Vehicle body assembly detection equipment and use method thereof

Abstract

The invention discloses a vehicle body assembly detection device and a use method thereof in the technical field of vehicle detection equipment, the vehicle body assembly detection device comprises a movable multi-axis manipulator, the movable end of the multi-axis manipulator is provided with a detection module, and the detection module comprises a transposition assembly, a first detection assembly and a second detection assembly; the detection module is used for detecting projection welding nuts and projection welding bolts on a vehicle body assembly; the first detection assembly and the second detection assembly can be movably switched back and forth. According to the vehicle body assembly detection equipment, a highly integrated and automatic structural design is adopted, three key detection items including torque, pushing force and rolling force are integrated into one piece of equipment, all tests can be completed through one-time clamping, and the equipment is automatically positioned, clamped, detected, judged and sorted. And a high-precision torque sensor, a force sensor and a servo control system are adopted, so that the accuracy, repeatability and consistency of a detection result are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile detection equipment, in particular to a vehicle body assembly detection equipment and a use method thereof. BACKGROUND

[0002] After the automobile body assembly is welded, it is generally subjected to sampling inspection to detect the welding completion degree and strength of the automobile body assembly. In order to facilitate subsequent installation operation, the automobile body assembly is welded with a projection welding nut and a projection welding bolt, so that subsequent part installation can be facilitated.

[0003] At present, the detection of the projection welding nut and the projection welding bolt is mostly completed by different operators using different equipment at different workstations, which is a complicated detection process. The workpiece needs to be repeatedly clamped and transported, resulting in a long detection period, which seriously restricts the production rhythm. In addition, a handheld torque wrench, a push-pull force meter and the like are used, which are operated and read by manual operation. The force, speed and angle of different operators are different, resulting in poor repeatability and low consistency of the detection results. SUMMARY

[0004] The present application mainly solves the technical problems existing in the prior art and provides a vehicle body assembly detection equipment and a use method thereof.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] A vehicle body assembly detection equipment, comprising a multi-axis manipulator capable of moving, wherein the movable end of the multi-axis manipulator is provided with a detection module, and the detection module comprises a transposition assembly, a first detection assembly and a second detection assembly.

[0007] The detection module is used to detect the projection welding nut and the projection welding bolt on the vehicle body assembly.

[0008] The transposition assembly comprises a first support, and the front end of the first support is provided with a fixedly connected 2D camera, a 3D camera, a distance measuring sensor and a proximity sensor.

[0009] The first detection assembly and the second detection assembly can be switched forward and backward.

[0010] The first detection assembly comprises an outer shell, and the inner part of the outer shell is further provided with a rotatable first rotating shaft and a driving shaft. The front end of the first rotating shaft is provided with a threaded hole, and the first rotating shaft can be moved forward and backward, rotated and inclined.

[0011] The second detection assembly is similar in structure to the first detection assembly, and the second detection assembly comprises a second rotating shaft. The difference between the second rotating shaft and the first rotating shaft is that the front end of the second rotating shaft is provided with a threaded column.

[0012] Preferably, the 2D camera is used for object recognition and two-dimensional positioning, the 3D camera is used for three-dimensional positioning, the ranging sensor is used for overall position determination and distance measurement, and the proximity sensor is used for close-range detection and collision avoidance.

[0013] Preferably, the lower end of the first bracket is provided with a fixedly connected second bracket, and the lower end face of the second bracket is provided with a rotating drive disk. The drive disk contains a first arc-shaped groove and a second arc-shaped groove. The first detection component and the second detection component are slidably engaged with the first bracket. A first push rod and a second push rod are provided above the drive disk. One end of the first push rod and the second push rod are slidably engaged with the first arc-shaped groove, and the other end of the first push rod is fixedly connected with the first detection component. One end of the second push rod is slidably engaged with the second arc-shaped groove, and the other end of the second push rod is fixedly connected with the second detection component.

