Welding spot quality detection system and method, electronic equipment and storage medium

Abstract

The invention relates to a welding spot quality detection system and method, electronic equipment and a storage medium, relates to the technical field of vehicles, and is used for solving the problem of low production efficiency of a whole vehicle in the prior art. The welding spot quality detection system comprises a moving device, a coupling agent spraying device, an ultrasonic detection device and a control device, the moving device is used for controlling the coupling agent spraying device to move to the position of the welding spot, so that the coupling agent spraying device sprays a coupling agent on the surface of the welding spot to be detected; the moving device is further used for controlling the ultrasonic detection device to move to the position of the welding spot, so that the ultrasonic detection device detects the quality of the welding spot and sends a detection result to the control device; the control device is used for sending a parameter adjusting instruction to the welding device under the condition that the detection result sent by the ultrasonic detection device is received and indicates that the quality of the to-be-detected welding spot is unqualified; and automatic detection of the welding spot quality is realized, so that the production efficiency of the whole vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a welding point quality detection system, method, electronic equipment and storage medium. Background Art

[0002] A vehicle's body components are welded together using a variety of joining processes. Resistance spot welding, the most widely used joining process, utilizes contact resistance heat to fuse metals by applying pressure and electricity to electrodes. This process is widely used in vehicle body connections. The quality of these welds directly impacts the structural strength and safety of the entire vehicle. To ensure vehicle quality and safety, weld quality testing is essential.

[0003] In the prior art, weld quality inspections require workers to use handheld ultrasonic equipment in conjunction with visual inspection to complete weld strength testing. Defective results are then manually recorded, the causes traced, and corrective measures implemented. However, this manual inspection process is time-consuming and labor-intensive, resulting in low efficiency and ultimately low vehicle production efficiency. Summary of the Invention

[0004] The present invention provides a welding point quality detection system, method, electronic equipment and storage medium to solve the problem of low production efficiency of complete vehicles in the prior art.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, a weld quality inspection system is provided, comprising: a moving device, a coupling agent spraying device, an ultrasonic inspection device, and a control device; the moving device is used to control the coupling agent spraying device to move to the position of the weld, so that the coupling agent spraying device sprays the coupling agent on the surface of the weld to be inspected; the moving device is also used to control the ultrasonic inspection device to move to the position of the weld, so that the ultrasonic inspection device inspects the quality of the weld and sends the inspection result to the control device; the control device is used to, upon receiving the inspection result sent by the ultrasonic inspection device indicating that the quality of the weld to be inspected is unqualified, send a parameter adjustment instruction to the welding device; the welding device is used to weld the to-be-welded portion based on the welding parameters to obtain the weld, and re-weld the weld based on the welding parameters adjusted by the parameter adjustment instruction; the parameter adjustment instruction is used to instruct the welding device to adjust the welding parameters.

[0007] According to the above technical means, on the one hand, the coupling agent spraying device and the ultrasonic detection device are controlled by a mobile device to ensure that the coupling agent spraying device and the ultrasonic detection device are accurately positioned. The coupling agent spraying provides a reliable acoustic conduction environment for ultrasonic detection. Ultrasonic detection efficiently identifies internal defects of welds, realizes automatic detection of weld quality, replaces manual detection and greatly improves detection efficiency, and solves the problem of low efficiency of manual detection. On the other hand, the control device sends parameter adjustment instructions to the welding device based on the detection results. The welding device adjusts the welding parameters to facilitate re-welding of welds with unqualified quality, thereby improving the production efficiency of the entire vehicle.

[0008] Furthermore, the welding parameters include: welding current; the parameter adjustment instruction is used to instruct the welding device to adjust the welding current according to a preset amplitude.

[0009] This technology eliminates the need for manual on-site adjustments of welding current parameters by adjusting the welding current according to preset ranges, avoiding errors and delays associated with human operation and saving labor costs. Furthermore, this standardized adjustment method based on preset ranges ensures that welding current adjustments meet process requirements under varying operating conditions, maintaining consistent and stable welding quality.

[0010] Furthermore, the above-mentioned system also includes: a production management device; the control device is also used to send an alarm signal to the production management device when the detection result sent by the ultrasonic detection device indicates that the quality of the weld is unqualified; the production management device is used to issue an alarm prompt information based on the alarm signal sent by the control device.

[0011] According to the above technical means, when the control device identifies that the weld spot is unqualified, it will simultaneously send an alarm signal to the production management device. The production management device will immediately sound an alarm, allowing on-site operators to respond quickly and locate the defective workstations based on real-time detection data to prevent unqualified products from flowing into the next process. At the same time, the alarm log is recorded by the production management device to provide data support for batch quality problem tracing and process improvement, further improving the level of intelligent management and control.

[0012] Furthermore, the ultrasonic detection device includes: an ultrasonic detection probe, a floating installation combination kit, a fixed bracket and a first connecting structure; the first connecting structure is used to connect to the second connecting structure of the mobile device to fix the ultrasonic detection device on the mobile device; the fixed bracket is used to fix the floating installation combination kit on the first connecting structure; the floating installation combination kit is used to control the movement of the ultrasonic detection probe so that the angle between the ultrasonic wave emitted by the ultrasonic detection probe and the surface of the weld is within a preset angle range, and the ultrasonic detection probe maintains a preset distance from the surface of the weld; the ultrasonic detection probe is used to detect the quality of the weld by emitting and receiving ultrasonic waves.

[0013] The aforementioned technical means enable weld quality inspection through the interaction of an ultrasonic inspection probe, a floating mounting assembly, a fixed bracket, and a first connecting structure. The floating mounting assembly, through the use of elastic mechanisms such as springs and guide rails, allows the ultrasonic inspection probe to automatically adjust its angle within a certain range, ensuring that the angle between the ultrasonic wave incident direction and the weld surface remains within a preset range. This prevents sound wave reflection distortion caused by the curvature of the vehicle body and deviations in weld position, thereby improving the accuracy of weld quality inspection.

