Automatic welding equipment for new energy charging pile shell

Abstract

The invention discloses automatic welding equipment for a new energy charging pile shell, and relates to the technical field of welding equipment.The automatic welding equipment comprises a control module, a machining fixing module, an image recognition module, a welding positioning module and a machining welding module, and the machining fixing module, the image recognition module, the welding positioning module and the machining welding module are controlled by the control module; the image recognition module can recognize and draw machining path lines and points on the fixed shell, the welding positioning module indirectly controls the machining welding module to conduct spot welding on initial point positions on the surface of the shell, the machining welding module comprises a welding robot and an electron beam gun, and the electron beam gun is connected with the welding robot. The welding robot is movably arranged on the positioning sliding rail and has multiple degrees of freedom, and the electron beam gun is arranged at the output end of the welding robot.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to an automatic welding equipment for a shell of a new energy charging pile. Background Art

[0002] With the rise of new energy technologies, electric vehicles and corresponding charging facilities are gradually becoming popular. As one of the infrastructures of new energy vehicles, the manufacturing process of the charging pile shell also has high requirements for the quality and safety of the product. At present, the design and optimization of complex trajectory welding methods need to be given priority, and the precise weld positioning and control technology must be integrated and optimized to ensure high-quality and efficient automated welding.

[0003] Therefore, it is necessary to provide an automated welding device for the shell of a new energy charging pile to solve the problems raised in the above background technology. Summary of the invention

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automated welding equipment for the shell of a new energy charging pile, comprising: a control module and a processing and fixing module, an image recognition module, a welding positioning module, and a processing and welding module controlled by the control module, wherein the processing and fixing module can fix the shell to be welded, the image recognition module can identify and draw the processing trajectory lines and points on the fixed shell, and the welding positioning module indirectly controls the processing and welding module to perform spot welding of the initial points on the surface of the shell, the processing and welding module comprises a welding robot and an electron beam gun, wherein the welding robot is movably arranged on a positioning slide rail, and the welding robot has multiple degrees of freedom, and the electron beam gun is arranged at the output end of the welding robot.

[0005] Further, as a preference, the control module can control the safety protection module, the exhaust gas treatment module, and the energy supply module to process the welding process; the safety protection module can automatically shut down when an abnormal failure occurs in the equipment; the exhaust gas treatment module includes an exhaust gas treatment mechanism, which can process the exhaust gas generated by the equipment during the welding process; and the exhaust gas treatment mechanism also includes filters, exhaust pipes and other components to purify and discharge the exhaust gas; the energy supply module includes a vacuum pump, which is used to establish a vacuum environment to protect the electron beam from interference from particles in the air.

[0006] Further, as a preference, the processing and fixing module comprises: an operating table, a positioning sleeve, wherein an automatic control console is installed on the operating table, a control module is arranged in the automatic control console, and a pre-set frame is fixedly arranged in the operating table, a bearing seat is fixedly arranged on the pre-set frame, a plurality of parallel pairs of guide rails are fixed on the left and right sides of the bearing seat, and a plurality of positioning sleeves are slidably arranged on the guide rails on both sides, the plurality of positioning sleeves are driven by corresponding electric push rods fixedly arranged on the bearing seat, and a scratch prevention assembly and an auxiliary detection assembly are rotatably arranged on the pre-set frame.

[0007] Further, as a preference, the processing and fixing modules are arranged in multiple groups, and the welding robot moves on the positioning slide rail to the shell fixed to a single group of the processing and fixing modules for welding.

[0008] Further, preferably, the image recognition module includes a first detection imaging system and a second detection imaging system fixedly mounted on the pre-mounted rack, and the image recognition module can recognize the pre-welded shell in proportion and can draw the welding trajectory line in proportion according to the recognized image.

[0009] Further, preferably, the first detection imaging system and the second detection imaging system can both detect position information of the welding positioning module controlling the electron beam gun to spot weld the initial point on the shell surface.

[0010] Further, preferably, the auxiliary detection components are two groups symmetrically arranged on the left and right, and their structures are the same, which include: a pneumatic push cylinder and a vacuum suction cup, wherein the pneumatic push cylinder can be rotatably arranged on the pre-set frame in a self-locking manner, and a telescopic rod is slidably arranged in the pneumatic push cylinder, a fixed support rod is installed at one end of the telescopic rod away from the pneumatic push cylinder, and a vacuum suction cup connected to the vacuum pump is fixed to the end of the fixed support rod.