[0014] Preferably, the outer casing is provided with a first hydraulic cylinder and a second motor fixedly connected inside, and a third motor fixedly connected outside the outer casing. A rotating outer disk is provided outside the first rotating shaft, and a third gear is fixedly connected on the rotating shaft of the third motor. The third gear meshes with the outer side of the outer disk.

[0015] Preferably, the front end of the outer shell is provided with a bellows, through which a first rotating shaft passes. Inside the bellows is a rotatable tilt test frame. The front end of the tilt test frame is provided with a rotatably connected anti-slip block, and the rear end of the tilt test frame is provided with an elastic telescopic column and a second hydraulic cylinder. One end of the elastic telescopic column is rotatably connected to the tilt test frame, and the other end is rotatably connected to an outer turntable. The telescopic end of the second hydraulic cylinder is rotatably connected to the tilt test frame, and the rear end of the second hydraulic cylinder is rotatably connected to the outer turntable. When the outer turntable rotates, it drives the tilt test frame, the elastic telescopic column, and the second hydraulic cylinder to rotate synchronously. Then, the second hydraulic cylinder can push the tilt test frame to adjust the angle.

[0016] Preferably, the first rotating shaft has a circular groove at its tail end, and an axially arranged limiting block is provided inside the circular groove. One end of the limiting block has a semi-circular groove, and the other end of the limiting block has a spring. The front end of the drive shaft has an axially arranged rotating steel ball that is inserted into the circular groove. The rotating steel ball is inserted into the semi-circular groove of the limiting block in sequence. When the drive shaft rotates, it drives the first rotating shaft to rotate synchronously through the rotating steel ball and the limiting block. The second motor shaft has a fourth gear that is fixedly connected to it.

[0017] Preferably, the first rotating shaft is further provided with a first push ring rotatably connected, and the drive shaft is further provided with a second push ring rotatably connected and a fifth gear fixedly connected. The fifth gear meshes with the fourth gear. The second motor drives the drive shaft and the first rotating shaft to rotate synchronously. A push frame is fixedly connected below the first push ring and the second push ring. The telescopic end of the first hydraulic cylinder is fixedly connected to the push frame. The first hydraulic cylinder can pull the push frame, the first rotating shaft, and the drive shaft to move forward or backward synchronously.

[0018] A method for using a vehicle body assembly testing device includes the following steps:

[0019] Step 1: The body assembly to be inspected is transported to the side of the transverse transfer equipment via a chain conveyor. The transverse transfer equipment and multi-axis robot start and drive the switching component, the first inspection component and the second inspection component to move to the position of the body assembly to be tested, and the structure is switched according to the test projection weld nut or projection weld bolt.

[0020] Step 2: When the projection weld nut needs to be tested, the switching component pushes out the second detection component, the first detection component retracts, and the second motor in the second detection component drives the drive shaft and the second rotating shaft to rotate. The threaded post is fully inserted into the projection weld nut, and the bellows contacts the vehicle body. The second motor decelerates first, and after reaching the specified rotational torque, the drive shaft will spin freely. If the projection weld nut is detached, the specified rotational torque cannot be reached. At this time, the torque sensor built into the second motor sends an error signal to the PLC control system to trigger an alarm.

[0021] After the rotational torque reaches the standard, the front and rear movement strength test of the projection weld nut is carried out. The first hydraulic cylinder pushes the push frame, drive shaft and second rotating shaft to increase the pushing pressure in the forward or backward direction. It stops after reaching the specified pressure value. If the projection weld nut is detached, the pressure of the first hydraulic cylinder will continue to increase. If it exceeds the specified pressure value, an error signal will be sent to the PLC control system to alarm.

