure 54 .

[0056] Example 2

[0057] A camera capture mechanism is provided on one side of the welding device 1, and the camera capture mechanism includes a standard sampling end, an adjustment sampling end and a comparison end. The standard position image is obtained through the standard sampling end, and the image of the position to be adjusted is obtained through the adjustment sampling end. The two images are input into the comparison end, and an adjustment instruction is given.

[0058] Based on the camera capture mechanism, this embodiment discloses a columnar component docking assembly method, including the following steps:

[0059] S1. Arrange marking points on the contact surface of component 1 and component 2. The marking points can be in the form of non-processing marking and processing marking. Non-processing marking can be done by using a fluorescent pen to mark the contact surface. Processing marking uses the contact surface drilling method, and sets a mounting pin in the drill hole, and achieves alignment by aligning the mounting pin. In order to facilitate external communication and ensure alignment accuracy, 3 marking points are set.

[0060] S2. Materials are transported by the transport device 5. Specifically, the first loading unit 51 places component one on the calibration device 2, and the second loading unit 52 places component two in the calibration chamber 3. The second loading unit 22 has a rotation function, which can adjust the position of component two so that the marked point in component two is used as the standard position.

[0061] S3, using the camera capture mechanism to obtain the position images of component one and component two, and compare the position images to give adjustment instructions; the position image is the position image of the marking point. Step S3 specifically includes:

[0062] S31, collecting a first image I1 of component one and a second image I2 of component two in an initial state;

[0063] S32, performing a difference operation based on the first image I1 and the second image I2 to obtain an image difference D:

[0064] D = |I1-I2|;

[0065] S33, setting a matching threshold T, judging whether the image difference D is less than or equal to the matching threshold T to confirm the consistency of the positions of the two components; if D is less than or equal to T, outputting consistency, otherwise calculating the relative offset and issuing an adjustment instruction; setting the matching threshold T includes:

[0066] S331, analyzing historical docking records and calculating the standard matching image difference D0 under current conditions;

[0067] S332, a threshold is obtained by weighted averaging the standard matching image difference D0 and the noise intensity N in the current environment:

[0068] T = (D0 + 0.5 * N) / 2;

[0069] For different types of images D, the corresponding type of standard D0 is adopted;

[0070] The threshold T is modified according to the type difference: if it is a rough surface, the threshold is increased by 10%.

[0071] When adjusting the threshold T, external interference is also considered:

[0072] When there is strong light in the recognition environment, the threshold percentage is increased: "If L>Lmax, set T=T+0.15*T", L represents the light intensity, and Lmax represents the light intensity limit value.

[0073] Adjust T according to the real-time wind level. The threshold is relaxed when the wind increases: "If W>Wlimit, set T=T+0.2*T" and "W≤Wlimit, no change", W represents wind force, and Wlimit represents the wind force limit.

[0074] Test the position recognition accuracy under the new threshold. If the accuracy A is higher than 85%, it remains unchanged; otherwise, "A<85%, then T=T+5% original setting value"; after the environment changes, the corrected threshold is calculated again through the real-time feedback system. The first T represents the latest threshold, and the second T represents the previous threshold, the same as above.

[0075] S4, input the adjustment instruction into the calibration device 2, drive the component 1 to move, and repeat steps S3 and S4 until the component 1 and the component 2 are aligned;

[0076] S5, performing surface welding on component 1 and component 2 by welding device 1;

[0077] S6, welding is completed, and the welding position of the whole component enters the heat preservation chamber through the combination of the calibration device 2 and the propulsion device 4;

[0078] S7. The welding position in the heat preservation chamber is heated and heat-insulated by a heating unit. Compared with the prior art, the whole component after welding can be heat-insulated here, which can improve the welding quality.

[0079] S8, open the closed door 32, and take out the entire component through the handling device 5.