[0011] A processing method of an automatic welding device for a new energy charging pile housing comprises the following steps:

[0012] S1. The processing and fixing module first controls the displacement of the positioning sleeve to fix the shell to be welded;

[0013] S2. The image recognition module images the shell to be processed and uploads the information;

[0014] S3. The control module draws the proportional welding trajectory, depth and position information according to the information uploaded by the image recognition module;

[0015] S4. The processing and welding module controls the welding robot to move to the housing fixed by the processing and fixing module, and the welding robot deflects, and the electron beam gun is monitored by the image recognition module and deflected to the non-welding trajectory line;

[0016] S5. The welding positioning module controls the electron beam gun to spot weld the initial point on the shell surface. The image recognition module identifies the spot welding point and uses it as a reference point. The control module records the parameter and merges the position information at S3. The processing welding module controls the electron beam gun to move to the initial point of the welding trajectory line.

[0017] S6. Starting from the initial point, the electron beam gun is started, and the control module controls the electron beam gun to move along the trajectory line. After a single trajectory line is completed, the electron beam gun returns to the direction of the trajectory line for repair welding and moves to the reference point;

[0018] S7. Open the gear assembly, the control module controls the rotation of the auxiliary detection assembly and cooperates with the positioning clamping of the positioning sleeve, which will drive the shell to make a relative circular motion with the pneumatic push cylinder as the center, and the image recognition module detects the weld of the trajectory line;

[0019] S8. After the test is qualified, the reference point is used as the starting point and then moves to other trajectory lines, and the control module controls the electron beam gun to move along the trajectory line;

[0020] S9. After the shell of the station is welded, the processing and welding module controls the welding robot to move to the next shell to be processed, and repeats steps S1 to S8;

[0021] S10. During the spot welding and welding process, the control module controls the safety protection module, the exhaust gas treatment module, and the energy supply module to effectively assist in the welding process;

[0022] S11. The welded charging pile shell is then polished and painted.

[0023] Compared with the prior art, the present invention provides an automatic welding device for the shell of a new energy charging pile, which has the following beneficial effects:

[0024] In the present invention, the device draws the welding two degrees and one line on the shell surface in equal proportion (length, depth, trajectory direction) through the configured image recognition module, and the welding positioning module cooperates with the processing welding module to spot weld the surface of the shell and the initial point of the non-track line, and uses this as the reference point. The processing welding module welds the trajectory line. After welding is completed, the image recognition module, the positioning sleeve and the auxiliary detection component are used to determine the bad welding position and accurately locate it, which is conducive to accurate weld positioning and tracking, prevents identification of blind spots and reduces the impact of rework. At the same time, it can also perform automated welding in combination with actual production needs, improve the quality and efficiency of charging infrastructure, and provide strong support for the development of new energy vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a module schematic diagram of an automatic welding equipment for the shell of a new energy charging pile;

[0026] Figure 2 This is a schematic diagram of the overall structure of an automated welding device for a new energy charging pile shell;

[0027] Figure 3 This is a structural schematic diagram of a welding module, an exhaust gas treatment module and an energy supply module in an automated welding device for a new energy charging pile housing;

[0028] Figure 4 This is a structural schematic diagram of a welding positioning module in an automated welding device for a new energy charging pile housing;

[0029] Figure 5 It is a schematic diagram of the distribution of multiple welding tracks of the charging pile shell;

[0030] Figure 6 This is a schematic diagram of the distribution of a single welding track of the charging pile shell;

[0031] Figure 7 for Figure 3 A schematic diagram of the structure of the auxiliary detection component;

[0032] Figure 8 A schematic diagram of the distribution of auxiliary detection components for auxiliary detection;

[0033] In the figure: 1. operating table; 2. automatic control console; 3. pre-set rack; 4. bearing seat; 5. guide rail; 6. positioning jacket; 7. electric push rod; 8. first detection imaging system; 9. second detection imaging system; 10. gear assembly; 11. auxiliary detection assembly; 12. positioning slide rail; 13. welding robot; 14. electron beam gun; 15. vacuum pump; 16. exhaust gas treatment mechanism; 111. pneumatic push cylinder; 112. telescopic rod; 113. fixed support rod; 114. vacuum suction cup. DETAILED DESCRIPTION