[0014] Furthermore, the coupling agent spraying device includes: a coupling agent spraying probe and a coupling agent delivery pipe; the coupling agent delivery pipe is used to deliver the coupling agent to the coupling agent spraying probe; the coupling agent spraying probe is used to automatically spray the coupling agent onto the surface of the weld to be inspected.

[0015] According to the above technical means, automatic spraying of the coupling agent is achieved through the cooperation between the coupling agent spraying probe and the coupling agent delivery tube.

[0016] Furthermore, the system also includes: a robot controller, a coupling agent controller, and an ultrasonic detection controller; the control device is further configured to, in response to a vehicle body arrival signal, send identification information corresponding to the vehicle body to the robot controller; the robot controller is configured to: determine information of welds to be detected on the vehicle body based on the identification information corresponding to the vehicle body and detection task information stored in the robot controller; determine a position of the weld on the vehicle body based on the weld information, and control the mobile device to move the coupling agent spraying device and the ultrasonic detection device to the location of the first weld; send a coupling agent spraying signal to the coupling agent controller so that the coupling agent controller controls the coupling agent spraying device to spray coupling agent on the weld based on the coupling agent spraying signal, and sends a coupling agent spraying completion signal to the robot controller after the spraying is completed; after receiving the coupling agent spraying completion signal sent by the coupling agent controller, send a detection start signal to the ultrasonic detection controller so that the ultrasonic detection controller controls the ultrasonic detection device to perform quality inspection on the weld based on the detection start signal, and sends a detection completion signal to the robot controller after the quality inspection is completed; after receiving the detection completion signal sent by the ultrasonic detection controller, control the mobile device to move the coupling agent spraying device and the ultrasonic detection device to the location of the second weld.

[0017] Based on the above technical means, through the coordinated cooperation of the control device, robot controller, coupling agent controller and ultrasonic detection controller, the entire process from vehicle body position identification, weld point positioning, coupling agent spraying to ultrasonic detection and workstation movement is automatically triggered and executed by the system, without the need for manual operation, thereby improving the detection rate.

[0018] Furthermore, the solder joint quality inspection system also includes: a coupling agent recovery device; the coupling agent recovery device is communicatively connected to the control device; the coupling agent recovery device includes: a coupling agent recovery probe, a coupling agent recovery probe telescopic unit, and a coupling agent recovery tube; the coupling agent recovery probe is used to recover the coupling agent remaining on the surface of the solder joint; the coupling agent recovery probe telescopic unit is used to control the movement of the coupling agent recovery probe; the coupling agent recovery tube is used to transport the coupling agent collected by the coupling agent recovery probe; the moving device is also used to control the coupling agent recovery device to move to the location of the solder joint to recover the coupling agent remaining on the surface of the solder joint.

[0019] The above-mentioned technical means allow the coupling agent recovery device to promptly remove excess coupling agent from the solder joint surface, preventing accumulation that could affect the accuracy of solder joint quality testing. Furthermore, by recovering residual coupling agent, it is prevented from being directly discharged into the environment, reducing industrial pollution, enabling the reuse of coupling agent, and lowering testing costs.

[0020] Furthermore, the weld quality inspection system also includes: a coupling agent cleaning device; the coupling agent cleaning device is communicatively connected to the control device; the coupling agent cleaning device includes: a coupling agent wiping wheel, a wheel driving motor, a coupling agent wiping wheel telescopic unit, and a coupling agent cleaning mechanism connecting plate; the coupling agent wiping wheel is used to wipe the coupling agent remaining on the surface of the weld; the wheel driving motor is used to provide rotational power for the coupling agent wiping wheel; the coupling agent wiping wheel telescopic unit is used to adjust the distance between the coupling agent wiping wheel and the weld surface; the moving device is also used to control the coupling agent recovery device and / or the coupling agent cleaning device to move to the location of the weld; the moving device is also used to control the coupling agent cleaning device to move to the location of the weld to wipe the coupling agent remaining on the surface of the weld.

[0021] The aforementioned technology allows the coupling agent cleaning device to remove residual coupling agent from the solder joints, preventing contamination of subsequent processes (such as painting and assembly) by residual coupling agent. This also reduces interference with the ultrasonic probe from impurities formed after the coupling agent dries, ensuring the stability and accuracy of the test signal and extending the probe's service life.

[0022] In a second aspect, a method for detecting weld quality is provided, which is applied to the weld quality detection system of the first aspect and any possible implementation manner thereof, including: determining the detection result of the weld quality; when the detection result indicates that the weld quality is unqualified, sending a parameter adjustment instruction, the parameter adjustment instruction being used to instruct adjustment of welding parameters.

[0023] In a third aspect, a weld quality detection device is provided, comprising: a determination unit for determining a detection result of the weld quality; and a processing unit for sending a parameter adjustment instruction when the detection result indicates that the weld quality is unqualified, wherein the parameter adjustment instruction is used to instruct adjustment of welding parameters.

[0024] In a fourth aspect, an electronic device is provided, comprising: a processor and a memory; the memory is used to store processor-executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation method thereof.

[0025] In a fifth aspect, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method of the above-mentioned first aspect and any possible implementation method thereof.

[0026] In a sixth aspect, a computer program product is provided, which includes computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the method of the first aspect and any possible implementation method thereof.

[0027] Beneficial effects of the present invention:

[0028] (1) On the one hand, the coupling agent spraying device and the ultrasonic detection device are controlled by the mobile device to ensure that the coupling agent spraying device and the ultrasonic detection device are accurately positioned. The coupling agent spraying provides a reliable acoustic conduction environment for ultrasonic detection. Ultrasonic detection efficiently identifies internal defects of welds, realizes automatic detection of weld quality, replaces manual detection and greatly improves detection efficiency, and solves the problem of low efficiency of manual detection. On the other hand, the control device sends parameter adjustment instructions to the welding device based on the detection results. The welding device adjusts the welding parameters to facilitate re-welding of welds with unqualified quality, thereby improving the production efficiency of the entire vehicle.