[0022] After the front and rear movement strength tests are passed, the anti-tilt force test of the projection weld nut is carried out. The outer turntable rotates to drive the tilt test frame to rotate to a suitable angle. The second hydraulic cylinder pushes the tilt test frame forward. After the anti-slip block contacts the car body, it stops. The lateral movement equipment and multi-axis manipulator drive the switching component, the first detection component, and the second detection component to tilt. The tilt test frame acts as a support point. After reaching the specified pressure value, it stops. Then the outer turntable performs a 30° rotation test. After rotating 30°, it stops. If the specified pressure value is exceeded, an error signal is sent to the PLC control system for alarm.

[0023] Step 3: When it is necessary to test the projection weld bolt, the first detection component is pushed out and the second detection component is retracted. The second motor in the first detection component first drives the drive shaft and the first rotating shaft to rotate, and the threaded hole completely covers the projection weld bolt. The subsequent three test processes are the same as in Step 2.

[0024] Step 4: After the test is completed, the transverse moving equipment, multi-axis robot, transfer component, first inspection component, and second inspection component move backward and leave, and the chain conveyor drives the vehicle body assembly that has completed the sampling inspection to leave.

[0025] The beneficial effects of this invention are:

[0026] This invention discloses a vehicle body assembly testing device with a highly integrated and automated structural design. It integrates three key testing items—torque, thrust, and roll force—into a single device, completing all tests in a single setup. The device automatically positions, clamps, executes tests, judges results, and sorts the components. This significantly shortens the testing cycle, making 100% online inspection possible. High-precision torque sensors, force sensors, and a servo control system ensure the accuracy, repeatability, and consistency of the test results.

[0027] This invention provides a vehicle body assembly inspection device with an automatic structure switching function, which can quickly adapt to different inspection requirements of projection welded bolts and projection welded nuts without changing the core tooling, greatly reducing the changeover time. It is particularly suitable for flexible mixed-line production. The integrated vision system can automatically identify the location and type of weld points, realize intelligent guidance and precise positioning, and completely isolate the operator from the moving parts and the inspection process. The operator only needs to be responsible for loading and unloading or monitoring the equipment status, freeing them from heavy physical labor and eliminating the risk of workplace injuries. Attached Figure Description

[0028] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0029] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0030] Figure 1 This is a top view schematic diagram of the structure of a vehicle body assembly testing device according to an embodiment of the present invention;

[0031] Figure 2 This is a partial structural side view of a vehicle body assembly testing device according to an embodiment of the present invention;

[0032] Figure 3 This is a partial structural schematic diagram of a vehicle body assembly testing device according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the transposition component in an embodiment of the present invention;

[0034] Figure 5 This is a top view schematic diagram of the transposition component in an embodiment of the present invention;

[0035] Figure 6 This is a side view schematic diagram of the transposition component in an embodiment of the present invention;

[0036] Figure 7 This is a cross-sectional view of the structure of the first detection component in an embodiment of the present invention;

[0037] Figure 8 This is an embodiment of the present invention. Figure 7 Enlarged schematic diagram of the structure at point A in the middle;

[0038] Figure 9 This is an embodiment of the present invention. Figure 7 Enlarged schematic diagram of the structure at point B;

[0039] Figure 10 This is an embodiment of the present invention. Figure 7 Enlarged schematic diagram of the structure at point C;

[0040] Figure 11 This is a cross-sectional view of the structure of the second detection component in an embodiment of the present invention;