[0034] See also Figures 1 to 8 In an embodiment of the present invention, an automatic welding device for the shell of a new energy charging pile includes: a control module and a processing and fixing module, an image recognition module, a welding positioning module, and a processing and welding module controlled by the control module, wherein the processing and fixing module can fix the shell to be welded, the image recognition module can identify and draw the processing trajectory lines and points on the fixed shell, and the welding positioning module indirectly controls the processing and welding module to perform spot welding of the initial points on the shell surface, and the processing and welding module includes a welding robot 13 and an electron beam gun 14, wherein the welding robot 13 is movably arranged on a positioning slide rail 12, and the welding robot 13 has multiple degrees of freedom, and the electron beam gun 14 is arranged at the output end of the welding robot 13;

[0035] It should be explained that the mechanical arm provided on the welding robot 13 has multiple degrees of freedom, and the electron beam gun 14 is rotatably provided on the mechanical arm. After the electron beam gun 14 rotates, there will be a blind area (the projection of the electron beam gun 14 and the mechanical arm overlap or stagger), and the overlap of the projection of the electron beam gun 14 and the mechanical arm will affect the establishment of the initial position of the welding trajectory line by the image recognition module, and thus a reference point is required to calculate the action route of the electron beam gun 14;

[0036] That is to say, in this embodiment, after the processing and fixing module first fixes the shell to be welded, the image recognition module can image the shell processing surface and draw the welding trajectory line (length, depth, trajectory line direction), and the welding positioning module controls the electron beam gun 14 to perform spot welding on the initial point of the non-trajectory line, and uses this as a reference point. The image recognition module identifies the point and integrates the above data to establish a corresponding coordinate system. The control system controls the welding robot 13 and the electron beam gun 14 to offset as a whole to the initial point of the trajectory line.

[0037] See also Figure 3 As a preferred embodiment, the control module can control the safety protection module, the exhaust gas treatment module, and the energy supply module to process the welding process. The safety protection module can automatically shut down when an abnormal failure occurs in the equipment. The exhaust gas treatment module includes an exhaust gas treatment mechanism 16. The exhaust gas treatment mechanism 16 can process the exhaust gas generated by the equipment during the welding process, and the exhaust gas treatment mechanism 16 also includes filters, exhaust pipes and other components to purify and discharge the exhaust gas. The energy supply module includes a vacuum pump 15, which is used to establish a vacuum environment to protect the electron beam from interference from particles in the air.

[0038] See also Figure 2 , Figure 4 In this embodiment, the processing and fixing module includes: an operating table 1, a positioning sleeve 6, wherein an automatic control console 2 is installed on the operating table 1, a control module is arranged in the automatic control console 2, and a pre-set frame 3 is fixedly arranged in the operating table 1, a bearing seat 4 is fixed on the pre-set frame 3, and a plurality of parallel pairs of guide rails 5 are fixed on the left and right sides of the bearing seat 4, and a plurality of positioning sleeves 6 are slidably arranged on the guide rails 5 on both sides, and the plurality of positioning sleeves 6 are driven by the electric push rods 7 correspondingly fixedly arranged on the bearing seat 4, and a scratch blocking component 10 and an auxiliary detection component 11 are rotatably arranged on the pre-set frame 3;

[0039] That is, place the shell on the supporting seat 4, start the electric push rod 7, so that the positioning sleeve 6 moves relative to or towards the guide rail 5 and fixes the shell, and the image recognition module then identifies the welding trajectory line on the surface of the shell. After the welding is completed, start the scraper component 10 and the auxiliary detection component 11 to cooperate with the positioning sleeve 6 and the image recognition module to perform auxiliary detection on the weld.

[0040] As a preferred embodiment, the processing and fixing modules are arranged in multiple groups, and the welding robot 13 moves on the positioning slide rail 12 to the shell fixed with a single group of the processing and fixing modules for welding, which is beneficial to the loading and unloading of the shell.

[0041] As a preferred embodiment, the image recognition module includes a first detection imaging system 8 and a second detection imaging system 9 fixedly arranged on the pre-mounted rack 3. The image recognition module can recognize the pre-welded shell in proportion and can draw the welding trajectory line in proportion according to the recognition image.