[0029] (2) Adjusting the welding current according to the preset amplitude eliminates the need for manual on-site adjustment of welding current parameters, avoiding errors and delays caused by human operation and saving labor costs. In addition, the standardized adjustment method based on the preset amplitude ensures that the welding current adjustment meets the process requirements under different working conditions, maintaining the consistency and stability of welding quality.

[0030] (3) When the control device identifies an unqualified weld, it will simultaneously send an alarm signal to the production management device. The production management device will immediately sound an alarm, allowing on-site operators to respond quickly and locate the defective workstations based on real-time detection data to prevent unqualified products from flowing into the next process. At the same time, the production management device will record the alarm log to provide data support for batch quality problem tracing and process improvement, further improving the level of intelligent management and control.

[0031] (4) The quality inspection of the weld spot is achieved by the cooperation of the ultrasonic detection probe, the floating installation assembly kit, the fixed bracket and the first connecting structure. The floating installation assembly kit allows the ultrasonic detection probe to automatically adjust its angle within a certain range through elastic mechanisms such as springs and guide rails, ensuring that the angle between the ultrasonic incident direction and the weld spot surface always remains within the preset angle range, avoiding the distortion of sound wave reflection caused by the curvature of the vehicle body surface and the deviation of the weld spot position, and improving the accuracy of weld spot quality inspection.

[0032] (5) Automatic spraying of coupling agent is achieved through the cooperation of the coupling agent spraying probe and the coupling agent delivery tube.

[0033] (6) Through the coordinated cooperation of the control device, robot controller, coupling agent controller and ultrasonic detection controller, the entire process from vehicle body position identification, weld point positioning, coupling agent spraying to ultrasonic detection and workstation movement is automatically triggered and executed by the system without the need for manual operation, thereby improving the detection rate.

[0034] (7) The coupling agent recovery device can promptly absorb excess coupling agent from the solder joint surface to prevent the accumulation of coupling agent that affects the accuracy of solder joint quality inspection. At the same time, by recycling the residual coupling agent, it can be prevented from being directly discharged into the environment, reducing industrial pollution, and can also achieve the reuse of coupling agent, reducing inspection costs.

[0035] (8) The coupling agent cleaning device can be used to wipe the residual coupling agent on the surface of the solder joint to prevent the residual coupling agent from contaminating the subsequent processes (such as painting and assembly). At the same time, it can reduce the interference of impurities formed after the coupling agent dries up on the ultrasonic probe, ensure the stability and accuracy of the detection signal, and extend the service life of the probe. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic structural diagram of a solder joint quality inspection system provided by an embodiment of the present invention;

[0037] Figure 2 A schematic structural diagram of another solder joint quality inspection system provided by an embodiment of the present invention;

[0038] Figure 3 A schematic structural diagram of another solder joint quality inspection system provided by an embodiment of the present invention;

[0039] Figure 4 A schematic structural diagram of another solder joint quality inspection system provided by an embodiment of the present invention;

[0040] Figure 5 A schematic flow chart of a solder joint quality inspection method provided by an embodiment of the present invention;

[0041] Figure 6A schematic structural diagram of a solder joint quality inspection device provided by an embodiment of the present invention;

[0042] Figure 7 A schematic structural diagram of an electronic device provided by an embodiment of the present invention.

[0043] Reference numerals:

[0044] Mobile device 10; couplant spraying device 20; ultrasonic detection device 30; control device 40; production management device 50; ultrasonic detection probe 301; floating installation assembly kit 302; fixed bracket 303; first connecting structure 304; spring-type flexible telescopic mechanism 305; couplant spraying probe 201; couplant delivery tube 202; couplant recovery probe 601; couplant recovery probe telescopic unit 602; couplant recovery tube 603; couplant wiping wheel 701; wheel drive motor 702; couplant wiping wheel telescopic unit 703; couplant cleaning mechanism connecting plate 704; robot controller 100; couplant controller 200; ultrasonic detection controller 300; first controller 401; second controller 402; third controller 403; production management controller 500. DETAILED DESCRIPTION

[0045] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0046] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0047] A vehicle's body components are welded together using a variety of joining processes. Resistance spot welding, the most widely used joining process, utilizes contact resistance heat to fuse metals by applying pressure and electricity to electrodes. This process is widely used in vehicle body connections. The quality of these welds directly impacts the structural strength and safety of the entire vehicle. To ensure vehicle quality and safety, weld quality testing is essential.

[0048] In the prior art, weld quality inspections require workers to use handheld ultrasonic equipment in conjunction with visual inspection to complete weld strength testing. Defective results are then manually recorded, the causes traced, and corrective measures implemented. However, this manual ultrasonic inspection process is time-consuming and labor-intensive, resulting in low efficiency and ultimately inefficient vehicle production.

[0049] Based on this, the present application proposes a weld quality detection system, method, electronic device and storage medium, including: a moving device, a coupling agent spraying device, an ultrasonic detection device and a control device; the moving device is used to control the coupling agent spraying device to move to the location of the weld, so that the coupling agent spraying device sprays the coupling agent on the surface of the weld to be detected; the moving device is also used to control the ultrasonic detection device to move to the location of the weld, so that the ultrasonic detection device detects the quality of the weld and sends the detection result to the control device; the control device is used to send a parameter adjustment instruction to the welding device when receiving the detection result sent by the ultrasonic detection device indicating that the quality of the weld to be detected is unqualified; the welding device is used to weld the part to be welded based on the welding parameters to obtain a weld; the parameter adjustment instruction is used to instruct the welding device to adjust the welding parameters. On the one hand, the coupling agent spraying device and the ultrasonic detection device are controlled by a mobile device to ensure that the coupling agent spraying device and the ultrasonic detection device are accurately positioned. The coupling agent spraying provides a reliable acoustic conduction environment for ultrasonic detection. Ultrasonic detection efficiently identifies internal defects of welds, realizes automatic detection of weld quality, replaces manual detection, greatly improves detection efficiency, and solves the problem of low efficiency of manual detection. On the other hand, the control device sends parameter adjustment instructions to the welding device based on the detection results, and the welding device adjusts the welding parameters to build a "detection-feedback-adjustment" closed loop, which facilitates the re-welding of unqualified welds, thereby improving the production efficiency of the entire vehicle.