[0041] In the diagram: 1. Chain conveyor; 2. Bottom platform; 3. Body assembly; 4. Lateral movement device; 5. Multi-axis robot; 6. Transposition assembly; 7. First detection assembly; 8. Second detection assembly; 31. Projection weld nut; 32. Projection weld bolt; 41. Lateral movement platform; 61. First support; 62. 2D camera; 63. 3D camera; 64. Distance sensor; 65. Proximity sensor; 66. Second support; 67. First motor; 68. Drive disk; 69. Slide rail slider assembly; 71. Housing; 72. First rotating shaft; 73. Drive shaft; 74. Push frame; 81. Second rotating shaft; 671. First gear; 681. First arc groove; 6 82. Second arc-shaped groove; 683. First push rod; 684. Second push rod; 711. First hydraulic cylinder; 712. Second motor; 713. Third motor; 714. Bellows; 721. Threaded hole; 722. Outer turntable; 723. Circular groove; 724. Limiting block; 725. First push ring; 731. Rotating steel ball; 732. Second push ring; 733. Fifth gear; 811. Threaded column; 6801. Second gear; 7121. Fourth gear; 7131. Third gear; 7221. Second hydraulic cylinder; 7222. Elastic telescopic column; 7223. Tilt test frame; 7224. Anti-slip block; 7241. Spring. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] Please see Figures 1 to 11 As shown, this embodiment provides a vehicle body assembly inspection device, including a movable multi-axis manipulator 5. The movable end of the multi-axis manipulator 5 is provided with an inspection module, which includes a transfer component 6, a first inspection component 7, and a second inspection component 8.

[0044] Furthermore, a transverse moving device 4 is provided below the multi-axis manipulator 5. The lower end of the transverse moving device 4 is fixed on the bottom platform 2, and the upper end of the transverse moving device 4 is provided with a movable transverse moving platform 41. The bottom end of the multi-axis manipulator 5 is fixedly connected to the transverse moving platform 41. The transverse moving device 4 drives the transverse moving platform 41 and the multi-axis manipulator 5 to move synchronously. The vehicle body assembly 3 to be inspected is transported to the side of the transverse moving device 4 through the chain conveyor 1.

[0045] Furthermore, the body assembly 3 is formed by welding. The sides and interior of the body assembly 3 are welded with projection weld nuts 31 and projection weld bolts 32 for subsequent connection of other components. The number and position of projection weld nuts 31 and projection weld bolts 32 are determined according to the actual production of the body assembly 3.

[0046] Furthermore, the positioning component 6 includes a first bracket 61. The front end of the first bracket 61 is provided with a fixedly connected 2D camera 62, 3D camera 63, ranging sensor 64 and proximity sensor 65. The 2D camera 62 is used for object recognition and two-dimensional positioning, the 3D camera 63 is used for three-dimensional positioning, the ranging sensor 64 is used for overall position determination and distance measurement, and the proximity sensor 65 is used for close-range detection and collision avoidance.

[0047] Specifically, the lower end of the first bracket 61 is provided with a fixedly connected second bracket 66, the upper end face of the second bracket 66 is provided with a fixedly connected first motor 67, the shaft of the first motor 67 is provided with a fixedly connected first gear 671, the lower end face of the second bracket 66 is provided with a rotating drive disk 68 and two sets of slide rail slider assemblies 69, the drive disk 68 has a first arc groove 681 and a second arc groove 682, the back of the drive disk 68 is provided with a fixedly connected second gear 6801, the second gear 6801 meshes with the first gear 671, and the first motor 67 drives the drive disk 68 to rotate;

[0048] The first detection component 7 and the second detection component 8 are respectively connected to the slide rail slider assembly 69, and the first detection component 7 and the second detection component 8 are slidably guided to the first bracket 61 through the slide rail slider assembly 69;

[0049] Above the drive disk 68, there is a first push rod 683 and a second push rod 684. One end of the first push rod 683 and the second push rod 684 is provided with a circular column. The circular column of the first push rod 683 is slidably engaged with the first arc groove 681, and the circular column of the second push rod 684 is slidably engaged with the second arc groove 682. The other end of the first push rod 683 is fixedly connected to the first detection component 7, and the other end of the second push rod 684 is fixedly connected to the second detection component 8. When the drive disk 68 rotates clockwise, it pushes the second push rod 684 and the second detection component 8 to extend forward, and the first push rod 683 and the first detection component 7 to retract backward. When the drive disk 68 rotates counterclockwise, it pushes the second push rod 684 and the second detection component 8 to retract backward, and the first push rod 683 and the first detection component 7 to extend forward.