[0042] As a preferred embodiment, the first detection imaging system 8 and the second detection imaging system 9 can both detect the position information of the welding positioning module controlling the electron beam gun 14 to spot weld the initial point on the shell surface;

[0043] It should be noted that after the electron beam gun 14 performs spot welding on the initial point on the shell surface, the image recognition module establishes a proportional coordinate system with the point as the origin, the control system optimizes the optimal line to determine the initial point position information of the trajectory line, and the control module controls the processing welding module to perform automatic welding on the trajectory line;

[0044] That is to say, when there is a single welding trajectory line, the image recognition module establishes a proportional coordinate system with the spot welding of the initial point of the shell surface by the electron beam gun 14 as the origin, and the control system optimizes the optimal route to determine the initial point position information of the trajectory line, and the control module controls the electron beam gun 14 to perform automatic welding along the trajectory line. After the welding of the route is completed, the control system cooperates with the image recognition module to re-weld the bad welding point in the direction of the electron beam gun 14 returning along the trajectory line, such as Figure 6 As shown;

[0045] When there are multiple welding trajectory lines, the image recognition module establishes a proportional coordinate system with the spot welding of the initial point of the shell surface by the electron beam gun 14 as the origin, and the control system optimizes the optimal route to determine the initial point position information of the first trajectory line, and the control module controls the electron beam gun 14 to perform automatic welding along the trajectory line. After the welding of this route is completed, the control system cooperates with the image recognition module to re-weld the bad welding points in the direction of the electron beam gun 14 returning along the trajectory line, and at the same time, the electron beam gun 14 moves to the initial point position of the first trajectory line, and then moves to the origin, the control system optimizes the optimal route to determine the initial point position information of the second trajectory line, and the control module controls the electron beam gun 14 to perform automatic welding along the trajectory line. The other trajectory lines are as described above and the above steps are repeated. Figure 5As shown, it is conducive to accurate weld positioning tracking and repair welding to prevent the problem that the electron beam gun 14 and the robot arm projection overlap and the inaccurate positioning of the output end of the electron beam gun 14 make it difficult for the image recognition module to recognize.

[0046] See also Figure 7 In this embodiment, the auxiliary detection components 11 are two groups symmetrically arranged on the left and right, and their structures are the same, which include: a pneumatic push cylinder 111 and a vacuum suction cup 114, wherein the pneumatic push cylinder 111 can be rotatably arranged on the pre-set frame 3 in a self-locking manner, and a telescopic rod 112 is slidably arranged in the pneumatic push cylinder 111, and a fixed support rod 113 is installed at one end of the telescopic rod 112 away from the pneumatic push cylinder 111, and a vacuum suction cup 114 connected to the vacuum pump 15 is fixed at the end of the fixed support rod 113;

[0047] That is, when there is a single trajectory line, such as Figure 7 As shown, after welding is completed, the electron beam gun 14 moves to the starting point of the trajectory line and rises, the control module controls the opening of the left-side blocking assembly 10 and releases the auxiliary detection assembly 11 on this side, the upper end positioning sleeve 6 will not fix the shell, only the lower side positioning sleeve 6 positions and clamps the shell, the control module and the image recognition module control the position of the vacuum suction cup 114 and adsorbs the shell, and then controls the auxiliary detection assembly 11 on this side to reversely deflect and drive the shell to make relative circular motion with the pneumatic push cylinder 111 as the center, and cooperates with the image recognition module to detect the weld of the trajectory line to determine the specific coordinate point, after the detection is completed, the vacuum suction cup 114 detaches from the shell and returns to its position, and the blocking assembly 10 limits it; alternatively, the right-side blocking assembly 10 is opened and the auxiliary detection assembly 11 on this side is released, only the upper side positioning sleeve 6 positions and clamps the shell, and the other steps are the same;

[0048] When there are multiple trajectory lines, such as Figure 8 As shown, after the welding is completed, welding is performed from top to bottom or from bottom to top. Taking top to bottom as an example, only the upper end positioning jacket 6 is used to fix the shell, and the control module controls the opening of the right-side stopper assembly 10 and releases the auxiliary detection assembly 11 on this side. The control module and the image recognition module control the position of the vacuum suction cup 114 and adsorb the shell, and then control the auxiliary detection assembly 11 on this side to continue to deflect in the same direction to drive the shell to make relative circular motion with the pneumatic push cylinder 111 on this side as the center, and cooperate with the image recognition module to detect the weld of the trajectory line. After the detection is completed, the vacuum suction cup 114 is separated from the shell and returns to its position, and the stopper assembly 10 limits it; after the second weld is completed, the pneumatic push cylinder 111 is extended and deflected to the waiting rotation area of ​​the shell, and cooperates with the image recognition module to detect the weld of the trajectory line to determine the specific coordinate point; bottom-up detection is opposite to the above direction;