[0050] The solder joint quality detection system, method, electronic device and storage medium of the present invention are introduced below with reference to the accompanying drawings.

[0051] like Figure 1 As shown, the solder joint quality inspection system provided by the present invention includes: a moving device 10, a coupling agent spraying device 20, an ultrasonic inspection device 30 and a control device 40.

[0052] The moving device 10 is used to control the coupling agent spraying device 20 to move to the location of the weld point, so that the coupling agent spraying device 20 sprays the coupling agent on the surface of the weld point to be inspected.

[0053] The moving device 10 is further used to control the ultrasonic detection device 30 to move to the location of the weld spot, so that the ultrasonic detection device 30 detects the quality of the weld spot and sends the detection result to the control device 40 .

[0054] The control device 40 is configured to send a parameter adjustment instruction to the welding device when receiving a detection result sent by the ultrasonic detection device 30 indicating that the quality of the weld to be detected is unqualified.

[0055] The welding device is used to weld the welding part based on the welding parameters to obtain the welding spot, and to re-weld the welding spot based on the welding parameters adjusted by the parameter adjustment instruction. The parameter adjustment instruction is used to instruct the welding device to adjust the welding parameters.

[0056] As one possible implementation, the mobile device 10 locates the weld spot and controls the coupling agent spraying device 20 to evenly spray ultrasonic coupling agent onto the weld surface. The mobile device 10 then moves the ultrasonic probe to the same weld spot, transmits ultrasonic waves through the weld spot, and analyzes the characteristics of the reflected waves to determine the weld quality. The control device 40 receives the test results from the ultrasonic testing device 30. If the test results indicate a weld is unqualified, it sends parameter adjustment instructions to the welding device. Upon receiving the parameter adjustment instructions, the welding device adjusts the welding parameters and re-welds the unqualified welds until all welds are qualified.

[0057] Therefore, the coupling agent spraying device and the ultrasonic detection device are controlled by the mobile device to ensure that the coupling agent spraying device and the ultrasonic detection device are accurately in place. The coupling agent spraying provides a reliable acoustic conduction environment for ultrasonic detection. Ultrasonic detection efficiently identifies internal defects of welds, realizes automatic detection of weld quality, replaces manual detection, greatly improves detection efficiency, and solves the problem of low efficiency of manual detection. At the same time, the control device sends parameter adjustment instructions to the welding device based on the detection results, and the welding device adjusts the welding parameters to facilitate re-welding of welds that do not meet the quality standards, thereby improving the production efficiency of the entire vehicle.

[0058] In some embodiments, the welding parameters include: welding current; the parameter adjustment instruction is used to instruct the welding device to adjust the welding current according to a preset amplitude.

[0059] As one possible implementation, the control device 40 includes a built-in preset amplitude parameter library. This library sets the amplitude range for welding current adjustment based on factors such as different welding process standards, plate material and thickness. After determining that a weld has substandard quality, the control device 40 matches the corresponding preset amplitude from the parameter library based on the welding process requirements corresponding to the weld location. It then sends a parameter adjustment instruction to the welding device, clearly indicating the direction and magnitude of the welding current adjustment. Upon receiving the instruction, the welding device immediately adjusts the welding current and feeds back the adjusted parameter status to the control device 40. The control device 40 continuously monitors the quality inspection results of subsequent welds. If the weld still fails, the current is adjusted again according to the preset logic (such as a second adjustment with increasing amplitude) until the weld quality is qualified.

[0060] It should be noted that welding parameters may also include: welding time, electrode pressure (the pressure applied by the electrode on the surface of the weld during welding). By coordinating welding time, electrode pressure and welding current, the stability of the welding process can be improved.

[0061] As you can understand, adjusting the welding current according to a preset range eliminates the need for manual on-site adjustments, avoiding errors and delays associated with human operation and saving labor costs. Furthermore, a standardized adjustment method based on preset ranges ensures that welding current adjustments meet process requirements under different working conditions, maintaining consistent and stable welding quality.

[0062] In some embodiments, as Figure 2 As shown, the solder joint quality inspection system further includes: a production management device 50.

[0063] The control device 40 is also configured to send an alarm signal to the production management device 50 when receiving the detection result sent by the ultrasonic detection device 30 indicating that the quality of the weld spot is unqualified. The production management device 50 is configured to issue an alarm prompt information based on the alarm signal sent by the control device 40.

[0064] In one possible implementation, upon receiving the alarm signal from the control device 40, the production management device 50 displays an alarm message on a display screen and alerts on-site personnel through audio and visual notifications. The alarm message may include the location, number, defect type, severity, and corresponding welding parameters of the unqualified weld.

[0065] It can be understood that when the control device 40 identifies that the weld is unqualified, it simultaneously sends an alarm signal to the production management device 50. The production management device 50 immediately issues an alarm, allowing on-site operators to respond quickly and locate the defective workstations in combination with real-time detection data to prevent unqualified products from flowing into the next process. At the same time, the alarm log is recorded by the production management device 50 to provide data support for batch quality problem tracing and process improvement, further improving the level of intelligent management and control.

[0066] In some embodiments, see Figure 3 The ultrasonic detection device includes: an ultrasonic detection probe 301 , a floating installation assembly kit 302 , a fixing bracket 303 and a first connecting structure 304 .

[0067] The first connecting structure 304 is used to connect to the second connecting structure of the mobile device 10 to secure the ultrasonic testing device 30 to the mobile device 10. The fixing bracket 303 is used to secure the floating mounting assembly 302 to the first connecting structure 304. The floating mounting assembly 302 is used to control the movement of the ultrasonic testing probe 301 so that the angle between the ultrasonic waves emitted by the ultrasonic testing probe 301 and the surface of the weld is within a preset angle range and the ultrasonic testing probe 301 maintains a preset distance from the surface of the weld. The ultrasonic testing probe 301 is used to detect the quality of the weld by transmitting and receiving ultrasonic waves.