[0050] Furthermore, the first detection component 7 includes a housing 71. Inside the housing 71, a first hydraulic cylinder 711 and a second motor 712 are fixedly connected. The second motor 712 has a torque detection function. Outside the housing 71, a third motor 713 is fixedly connected. Inside the housing 71, there is also a rotatable first rotating shaft 72 and a drive shaft 73. The front end of the first rotating shaft 72 is provided with a threaded hole 721. Outside the first rotating shaft 72, there is a rotating outer turntable 722. The first rotating shaft 72 and the outer turntable 722 can rotate independently. The outer turntable 722 is disc-shaped and has axially arranged teeth on its outer edge. The shaft of the third motor 713 is provided with a fixedly connected third gear 7131. The third gear 7131 meshes with the outer side of the outer turntable 722, and the third motor 713 can drive the outer turntable 722 to rotate.

[0051] The outer casing 71 has a bellows 714 at its front end. A first rotating shaft 72 passes through the bellows 714. Inside the bellows 714 is a rotatable tilt test frame 7223. The front end of the tilt test frame 7223 has a rotatably connected anti-slip block 7224. A torsion spring is provided at the point where the anti-slip block 7224 rotates with the tilt test frame 7223. The anti-slip block 7224 is made of anti-slip rubber. The rear end of the tilt test frame 7223 has an elastic telescopic column 7222 and a second hydraulic cylinder 7221. One end of the elastic telescopic column 7222 is rotatably connected to the tilt test frame 7223, and the other end of the elastic telescopic column 7222 is rotatably connected to the outer turntable 722. The telescopic end of the second hydraulic cylinder 7221 is rotatably connected to the tilt test frame 7223, and the rear end of the second hydraulic cylinder 7221 is rotatably connected to the outer turntable 722.

[0052] When the outer turntable 722 rotates, it drives the tilt test frame 7223, the elastic telescopic column 7222 and the second hydraulic cylinder 7221 to rotate synchronously. Then the second hydraulic cylinder 7221 can push the tilt test frame 7223 to adjust the angle.

[0053] The first rotating shaft 72 has a circular groove 723 at its tail end. An axially arranged limiting block 724 is located inside the circular groove 723. One end of the limiting block 724 has a semi-circular groove, and the other end has a spring 7241. The spring 7241 pushes the limiting block 724 forward. Different springs 7241 can be replaced as needed, thereby changing the maximum torque that the first rotating shaft 72 and drive shaft 73 can withstand. The front end of the drive shaft 73 has an axially arranged rotating steel ball 731, which is inserted into the circular groove 723. The steel balls 731 are inserted into the semi-circular grooves of the limiting blocks 724 in sequence. When the drive shaft 73 rotates, it drives the first rotating shaft 72 to rotate synchronously through the rotating steel balls 731 and the limiting blocks 724. The second motor 712 has a fixedly connected fourth gear 7121 on its shaft. Different springs 7241 can be replaced as needed to change the maximum torque that the first rotating shaft 72 and the drive shaft 73 can withstand. After the maximum torque is exceeded, the rotating steel balls 731 disengage from the initially corresponding limiting blocks 724, and the drive shaft 73 rotates idling.

[0054] The first rotating shaft 72 is also provided with a first push ring 725 rotatably connected, and the drive shaft 73 is also provided with a second push ring 732 rotatably connected and a fifth gear 733 fixedly connected. The fifth gear 733 meshes with the fourth gear 7121. The second motor 712 drives the drive shaft 73 and the first rotating shaft 72 to rotate synchronously. A push frame 74 is fixedly connected below the first push ring 725 and the second push ring 732. The telescopic end of the first hydraulic cylinder 711 is fixedly connected to the push frame 74. The first hydraulic cylinder 711 can pull the push frame 74, the first rotating shaft 72, and the drive shaft 73 to move forward or backward synchronously.