[0080] The working principle of this embodiment: when in use, the contact surface of the component one and the component two to be welded is processed, specifically, the marking points are arranged. Then, the component two is placed in the calibration cabin 3, and the position of the component two can be adjusted by the second loading unit 52 so that it is in the standard position. Then, the component one is placed on the calibration device 2 through the first loading unit 51, and the image of the marking point of the component two is photographed by the camera capture mechanism, which is defined as the standard position. By photographing the image of the marking point of the component one, the image of the marking point of the component one is compared with the standard position to obtain the adjustment value, and the movement of the positioning support column 23 on the sliding column 22 is controlled so that the position of the marking point of the component one is the same as the standard position, and the positions are aligned. The first screw mechanism 25 drives the component one to move toward the component two, and the second screw mechanism 43 squeezes the component two so that the component one and the component two are in close contact. At this time, the welding mechanism 12 of the welding device 1 welds the connection between the component one and the component two. In order to ensure circumferential welding, the rotating half ring 11 is used to drive the welding mechanism 12 to rotate to achieve the welding of component one and component two. During welding, the negative pressure unit is turned on to absorb the harmful smoke generated during welding. After welding is completed, the first screw mechanism 25 pushes the entire component toward the calibration cabin 3, and the closed door 32 is driven to close by the door body driving mechanism 33 to form an insulation chamber, and the welding position is placed in the insulation chamber. The cooling time can be extended and the cooling rate can be reduced. The probability of producing lamellar martensite is reduced, so that the weld structure is easier to obtain pearlite, ferrite or troostite and lath martensite with higher toughness. This helps to reduce welding stress and prevent cracks or deformation at the weld. In addition, it can give bubbles in the weld sufficient overflow time, reduce the pore generation rate, and thus improve the quality of the weld; through insulation measures, the stability of the welding interface structure can be promoted, and the stress is released, thereby improving the strength and stability of the weld joint. Due to the influence of ambient temperature, it is difficult to ensure the insulation temperature even if an insulation chamber is used. Therefore, a heating unit is provided in the bottom cabin 31 and the closed door 32. The heating unit can improve the insulation effect and further ensure the welding quality.

[0081] The present invention integrates welding and heat preservation, and heat preservation treatment can be performed immediately after welding is completed, thereby ensuring welding quality. During the alignment process, a camera is used to capture marking points for adjustment, and the docking accuracy is high, which is suitable for docking processing of heavy-loaded products.

[0082] The above is only an embodiment of the present invention, and the common sense such as the known specific structure and characteristics in the scheme is not described in detail here. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the attached claims rather than the above description, so it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. Any figure mark in the claims should not be regarded as limiting the claims involved.

Claims

1. A columnar component docking assembly system, characterized in that: include: A welding device (1) for welding component one and component two to form an integral component; A calibration device (2), arranged on one side of the welding device (1), for adjusting the position of component one; A calibration cabin (3), arranged on the other side of the welding device (1), for adjusting the position of component 2; A propulsion device (4) for changing the position of the second component in the calibration chamber (3); The handling device (5) is used for loading the first and second components and unloading the entire component. The calibration cabin (3) comprises a bottom cabin body (31), and closed doors (32) hinged to two sides of the bottom cabin body (31), wherein the closed doors (32) are connected to a door driving mechanism (33), and the closed doors (32) and the bottom cabin body (31) are combined to form a heat preservation chamber, which is used to accommodate welding positions of integral components.

2. The columnar component docking assembly system according to claim 1, characterized in that: The welding device (1) comprises a welding frame (10), a rotating half ring (11) rotatably matched with the welding frame (10), and a welding mechanism (12) arranged on the rotating half ring (11); an outer gear ring (13) is arranged at the bottom of the rotating half ring (11); a driving gear (14) meshing with the outer gear ring (13) is arranged on the welding frame (10); the driving gear (14) meshes with the outer gear ring (13), so that the rotating half ring (11) drives the welding mechanism (12) to operate to realize welding of component one and component two.