[0068] It should be noted that a spring-type flexible telescopic mechanism 305 is left at the front of the ultrasonic detection probe. There are differences in flatness on the surface of the welding point. The spring-type flexible telescopic mechanism allows the probe to fit flexibly. Even if there are slight fluctuations or tilts, it can still be in close contact, ensuring the coupling effect and thus improving the quality of the detection results.

[0069] In one possible implementation, the first connection structure 304 is connected to the second connection structure of the mobile device 10 via bolts. The fixed bracket 303 is connected to the first connection structure 304 via bolts. The floating mounting assembly 302 is positioned with a locating pin and connected to the fixed bracket 303 via bolts. The ultrasonic detection probe 301 is connected to the floating mounting assembly 302 via a socket-and-spigot assembly.

[0070] In other embodiments, the ultrasonic detection device 30 may further include a control cable, which is connected to the floating installation assembly kit 302 in a quick-plug manner and has a locking buckle, thereby transmitting the signal sent by the control device 40.

[0071] Thus, the ultrasonic inspection probe, the floating mounting assembly, the fixed bracket, and the first connecting structure cooperate to achieve weld quality inspection. The floating mounting assembly 302, through the use of elastic mechanisms such as springs and guide rails, allows the ultrasonic inspection probe to automatically adjust its angle within a certain range, ensuring that the angle between the ultrasonic wave incident direction and the weld surface remains within a preset angle range. This prevents sound wave reflection distortion caused by the curvature of the vehicle body surface and deviations in the weld position, thereby improving the accuracy of weld quality inspection.

[0072] In some embodiments, refer again to Figure 3 The coupling agent spraying device includes a coupling agent spraying probe 201 and a coupling agent delivery tube 202. The coupling agent delivery tube 202 is used to deliver coupling agent to the coupling agent spraying probe 201; the coupling agent spraying probe 201 is used to automatically spray coupling agent onto the surface of the weld to be inspected.

[0073] The coupling agent spraying probe 201 and the ultrasonic detection probe 301 can be integrated together to realize the spraying-detection integrated operation. Figure 3The coupling agent spraying probe 201 and the ultrasonic detection probe 301 adopt an integrated design. During detection, the coupling agent spraying probe automatically sprays the coupling agent first, and then the ultrasonic detection probe detects the spraying area, thereby improving detection efficiency.

[0074] Thus, the coupling agent spraying probe and the coupling agent delivery tube cooperate with each other to realize automatic spraying of the coupling agent.

[0075] In some embodiments, refer again to Figure 3 The solder joint quality inspection system further includes a coupling agent recovery device. The coupling agent recovery device is in communication with the control device 40. The coupling agent recovery device includes a coupling agent recovery probe 601, a coupling agent recovery probe telescopic unit 602, and a coupling agent recovery tube 603. The coupling agent recovery probe 601 is used to recover coupling agent remaining on the surface of the solder joint. The coupling agent recovery probe telescopic unit 602 is used to control the movement of the coupling agent recovery probe 601. The coupling agent recovery tube 603 is used to transport the coupling agent collected by the coupling agent recovery probe 601. The mobile device 10 is also used to control the coupling agent recovery device to move to the location of the solder joint to recover the coupling agent remaining on the surface of the solder joint.

[0076] The coupling agent recovery device can thus promptly remove excess coupling agent from the solder joint surface, preventing accumulation that could affect the accuracy of solder joint quality testing. Furthermore, by recycling residual coupling agent, it can be prevented from being directly discharged into the environment, reducing industrial pollution, enabling the reuse of coupling agent, and lowering testing costs.

[0077] In some embodiments, refer again to Figure 3 The solder joint quality inspection system further includes a coupling agent cleaning device. The coupling agent cleaning device is in communication connection with the control device 40.

[0078] The coupling agent cleaning device includes: a coupling agent wiping wheel 701, a wheel driving motor 702, a coupling agent wiping wheel telescopic unit 703, and a coupling agent cleaning mechanism connecting plate 704.

[0079] The coupling agent wiping wheel 701 is used to wipe the coupling agent remaining on the surface of the weld; the wheel drive motor 702 is used to provide rotational power for the coupling agent wiping wheel 701, and the coupling agent wiping wheel telescopic unit 703 is used to adjust the distance between the coupling agent wiping wheel 701 and the weld surface. The moving device 10 is also used to control the coupling agent cleaning device to move to the location of the weld to wipe the coupling agent remaining on the surface of the weld.

[0080] In one possible implementation, the coupling agent cleaning mechanism connecting plate 704 is connected to the first connecting structure 304 by bolts, the coupling agent wiping wheel telescopic unit 703 is connected to the coupling agent cleaning mechanism connecting plate 704 by bolts, the coupling agent wiping wheel 701 is connected to the coupling agent wiping wheel telescopic unit 703 by bolts, the wheel drive motor 702 is connected to the coupling agent wiping wheel 701 by bolts, the coupling agent recovery probe 601 is connected to the recovery probe telescopic unit by threaded clamping, and the coupling agent recovery delivery tube is connected to the coupling agent recovery probe 601 by quick plugging.

[0081] It should be noted that the couplant recovery probe telescopic unit and the couplant wiping wheel telescopic unit are threaded together, connecting the couplant recovery and cleaning devices. This reduces the size of the solder joint quality inspection system, enabling it to complete quality inspections even in confined spaces. By sharing some control circuitry and mounting brackets, the hardware cost of the solder joint quality inspection system is reduced, while also shortening equipment commissioning time.

[0082] The coupling agent cleaning device can then clean residual coupling agent from the solder joints, preventing contamination of subsequent processes (such as painting and assembly) by residual coupling agent. This also reduces interference with the ultrasonic probe from impurities formed after the coupling agent dries, ensuring the stability and accuracy of the test signal and extending the probe's service life.

[0083] In some embodiments, as Figure 4 As shown, the system further includes: a robot controller 100 , a coupling agent controller 200 and an ultrasonic detection controller 300 .