[0055] The second detection component 8 is similar in structure to the first detection component 7. The second detection component 8 includes a second rotating shaft 81. The difference between the second rotating shaft 81 and the first rotating shaft 72 is that the front end of the second rotating shaft 81 is provided with a threaded post 811.

[0056] A method for using a vehicle body assembly testing device includes the following steps:

[0057] Step 1: The body assembly 3 to be inspected is transported to the side of the transverse transfer device 4 via the chain conveyor 1. The transverse transfer device 4 and the multi-axis robot 5 are started to drive the switching component 6, the first detection component 7, and the second detection component 8 to move to the position where the body assembly 3 needs to be tested, and the structure is switched according to the test projection weld nut 31 or projection weld bolt 32.

[0058] Step 2: When the projection weld nut 31 needs to be tested, the switching component 6 pushes out the second detection component 8 and the first detection component 7 retracts. The second motor 712 inside the second detection component 8 first drives the drive shaft 73 and the second rotating shaft 81 to rotate. The threaded post 811 is fully inserted into the projection weld nut 31, and the bellows 714 contacts the vehicle body. The bellows 714 prevents the subsequent test from causing the weld to break off and chip, which could damage personnel or pipelines. The second motor 712 first decelerates. After reaching the specified rotational torque, the drive shaft 73 will idle. If the projection weld nut 31 breaks off, the specified rotational torque cannot be reached. At this time, the torque sensor built into the second motor 712 sends an error signal to the PLC control system to trigger an alarm.

[0059] After the rotational torque reaches the standard, the front and rear movement strength test of the projection weld nut 31 is carried out. The first hydraulic cylinder 711 pushes the push frame 74, drive shaft 73 and second rotating shaft 81 to increase the pushing pressure in the forward or backward direction. It stops after reaching the specified pressure value. If the projection weld nut 31 is detached, the pressure of the first hydraulic cylinder 711 will continue to increase. After exceeding the specified pressure value, an error signal is sent to the PLC control system for alarm.

[0060] After the front and rear movement strength tests are passed, the anti-tilt force test of the projection weld nut 31 is carried out. The outer turntable 722 rotates, driving the tilt test frame 7223 to rotate to a suitable angle. The second hydraulic cylinder 7221 pushes the tilt test frame 7223 forward. The anti-slip block 7224 stops after contacting the vehicle body. The lateral movement device 4 and the multi-axis manipulator 5 drive the shifting component 6, the first detection component 7, and the second detection component 8 to tilt. The tilt test frame 7223 acts as a support point. It stops after reaching the specified pressure value. Then the outer turntable 722 performs a 90° rotation test. It stops after rotating 360°. If the specified pressure value is exceeded, an error signal is sent to the PLC control system for alarm.

[0061] Step 3: When it is necessary to test the projection weld bolt 32, 6 pushes out the first detection component 7 and retracts the second detection component 8. The second motor 712 in the first detection component 7 first drives the drive shaft 73 and the first rotating shaft 72 to rotate, and the threaded hole completely covers the projection weld bolt 32. The subsequent three test processes are the same as in step 2.

[0062] Step 4: After the test is completed, the transverse moving device 4, multi-axis robot 5, transfer component 6, first inspection component 7, and second inspection component 8 move backward and leave, and the chain conveyor 1 drives the vehicle body assembly 3 that has completed the sampling inspection to leave.