3. The columnar component docking assembly system according to claim 1, characterized in that: The calibration device (2) comprises a calibration frame (20) and a calibration platform (21) slidably arranged on the calibration frame (20); a slide column (22) is arranged on the calibration platform (21); a positioning support column (23) is slidably arranged on the slide column (22); a bottom support pad (24) is arranged on the calibration platform (21); a first screw mechanism (25) is installed at the bottom of the calibration platform (21); and the position of the calibration platform (21) on the calibration frame (20) is changed by the first screw mechanism (25).

4. The columnar component docking assembly system according to claim 1, characterized in that: The propulsion device (4) comprises a propulsion frame (40), a propulsion platform (41) slidably arranged on the propulsion frame (40), a propulsion rod (42) being arranged on the propulsion platform (41), one end of the propulsion rod (42) being connected to a propulsion disk, and a second screw mechanism (43) being arranged at the bottom of the propulsion platform (41), and the position of the propulsion platform (41) on the propulsion frame (40) is changed by the second screw mechanism (43).

5. The columnar component docking assembly system according to claim 1, characterized in that: The handling device (5) comprises a gantry (50), a first loading unit (51) arranged on one side of the gantry (50), and a second loading unit (52) arranged on the other side of the gantry (50); the first loading unit (51) and the second loading unit (52) are both slidably arranged on the gantry (50), and both comprise a lifting drive structure (53) and a clamping drive structure (54).

6. The columnar component docking assembly system according to claim 1, characterized in that: An air extraction hole (34) is provided on one side of the calibration cabin (3), and a negative pressure unit is connected to one side of the air extraction hole (34).

7. The columnar component docking assembly system according to claim 1, characterized in that: A heating unit is arranged inside the bottom cabin (31) and the closed door (32).

8. The columnar component docking assembly system according to claim 7, characterized in that: A camera capture mechanism (6) is provided on one side of the welding device (1), and the camera capture mechanism (6) comprises a standard sampling end, an adjustment sampling end and a comparison end. The standard position image is acquired through the standard sampling end, and the adjustment sampling end acquires the image of the position to be adjusted. The two images are input into the comparison end, and an adjustment instruction is given.

9. A docking assembly method based on the columnar component docking assembly system according to claim 8, characterized in that: The following steps are involved: S1. Arrange marking points on the contact surface of component 1 and component 2; S2, placing component 1 on the calibration device (2) and component 2 in the calibration chamber (3) by means of the transport device (5); S3, obtaining position images of component one and component two through a camera capture mechanism (6), comparing the position images, and giving adjustment instructions; S4, inputting the adjustment instruction into the calibration device (2), driving component 1 to move, and repeating steps S3 and S4 until component 1 and component 2 are aligned; S5. Surface welding is performed on component 1 and component 2 by using the welding device (1); S6, welding is completed, and the welding position of the whole component enters the heat preservation chamber through the combination of the calibration device (2) and the propulsion device (4); S7, heating and heat-insulating the welding position in the heat-insulating chamber by a heating unit; S8, opening the closed door (32), and taking out the integral component through the handling device (5).

10. The docking assembly method according to claim 9, characterized in that: The method of obtaining position images of component one and component two by means of a camera capture mechanism (6), comparing the position images, and providing adjustment instructions includes: S31, collecting a first image I1 of component one and a second image I2 of component two in an initial state; S32, performing a difference operation based on the first image I1 and the second image I2 to obtain an image difference D: D = |I1-I2|; S33, setting a matching threshold T, judging whether the image difference D is less than or equal to the matching threshold T to confirm the consistency of the positions of the two components; if D is less than or equal to T, outputting consistency, otherwise calculating the relative offset and issuing an adjustment instruction; the setting of the matching threshold T includes: S331, analyzing historical docking records and calculating the standard matching image difference D0 under current conditions; S332, a threshold is obtained by weighted averaging the standard matching image difference D0 and the noise intensity N in the current environment: T = (D0 + 0.5 * N) / 2; For different types of images D, the corresponding type of standard D0 is adopted; The threshold T is modified according to the type difference: if it is a rough surface, the threshold is increased by 10%.

Images