[0084] The control device 40 is further configured to, in response to the vehicle body arrival signal, transmit identification information corresponding to the vehicle body to the robot controller 100. The robot controller 100 is configured to determine the weld information to be inspected on the vehicle body based on the identification information corresponding to the vehicle body and its stored inspection task information. Based on the weld information, the robot controller 100 determines the location of the weld on the vehicle body and controls the movement device 10 to move the coupling agent spraying device 20 and the ultrasonic inspection device 30 to the location of the first weld. The robot controller 100 transmits a coupling agent spray signal to the coupling agent controller 200, causing the coupling agent controller 200 to control the coupling agent spraying device 20 to spray coupling agent on the weld based on the coupling agent spray signal. Upon completion of the spraying, the robot controller 100 transmits a coupling agent spray completion signal to the robot controller 100. Upon receiving the coupling agent spray completion signal from the coupling agent controller 200, the robot controller 100 transmits a test start signal to the ultrasonic inspection controller 300, causing the ultrasonic inspection controller 300 to control the ultrasonic inspection device to perform quality inspection on the weld based on the test start signal. Upon completion of the quality inspection, the robot controller 100 transmits a test completion signal to the robot controller 100. After receiving the detection completion signal sent by the ultrasonic detection controller 300, the moving device 10 is controlled to move the coupling agent spraying device 20 and the ultrasonic detection device 30 to the location of the second welding point.

[0085] As a possible implementation, the robot controller 100 communicates with the control device 40 to obtain identification information corresponding to the vehicle body determined by the control device 40. The ultrasonic detection controller 300 and the coupling agent controller 200 are respectively connected to the robot controller 100 to receive the identification information and detection task information determined by the robot controller 100.

[0086] The robot controller 100 associates the identification information with the detection task information to obtain the weld information to be detected on the vehicle body, and sends the weld information to the ultrasonic detection controller 300 and the coupling agent controller 200.

[0087] Among them, the identification information corresponding to the vehicle body includes: vehicle model code, vehicle identification code, inspection task information includes: job number (JOB number), welding point information includes: welding point position and welding point number.

[0088] Therefore, through the coordinated cooperation of the control device, robot controller 100, coupling agent controller 200 and ultrasonic detection controller 300, the entire process from vehicle body position identification, weld point positioning, coupling agent spraying to ultrasonic detection and workstation movement is automatically triggered and executed by the system without the need for manual operation, thereby improving the detection rate.

[0089] In some embodiments, refer again to Figure 4The control device includes: a first controller 401, a second controller 402 and a third controller 403. The above system also includes: a production management controller 500. The production management controller 500 is used to receive the alarm signal sent by the ultrasonic detection controller 300 and issue an alarm prompt.

[0090] The first controller 401 can be a programmable logic controller, the core controller of the control device. The second controller 402 can be a field-level switch, located at the bottom layer (field layer) of the control network, close to the production equipment, and communicating with the robot controller. The third controller 403 can be a factory-level switch, located at the upper layer (management layer / monitoring layer) of the industrial network, and communicating with the ultrasonic detection controller 300 and the production management controller 500.

[0091] In some embodiments, the solder joint quality inspection method provided by the embodiments of the present invention may be executed by the aforementioned solder joint quality inspection system or the control device of the aforementioned solder joint quality inspection system. Alternatively, the solder joint quality inspection device may be a functional module in the aforementioned control device for executing the solder joint quality inspection method. The embodiments of the present invention are not limited in this regard.

[0092] In some embodiments, the solder joint quality detection method of the present invention includes: determining a solder joint quality detection result, and sending a parameter adjustment instruction when the detection result indicates that the solder joint quality is unqualified, the parameter adjustment instruction being used to instruct adjustment of welding parameters.

[0093] In some embodiments, the welding parameters include: welding current; the parameter adjustment instruction is used to instruct the welding device to adjust the welding current according to a preset amplitude.

[0094] In some embodiments, when the received inspection result indicates that the quality of the weld spot is unqualified, an alarm signal is sent.

[0095] In some embodiments, as Figure 5 As shown in the figure, the process of solder joint quality inspection is as follows:

[0096] Before conducting the inspection, the ultrasonic inspection weld point number is first bound to the inspection task number in the ultrasonic inspection controller, and at the same time, the weld point number is bound to the welding controller to which it belongs. The robot controller matches the corresponding weld point with the inspection task number of the ultrasonic inspection controller, and binds the weld point number with the corresponding welding controller and the welding task number of the welding controller.

[0097] S501: The vehicle body is in place.

[0098] In one possible implementation, after the vehicle arrives, the control device sends a workpiece arrival signal, vehicle model code, vehicle identification code and other information to the robot controller. After receiving the signal, the robot controller sends the vehicle model code, vehicle identification code and other information to the ultrasonic detection controller.

[0099] S502: The mobile device moves to the detection point.

[0100] In one possible implementation, the robot controller controls the mobile device to move to each detection point position of the current vehicle model according to the vehicle model, and then sends the detection task number to the ultrasonic detection controller and sends the coupling agent spraying signal to the coupling agent controller.

[0101] S503, coupling agent spraying.

[0102] In a possible implementation, after the couplant controller completes the couplant spraying, it sends a couplant spraying completion signal to the robot controller.

[0103] S504, solder joint quality inspection.

[0104] In one possible implementation, the robot controller sends a detection start signal to the ultrasonic detection controller; the ultrasonic detection controller performs ultrasonic detection after receiving the detection start signal. After the current point detection is completed, the ultrasonic detection controller sends a detection completion signal to the robot controller. After receiving the detection completion signal, the robot controller moves to the next detection point to perform the next point detection action and signal interaction until all points are fully inspected.

[0105] S505: The wiping wheel and coupling agent recovery probe are extended.

[0106] S506. Negative pressure suction and wiping of coupling agent.

[0107] S507: The wiping wheel and coupling agent recovery probe are retracted.