[0063] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0064] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0065] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0066] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0067] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A vehicle body assembly inspection device, comprising a movable multi-axis robotic arm (5), characterized in that, The multi-axis manipulator (5) has a detection module at its movable end, which includes a transposition component (6), a first detection component (7), and a second detection component (8). The detection module is used to detect the weld nugget (31) and weld bolt (32) on the vehicle body assembly (3). The transposition component (6) includes a first bracket (61), and a 2D camera (62), a 3D camera (63), a distance sensor (64), and a proximity sensor (65) are fixedly connected at the front end of the first bracket (61). The first detection component (7) and the second detection component (8) can switch between front and back activities; The first detection component (7) includes a housing (71), and the housing (71) is further provided with a rotatable first rotating shaft (72) and a drive shaft (73). The front end of the first rotating shaft (72) is provided with a threaded hole (721). The first rotating shaft (72) can move back and forth, rotate, and tilt. The second detection component (8) is similar in structure to the first detection component (7). The second detection component (8) includes a second rotating shaft (81). The difference between the second rotating shaft (81) and the first rotating shaft (72) is that the front end of the second rotating shaft (81) is provided with a threaded post (811).

2. The vehicle body assembly testing equipment according to claim 1, characterized in that, The 2D camera (62) is used for object recognition and two-dimensional positioning, the 3D camera (63) is used for three-dimensional positioning, the distance sensor (64) is used for overall position determination and distance measurement, and the proximity sensor (65) is used for close-range detection and collision avoidance.

3. The vehicle body assembly testing equipment according to claim 2, characterized in that, The first bracket (61) has a fixedly connected second bracket (66) at its lower end. The lower end face of the second bracket (66) has a rotating drive disk (68). The drive disk (68) has a first arc groove (681) and a second arc groove (682). The first detection component (7) and the second detection component (8) are slidably connected to the first bracket (61). The drive disk (68) has a first push rod (683) and a second push rod (684) above it. One end of the first push rod (683) and the second push rod (684) are slidably connected to the first arc groove (681). The other end of the first push rod (683) is fixedly connected to the first detection component (7). One end of the second push rod (684) is slidably connected to the second arc groove (682). The other end of the second push rod (684) is fixedly connected to the second detection component (8).

4. The vehicle body assembly testing equipment according to claim 3, characterized in that, The outer casing (71) is provided with a first hydraulic cylinder (711) and a second motor (712) fixedly connected inside, and a third motor (713) fixedly connected outside the outer casing (71). The first rotating shaft (72) is provided with a rotating outer turntable (722). The third motor (713) is provided with a fixedly connected third gear (7131) on its rotating shaft. The third gear (7131) meshes with the outer side of the outer turntable (722).

5. The vehicle body assembly testing equipment according to claim 4, characterized in that, The outer casing (71) has a bellows (714) at its front end. A first rotating shaft (72) passes through the bellows (714). Inside the bellows (714) is a rotatable tilt test frame (7223). The front end of the tilt test frame (7223) has a rotatably connected anti-slip block (7224). The rear end of the tilt test frame (7223) has an elastic telescopic column (7222) and a second hydraulic cylinder (7221). One end of the elastic telescopic column (7222) is rotatably connected to the tilt test frame (7223). The other end of the elastic telescopic column (7222) is rotatably connected to the outer turntable (722). The telescopic end of the second hydraulic cylinder (7221) is rotatably connected to the tilt test frame (7223). The tail end of the second hydraulic cylinder (7221) is rotatably connected to the outer turntable (722). When the outer turntable (722) rotates, it drives the tilt test frame (7223), the elastic telescopic column (7222), and the second hydraulic cylinder (7221) to rotate synchronously. Then, the second hydraulic cylinder (7221) can push the tilt test frame (7223) to adjust the angle.

6. The vehicle body assembly testing equipment according to claim 5, characterized in that, The first rotating shaft (72) has a circular groove (723) at its tail end. A limiting block (724) is arranged axially inside the circular groove (723). One end of the limiting block (724) has a semi-circular groove, and the other end of the limiting block (724) has a spring (7241). The front end of the drive shaft (73) has a rotating steel ball (731) arranged axially, which is inserted into the circular groove (723). The rotating steel ball (731) is inserted into the semi-circular groove of the limiting block (724) in sequence. When the drive shaft (73) rotates, it drives the first rotating shaft (72) to rotate synchronously through the rotating steel ball (731) and the limiting block (724). The shaft of the second motor (712) is provided with a fourth gear (7121) that is fixedly connected.