[0049] That is, after the first weld is detected to be qualified, the electron beam gun 14 is deflected to the reference point and continues to move to the next trajectory line; when the first weld is detected to have a defective weld, the electron beam gun 14 descends and moves to the corresponding coordinate system for repair welding. After completion, the electron beam gun 14 is deflected to the reference point and moves to the next trajectory line, thereby improving the accuracy of welding and the detection of defective products, thereby reducing the subsequent rework of the shell.

[0050] A processing method of an automatic welding device for a new energy charging pile housing comprises the following steps:

[0051] S1. The processing and fixing module first controls the displacement of the positioning sleeve 6 to fix the shell to be welded;

[0052] S2. The image recognition module images the shell to be processed and uploads the information;

[0053] S3. The control module draws the proportional welding trajectory, depth and position information according to the information uploaded by the image recognition module;

[0054] S4. The processing and welding module controls the welding robot 13 to move to the housing fixed by the processing and fixing module, and the welding robot 13 is deflected, and the electron beam gun 14 is monitored by the image recognition module and deflected to the non-welding trajectory line;

[0055] S5. The welding positioning module controls the electron beam gun 14 to spot weld the initial point on the shell surface. The image recognition module identifies the spot welding point and uses it as a reference point. The control module records the parameter and merges the position information at S3. The processing welding module controls the electron beam gun 14 to move to the initial point of the welding trajectory line.

[0056] S6. Starting from the initial point, the electron beam gun 14 is started, and the control module controls the electron beam gun 14 to move along the trajectory line. After a single trajectory line is completed, the electron beam gun 14 returns to the direction of the trajectory line for repair welding and moves to the reference point;

[0057] S7. Open the gear assembly 10, the control module controls the rotation of the auxiliary detection assembly 11 and cooperates with the positioning clamping of the positioning sleeve 6, which will drive the shell to make relative circular motion with the pneumatic push cylinder 111 as the center, and the image recognition module detects the weld of the trajectory line;

[0058] S8. After the test is qualified, the reference point is used as the starting point and then moves to other trajectory lines, and the control module controls the electron beam gun 14 to move along the trajectory line;

[0059] S9. After the shell of the station is welded, the processing and welding module controls the welding robot 13 to move to the next shell to be processed, and repeats steps S1 to S8;

[0060] S10. During the spot welding and welding process, the control module controls the safety protection module, the exhaust gas treatment module, and the energy supply module to effectively assist in the welding process;

[0061] S11. The welded charging pile shell is then polished and painted.

[0062] What has been described above are only preferred specific implementations of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, can make equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic welding equipment for the shell of a new energy charging pile, characterized by: It includes: A control module and a processing and fixing module, an image recognition module, a welding positioning module and a processing and welding module controlled by the control module, wherein the processing and fixing module can fix a shell to be welded, the image recognition module can identify and draw processing trajectory lines and points on the fixed shell, and the welding positioning module indirectly controls the processing and welding module to perform spot welding of initial points on the shell surface, and the processing and welding module comprises a welding robot (13) and an electron beam gun (14), wherein the welding robot (13) is movably arranged on a positioning slide rail (12), and the welding robot (13) has multiple degrees of freedom, and the electron beam gun (14) is arranged at the output end of the welding robot (13).

2. The automatic welding equipment for the housing of a new energy charging pile according to claim 1 is characterized in that: The control module can control the safety protection module, the waste gas treatment module, and the energy supply module to process the welding process. The safety protection module can automatically shut down when an abnormal fault occurs in the equipment. The waste gas treatment module includes a waste gas treatment mechanism (16). The waste gas treatment mechanism (16) can process the waste gas generated by the equipment during the welding process. The waste gas treatment mechanism (16) also includes components such as filters and exhaust pipes to purify and discharge the waste gas. The energy supply module includes a vacuum pump (15) for establishing a vacuum environment to protect the electron beam from being disturbed by particles in the air.