[0108] In one possible implementation, the robot controller controls the couplant wiping wheel telescopic unit and the couplant recovery probe to extend, controls sending a couplant absorption signal to the couplant controller, and simultaneously controls the rotation of the rotary wheel drive motor to drive the rotation of the couplant wiping wheel. The robot controller controls the mobile device to run the couplant wiping path to complete the couplant wiping and cleaning. The robot controller controls the rotation of the rotary wheel drive motor to stop, and simultaneously controls sending a couplant absorption stop signal to the couplant controller. The robot controller controls the retraction of the couplant wiping wheel telescopic unit and the couplant recovery probe to retract, and the mobile device returns to the stop position to complete the inspection action.

[0109] S508: Determine the solder joint quality test result. If qualified, execute S516; if unqualified, execute S509, S512, or S514.

[0110] S509: Send out an alarm and adjust welding parameters.

[0111] S510, manually confirm welding parameters.

[0112] S511: Review the quality of solder joints. If qualified, proceed to S516; if unqualified, proceed to S510.

[0113] S512, the moving device and the line body stop.

[0114] S513: Manually confirm that the fault is cleared and complete the fault reset.

[0115] S514, workstation alarm reminder.

[0116] S515. Quality inspectors inspect the vehicles that have passed the line.

[0117] S516. The mobile device and the line body operate normally.

[0118] In one possible implementation, if all the current test results are qualified, a completion signal is sent, and the mobile device and the line body operate normally. At the same time, the ultrasonic detection controller records and saves all data. If the test result is abnormal, an alarm signal is sent to the robot controller after the test is completed, and the robot and the line body are shut down and wait for manual confirmation. At the same time, the ultrasonic detection controller sends information such as the vehicle model code, vehicle identification code, and unqualified spot welding point number to the production management controller and the welding controller. After receiving the information, the production management controller will alarm the corresponding points at the back-end quality inspection station through the production management system. After receiving the alarm reminder, the quality personnel will immediately start to conduct early quality review of all welding points corresponding to the mobile device until the quality abnormality problem is eliminated. The production management controller records the entire process information.

[0119] At the same time, upon receiving this information, the welding controller automatically adjusts the welding parameters for the welding device corresponding to the unqualified weld point number (for example, automatically increasing the welding current by 500A). The welding controller records the corresponding vehicle identification code and the parameter adjustment process. After assessing and determining the anomaly, the staff confirms that the mobile device and production line have resumed automatic operation and adjusts the welding parameters based on the actual situation.

[0120] The above mainly introduces the solution provided by the embodiment of the present invention from the perspective of the method. In order to realize the above functions, the solder joint quality detection device or electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0121] In accordance with the above-described method, embodiments of the present invention can exemplarily divide a solder joint quality inspection device or electronic device into functional modules. For example, the solder joint quality inspection device or electronic device can include functional modules corresponding to the respective functional divisions, or two or more functions can be integrated into a single processing module. The above-described integrated modules can be implemented in the form of hardware or software functional modules. It should be noted that the module division in the embodiments of the present invention is schematic and is merely a logical functional division. In actual implementation, other division methods may be used.

[0122] Reference Figure 6 The solder joint quality inspection device 600 provided by the embodiment of the present invention includes: a determination unit 601 and a processing unit 602.

[0123] The determination unit 601 is used to determine the detection result of the solder joint quality.

[0124] The processing unit 602 is configured to send a parameter adjustment instruction when the detection result indicates that the quality of the weld spot is unqualified, wherein the parameter adjustment instruction is used to instruct adjustment of the welding parameters.

[0125] In some embodiments, the welding parameters include: welding current; the parameter adjustment instruction is used to instruct the welding device to adjust the welding current according to a preset amplitude.

[0126] In some embodiments, the processing unit 602 is further configured to send an alarm signal when the received inspection result indicates that the quality of the weld point is unqualified.

[0127] like Figure 7 As shown, the electronic device 1000 provided by the embodiment of the present invention includes but is not limited to: a processor 1001 and a memory 1002.

[0128] The memory 1002 is used to store executable instructions of the processor 1001. It is understandable that the processor 1001 is configured to execute instructions to implement the method in the above embodiment.

[0129] It should be noted that those skilled in the art can understand that Figure 7 The electronic device structure shown in the figure does not limit the electronic device, and the electronic device may include Figure 7 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0130] The processor 1001 is the control center of the electronic device. It uses various interfaces and lines to connect the various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1002 and calling data stored in the memory 1002, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1001 may include one or more processing units. Optionally, the processor 1001 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly handles wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1001.

[0131] The memory 1002 can be used to store software programs and various data. The memory 1002 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and application programs required by at least one functional module (such as a determination unit, a processing unit, etc.). Furthermore, the memory 1002 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0132] In an exemplary embodiment, a computer-readable storage medium including instructions is further provided, such as a memory 1002 including instructions. The instructions can be executed by the processor 1001 of the electronic device 1000 to implement the method in the above embodiment.

[0133] In actual implementation, Figure 6 The functions of the determination unit 601 and the processing unit 602 can be represented by Figure 7 The processor 1001 in the embodiment calls the computer program stored in the memory 1002. The specific execution process can be referred to the description of the method part in the above embodiment, which will not be repeated here.

[0134] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0135] In an exemplary embodiment, an embodiment of the present invention further provides a computer program product including one or more instructions, which can be executed by the processor 1001 of the electronic device to implement the method in the above embodiment.

[0136] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned method embodiment are implemented and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0137] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0138] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0139] Units described as separate components may or may not be physically separate, and components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0140] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0141] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention, or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions for causing a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or optical disk, etc. Various media that can store program code.

