Automobile body cleaning and welding device, station and method

Abstract

The invention discloses an automobile body cleaning and welding device, station and method, and belongs to the technical field of automobile production. The device comprises a mechanical arm, a laser cleaning assembly, a laser welding assembly and a visual collection assembly; a laser cleaning assembly and a laser welding assembly are fixedly arranged at the moving end of the mechanical arm. The laser welding assembly is connected with a visual acquisition assembly, and the visual acquisition assembly is used for acquiring an image of a to-be-welded point position so as to position the to-be-welded point position; the laser cleaning assembly is used for conducting laser cleaning on a to-be-welded point position of a vehicle body so as to remove a zinc coating of the to-be-welded point position. The laser welding assembly is used for conducting laser welding on the cleaned to-be-welded point positions, and flat, stable and defect-free traceless welding points are formed. According to the automobile body cleaning and welding device, the positioning, laser cleaning and laser welding functions are integrated, the automobile body welding procedure is simplified, the welding positioning precision, the welding quality and the welding efficiency are improved, and the automobile body cleaning and welding device meets the welding machining requirement of an automobile body.

Description

Technical Field

[0001] This invention belongs to the field of automotive manufacturing technology, specifically relating to an automotive body cleaning and welding device, workstation, and method. Background Technology

[0002] As people place increasingly higher demands on the safety and aesthetics of automobiles, the welding quality control of automotive body welds needs to be more refined. Currently, automotive body welding mainly employs two methods: resistance spot welding and laser spot welding.

[0003] Resistance spot welding involves a large heat input and a wide heat-affected zone, which can easily cause workpiece deformation. It also requires a high minimum weld overlap, increasing material costs and overall weight. Furthermore, the welding torch in resistance spot welding needs to be in direct contact with the workpiece and requires frequent movement and repositioning, significantly limiting the flexibility of the workstation design. In addition, resistance spot welding not only leaves obvious indentations at the weld point but also ring-shaped marks around the weld, resulting in noticeable cosmetic defects that affect the integrity of the vehicle body and fail to meet users' high aesthetic and quality requirements.

[0004] During laser welding, the zinc vapor evaporating from the heated zinc layer on the sheet metal impacts the weld pool, reducing its stability. Overflow of high-pressure zinc vapor can lead to severe porosity defects in the weld, and residual zinc vapor in the weld pool also contributes to porosity, affecting weld quality. For laser welding of galvanized steel sheets, methods to suppress the impact of the zinc coating on weld quality mainly include: 1. Removing the zinc coating before welding; 2. Controlling the overlap gap between the two sheets. Methods for removing the zinc coating before welding include acid and alkali washing and mechanical grinding. Acid and alkali washing easily oxidizes the steel substrate, and the area of ​​zinc coating removal is uncontrollable. Mechanical grinding leaves numerous scratches on the substrate, hindering post-weld painting. Controlling the overlap gap typically involves using spacers between the galvanized steel sheets to be welded, creating a gap to allow zinc vapor to escape before laser lap welding. However, in actual production, controlling the gap is difficult; too small a gap prevents zinc vapor from escaping, while too large a gap results in false welds.

[0005] The aforementioned defects in existing welding methods make it difficult to balance welding quality and production efficiency in vehicle bodies. Summary of the Invention

[0006] In response to one or more of the above-mentioned defects or improvement needs of the existing technology, the present invention provides an automotive body cleaning and welding device, station and method, which can form flat, stable and defect-free traceless welds, while ensuring the welding quality and efficiency of the automotive body, and is adapted to the welding processing needs of automotive bodies.

[0007] To achieve the above objectives, the present invention provides an automotive body cleaning and welding device, which includes a robotic arm, wherein a laser cleaning component and a laser welding component are fixedly mounted on the moving end of the robotic arm. The laser welding assembly is connected to a vision acquisition assembly, which is used to acquire images of the points to be welded in order to locate the points to be welded. The laser cleaning assembly is used to perform laser cleaning on the welding points of the vehicle body to remove the zinc plating layer at the welding points. The laser welding assembly is used to perform laser welding on the cleaned welding points.

[0008] As a further improvement of the present invention, the laser cleaning assembly includes a first laser input interface, a cleaning galvanometer housing, and a cleaning field mirror; The cleaning field mirror is installed on the light-emitting side of the cleaning galvanometer housing; The cleaning galvanometer box is equipped with a first X galvanometer and a first Y galvanometer; The first laser input interface is used to receive a cleaning laser. The cleaning laser is deflected by the first X-mirror and the first Y-mirror in sequence and then enters the cleaning field mirror. After being focused by the cleaning field mirror, it is directed towards the welding point on the vehicle body for laser cleaning.

[0009] As a further improvement of the present invention, the laser welding assembly includes a welding laser input interface, a welding galvanometer housing, and a welding field mirror; The welding field mirror is installed on the light-emitting side of the welding galvanometer housing; The welding galvanometer box is equipped with a second X galvanometer and a second Y galvanometer. The welding laser input interface is used to receive the welding laser. The welding laser is deflected sequentially by the second X-mirror and the second Y-mirror before entering the welding field mirror. The welding field mirror focuses the laser onto the welding point on the vehicle body for laser welding.

[0010] As a further improvement of the present invention, the laser welding assembly also includes a vision inspection interface and a welding beam splitting module; The visual inspection interface is used to connect to the visual acquisition component; The welding beam splitting module is located between the welding laser input interface and the welding galvanometer housing, and is used to make the image acquisition optical path of the vision acquisition component coaxial with the welding laser optical path, so that the welding point located by the vision acquisition component corresponds to the laser welding point.