3. The automatic welding equipment for the housing of a new energy charging pile according to claim 1 is characterized in that: The processing and fixing module comprises: an operating table (1) and a positioning sleeve (6), wherein an automatic control console (2) is installed on the operating table (1), a control module is arranged in the automatic control console (2), and a pre-set frame (3) is fixedly arranged in the operating table (1), a bearing seat (4) is fixedly arranged on the pre-set frame (3), a plurality of parallel pairs of guide rails (5) are fixed on the left and right sides of the bearing seat (4), and a plurality of positioning sleeves (6) are slidably arranged on the guide rails (5) on both sides, and the plurality of positioning sleeves (6) are driven by corresponding electric push rods (7) fixedly arranged on the bearing seat (4), and a scraping block component (10) and an auxiliary detection component (11) are rotatably arranged on the pre-set frame (3).

4. The automatic welding equipment for the housing of a new energy charging pile according to claim 3 is characterized in that: The processing and fixing modules are arranged in multiple groups, and the welding robot (13) moves on the positioning slide rail (12) to the shell fixed to a single group of the processing and fixing modules for welding.

5. The automatic welding equipment for the housing of a new energy charging pile according to claim 1 is characterized in that: The image recognition module comprises a first detection imaging system (8) and a second detection imaging system (9) fixedly arranged on the pre-mounted frame (3); the image recognition module is capable of proportionally recognizing the pre-welded shell and can proportionally draw a welding trajectory line according to the recognized image.

6. The automatic welding equipment for the housing of a new energy charging pile according to claim 6 is characterized in that: The first detection imaging system (9) and the second detection imaging system (10) can both detect position information of the electron beam gun (14) controlled by the welding positioning module to spot weld the initial point on the shell surface.

7. The automatic welding equipment for the housing of a new energy charging pile according to claim 3 is characterized in that: The auxiliary detection components (11) are two groups symmetrically arranged on the left and right, and have the same structure, and include: a pneumatic push cylinder (111) and a vacuum suction cup (114), wherein the pneumatic push cylinder (111) can be rotatably arranged on the pre-set frame (3) in a self-locking manner, and a telescopic rod (112) is slidably arranged in the pneumatic push cylinder (111), and a fixed support rod (113) is installed at one end of the telescopic rod (112) away from the pneumatic push cylinder (111), and a vacuum suction cup (114) connected to the vacuum pump (15) is fixed at the end of the fixed support rod (113).

8. A processing method for an automatic welding equipment for a new energy charging pile housing according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1. The processing and fixing module first controls the displacement of the positioning sleeve (6) to fix the shell to be welded; S2. The image recognition module images the shell to be processed and uploads the information; S3. The control module draws the proportional welding trajectory, depth and position information according to the information uploaded by the image recognition module; S4. The processing and welding module controls the welding robot (13) to move to the housing fixed by the processing and fixing module, and at the same time the welding robot (13) is deflected, and the electron beam gun (14) is monitored by the image recognition module and deflected to the non-welding trajectory line; S5. The welding positioning module controls the electron beam gun (14) to spot weld the initial point on the shell surface, the image recognition module identifies the spot welding point and uses it as a reference point, the control module records the parameter and merges the position information at S3, and the processing welding module controls the electron beam gun (14) to move to the initial point of the welding trajectory line; S6. Starting from the initial point, the electron beam gun (14) is started, and the control module controls the electron beam gun (14) to move along the trajectory line. After a single trajectory line is completed, the electron beam gun (14) returns to the direction of the trajectory line for repair welding and moves to the reference point; S7. Open the gear assembly (10), the control module controls the rotation of the auxiliary detection assembly (11) and cooperates with the positioning clamping of the positioning sleeve (6), which will drive the shell to make a relative circular motion with the pneumatic push cylinder (111) as the center, and the image recognition module detects the weld of the trajectory line; S8. After the test is qualified, the reference point is used as the starting point and then moved to other trajectory lines, and the control module controls the electron beam gun (14) to move along the trajectory line; S9. After the shell of the station is welded, the processing and welding module controls the welding robot (13) to move to the next shell to be processed, and repeats steps S1 to S8; S10. During the spot welding and welding process, the control module controls the safety protection module, the exhaust gas treatment module, and the energy supply module to effectively assist in the welding process; S11. The welded charging pile shell is then polished and painted.

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