[0142] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or modification made by those skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A solder joint quality inspection system, characterized in that: The system comprises: a moving device (10), a coupling agent spraying device (20), an ultrasonic detection device (30) and a control device (40); The moving device (10) is used to control the coupling agent spraying device (20) to move to the location of the welding point, so that the coupling agent spraying device (20) sprays the coupling agent on the surface of the welding point to be inspected; The moving device (10) is also used to control the ultrasonic detection device (30) to move to the location of the weld point, so that the ultrasonic detection device (30) detects the quality of the weld point and sends the detection result to the control device (40); The control device (40) is used to send a parameter adjustment instruction to the welding device when receiving a detection result sent by the ultrasonic detection device (30) indicating that the quality of the weld to be detected is unqualified; the welding device is used to weld the welded part based on the welding parameters to obtain the weld, and re-weld the weld based on the welding parameters adjusted by the parameter adjustment instruction; the parameter adjustment instruction is used to instruct the welding device to adjust the welding parameters.

2. The solder joint quality inspection system according to claim 1, characterized in that: The welding parameters include: welding current; the parameter adjustment instruction is used to instruct the welding device to adjust the welding current according to a preset amplitude.

3. The solder joint quality inspection system according to claim 1, characterized in that: The system further comprises: a production management device (50); The control device (40) is further configured to send an alarm signal to the production management device (50) when receiving a detection result sent by the ultrasonic detection device (30) indicating that the quality of the weld spot is unqualified; The production management device (50) is used to issue an alarm prompt message according to the alarm signal received from the control device (40).

4. The solder joint quality inspection system according to claim 1, characterized in that: The ultrasonic detection device (30) comprises: an ultrasonic detection probe (301), a floating installation assembly kit (302), a fixing bracket (303) and a first connecting structure (304); The first connecting structure (304) is used to connect to the second connecting structure of the mobile device (10) to fix the ultrasonic detection device (30) on the mobile device (10); The fixing bracket (303) is used to fix the floating installation assembly kit (302) on the first connecting structure (304); The floating installation assembly kit (302) is used to control the movement of the ultrasonic detection probe (301) so that the angle between the ultrasonic wave emitted by the ultrasonic detection probe (301) and the surface of the weld point is within a preset angle range, and the ultrasonic detection probe (301) maintains a preset distance from the surface of the weld point; The ultrasonic detection probe (301) is used to detect the quality of the welding spot by transmitting and receiving ultrasonic waves.

5. The solder joint quality inspection system according to claim 1, characterized in that: The coupling agent spraying device (20) comprises: Couplant spraying probe (201), couplant delivery tube (202); The coupling agent delivery pipe (202) is used to deliver coupling agent to the coupling agent spraying probe (201); the coupling agent spraying probe (201) is used to automatically spray coupling agent onto the surface of the weld to be inspected.

6. The solder joint quality inspection system according to claim 5, characterized in that: The system further comprises: a robot controller (100), a coupling agent controller (200) and an ultrasonic detection controller (300); The control device (40) is further configured to, in response to a vehicle body arrival signal, send identification information corresponding to the vehicle body to the robot controller (100); The robot controller (100) is used to: Determine the welding point information to be inspected on the vehicle body according to the identification information corresponding to the vehicle body and the inspection task information stored in the vehicle body; Determining the position of the welding point on the vehicle body based on the welding point information, and controlling the moving device (10) to move the coupling agent spraying device (20) and the ultrasonic detection device (30) to the position of the first welding point; sending a coupling agent spraying signal to the coupling agent controller (200), so that the coupling agent controller (200) controls the coupling agent spraying device (20) to spray the welding point with coupling agent based on the coupling agent spraying signal, and sends a coupling agent spraying completion signal to the robot controller (100) after the spraying is completed; After receiving a coupling agent spraying completion signal sent by the coupling agent controller (200), a detection start signal is sent to the ultrasonic detection controller, so that the ultrasonic detection controller controls the ultrasonic detection device to perform quality detection on the weld point based on the detection start signal, and sends a detection completion signal to the robot controller (100) after the quality detection is completed; After receiving a detection completion signal sent by the ultrasonic detection controller, the moving device (10) is controlled to move the coupling agent spraying device (20) and the ultrasonic detection device (30) to the location of the second welding point.

7. The solder joint quality inspection system according to claim 6, characterized in that: The solder joint quality detection system further comprises: a coupling agent recovery device; the coupling agent recovery device is communicatively connected to the control device (40); The coupling agent recovery device comprises: a coupling agent recovery probe (601), a coupling agent recovery probe telescopic unit (602), and a coupling agent recovery tube (603); The coupling agent recovery probe (601) is used to recover the coupling agent remaining on the surface of the welding point; The couplant recovery probe telescopic unit (602) is used to control the movement of the couplant recovery probe (601); The coupling agent recovery tube (603) is used to transport the coupling agent collected by the coupling agent recovery probe (601); The moving device (10) is also used to control the coupling agent recovery device to move to the location of the welding point to recover the coupling agent remaining on the surface of the welding point.

8. The solder joint quality inspection system according to claim 7, characterized in that: The solder joint quality detection system further comprises: a coupling agent cleaning device; the coupling agent cleaning device is communicatively connected to the control device (40); The coupling agent cleaning device comprises: a coupling agent wiping wheel (701), a wheel driving motor (702), a coupling agent wiping wheel telescopic unit (703), and a coupling agent cleaning mechanism connecting plate (704); The coupling agent wiping wheel (701) is used to wipe the coupling agent remaining on the surface of the welding point; The wheel driving motor (702) is used to provide rotational power for the coupling agent wiping wheel (701); The coupling agent wiping wheel telescopic unit (703) is used to adjust the distance between the coupling agent wiping rotating wheel (701) and the surface of the welding point; The moving device (10) is also used to control the coupling agent cleaning device to move to the location of the welding point to wipe the coupling agent remaining on the surface of the welding point.

9. A method for detecting solder joint quality, characterized in that: The solder joint quality inspection system according to any one of claims 1 to 8, wherein the method comprises: Determine the test results of solder joint quality; When the detection result indicates that the quality of the weld spot is unqualified, a parameter adjustment instruction is sent, wherein the parameter adjustment instruction is used to instruct adjustment of the welding parameters.

10. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to claim 9.

11. A computer-readable storage medium, characterized in that When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is capable of performing the method according to claim 9.

12. A computer program product, characterized in that When the computer program product is run in an electronic device, the electronic device is enabled to implement the method according to claim 9.

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