7. The vehicle body assembly testing equipment according to claim 6, characterized in that, The first rotating shaft (72) is also provided with a first push ring (725) rotatably connected, and the drive shaft (73) is also provided with a second push ring (732) rotatably connected and a fifth gear (733) fixedly connected. The fifth gear (733) meshes with the fourth gear (7121). The second motor (712) drives the drive shaft (73) and the first rotating shaft (72) to rotate synchronously. A push frame (74) is fixedly connected below the first push ring (725) and the second push ring (732). The extension end of the first hydraulic cylinder (711) is fixedly connected to the push frame (74). The first hydraulic cylinder (711) can pull the push frame (74), the first rotating shaft (72), and the drive shaft (73) to move forward or backward synchronously.

8. A method of using the vehicle body assembly testing equipment according to claim 7, characterized in that, Includes the following steps: Step 1: The body assembly (3) to be inspected is transported to the side of the transverse transfer device (4) via the chain conveyor (1). The transverse transfer device (4) and the multi-axis robot (5) are started to drive the shifting component (6), the first detection component (7), and the second detection component (8) to move to the position of the body assembly (3) that needs to be tested, and the structure is switched according to the test projection nut (31) or projection bolt (32). Step 2: When the projection weld nut (31) needs to be tested, the switching component (6) pushes out the second detection component (8), the first detection component (7) retracts, and the second motor (712) in the second detection component (8) first drives the drive shaft (73) and the second rotating shaft (81) to rotate. The threaded column (811) is fully inserted into the projection weld nut (31), and the bellows (714) contacts the car body. The second motor (712) first decelerates. After the specified rotational torque is reached, the drive shaft (73) will spin freely. If the projection weld nut (31) is detached, the specified rotational torque cannot be reached. At this time, the torque sensor built into the second motor (712) sends an error signal to the PLC control system to alarm. After the rotational torque reaches the standard, the front and rear movement strength test of the projection weld nut (31) is carried out. The first hydraulic cylinder (711) pushes the push frame (74), drive shaft (73), and second rotating shaft (81) to increase the pushing pressure in the forward or backward direction. It stops after reaching the specified pressure value. If the projection weld nut (31) is detached, the pressure of the first hydraulic cylinder (711) will continue to increase. After exceeding the specified pressure value, an error signal is sent to the PLC control system for alarm. After the front and rear activity strength test meets the standard, the anti-tilt force test of the projection weld nut (31) is carried out. The outer turntable (722) rotates and drives the tilt test frame (7223) to rotate to a suitable angle. The second hydraulic cylinder (7221) pushes the tilt test frame (7223) forward. The anti-slip block (7224) stops after contacting the car body. The lateral movement device (4), the multi-axis manipulator (5) drives the shifting component (6), the first detection component (7), and the second detection component (8) to tilt. The tilt test frame (7223) acts as a support point. It stops after reaching the specified pressure value. Then the outer turntable (722) performs a (90)° rotation test. It stops after rotating (360)°. If the specified pressure value is exceeded, an error signal is sent to the PLC control system for alarm. Step 3: When it is necessary to test the projection weld bolt (32), (6) push out the first detection component (7) and retract the second detection component (8). The second motor (712) in the first detection component (7) first drives the drive shaft (73) and the first rotating shaft (72) to rotate. The threaded hole completely covers the projection weld bolt (32). The subsequent three test processes are the same as in step 2. Step 4: After the test is completed, the transverse moving device (4), multi-axis manipulator (5), transfer component (6), first detection component (7), and second detection component (8) move backward and leave, and the chain conveyor (1) drives the vehicle body assembly (3) that has been sampled and inspected to leave.

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