[0011] As a further improvement of the present invention, the laser cleaning assembly includes a cleaning collimation and focusing module, which is disposed between the cleaning laser input interface and the cleaning galvanometer housing, and is used to adjust the focus of the cleaning laser to move along the Z direction; And / or, The laser welding assembly also includes a welding collimation and focusing module, which is disposed between the welding laser input interface and the welding beam splitting module, and is used to adjust the focus of the welding laser to move along the Z direction.

[0012] As a further improvement of the present invention, the laser welding assembly further includes a welding indicator light module, which is used to output indicator light to mark the welding points; And / or, The laser welding assembly also includes a double-layer welding air knife, which is located below the side of the welding field mirror and is used to deliver protective gas to the welding point during the welding process.

[0013] As a further improvement of the present invention, the laser welding assembly further includes a welding water and gas flow meter, which is used to connect to the water cooling circuit and the air cooling circuit, and to introduce cooling water and cooling gas into the welding galvanometer housing to cool the second X galvanometer and the second Y galvanometer. And / or, The laser welding assembly also includes a welding galvanometer control box, which is used to control the deflection of the second X-galvanometer and the second Y-galvanometer.

[0014] As a further improvement of the present invention, the laser welding assembly scans the point to be welded along a spiral trajectory, causing the material at the point to be welded to melt and form a weld point.

[0015] In a second aspect, the present invention provides an automotive body cleaning and welding station, comprising a body clamp and the aforementioned automotive body cleaning and welding apparatus, wherein the body clamp is used to clamp and fix the automotive body to be welded.

[0016] A third aspect of the present invention provides a method for cleaning and welding an automobile body, which is performed using the aforementioned automobile body cleaning and welding station, and includes the following process: (1) The body clamp holds and fixes the body to be welded within the working range of the laser cleaning assembly and the laser welding assembly; (2) The vision acquisition component acquires images of several points to be welded, thereby achieving the positioning and calibration of the points to be welded; (3) The robotic arm, based on the positioning information of the vision acquisition component, drives the laser cleaning component and the laser welding component to perform motion rehearsal on several points to be welded; (4) After the pre-positioning is correct, the laser cleaning component performs laser cleaning on the welding point to remove the zinc plating layer of the welding point. (5) The laser welding assembly performs laser welding on the cleaned welding points to form weld points.

[0017] The aforementioned improved technical features can be combined with each other as long as they do not conflict with each other.

[0018] In summary, the beneficial effects of the above-described technical solutions conceived by this invention compared with the prior art include: (1) The automobile body cleaning and welding device of the present invention includes a robotic arm, a laser cleaning component, a laser welding component, and a vision acquisition component. The moving end of the robotic arm is fixedly equipped with the laser cleaning component and the laser welding component; the laser welding component is connected to the vision acquisition component, which is used to acquire images of the points to be welded in order to locate the points to be welded; the laser cleaning component is used to perform laser cleaning on the points to be welded on the automobile body to remove the zinc plating layer on the points to be welded; the laser welding component is used to perform laser welding on the cleaned points to be welded to form flat, stable, defect-free, and traceless weld joints. The automobile body cleaning and welding device of the present invention integrates positioning, laser cleaning, and laser welding functions, simplifies the automobile body welding process, improves welding positioning accuracy, welding quality, and welding efficiency, and is suitable for the welding processing needs of automobile bodies.

[0019] (2) The car body cleaning and welding device of the present invention can flexibly adjust and control the focus of the cleaning laser in the three-dimensional space of X / Y / Z by means of the first X-mirror, the first Y-mirror and the cleaning collimation and focusing module, so as to complete the cleaning operation at different positions without relying on the frequent movement of the robotic arm, greatly reducing the movement trajectory of the robotic arm and effectively improving the efficiency of the overall cleaning operation; and can flexibly adjust and control the focus of the welding laser in the three-dimensional space of X / Y / Z by means of the second X-mirror, the second Y-mirror and the welding collimation and focusing module, so as to complete the welding operation at different positions without relying on the frequent movement of the robotic arm, greatly reducing the movement trajectory of the robotic arm and effectively improving the efficiency of the overall welding operation.

[0020] (3) The automotive body cleaning and welding device of the present invention uses a spiral trajectory to scan the point to be welded, so that the material at the point to be welded melts to form a weld point, which can significantly improve the connection strength of the welded joint, while reducing the required overlap width of the joint, which helps to reduce the weight of the body parts and save materials, in line with the lightweight development trend of the automotive industry.

[0021] (4) The car body cleaning and welding process of the present invention, with the stable fixing of the car body fixture and the precise operation of the cleaning and welding device, can effectively improve the overall quality of car body welding, ensure uniform weld formation and reliable connection; the integrated workstation design reduces the space occupied by the equipment, reduces the production line layout cost, and the smooth connection of each process further improves the automation level and production stability of car body welding processing.

[0022] (5) The automobile body cleaning and welding method of the present invention removes the galvanized layer of the welding point by means of a laser cleaning component and then performs laser welding to ensure the quality of weld formation, improve the connection strength and reliability of the welded joint, and extend the service life of the automobile body; combined with the vision acquisition component to achieve accurate positioning of the welding point, and with the orderly connection of laser cleaning and welding, avoids problems such as incomplete cleaning and welding misalignment caused by positioning deviation, improves welding accuracy and work qualification rate, and reduces rework costs; after the fixture clamps and fixes the automobile body, the continuous operation of "positioning-cleaning-welding" does not require manual intervention of too many processes, simplifies the operation process, improves work efficiency, and adapts to the needs of large-scale automobile body production. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure of the automobile body cleaning and welding device in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the laser cleaning assembly in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the laser welding assembly in an embodiment of the present invention; Figure 4 This is a schematic diagram of the spiral trajectory in an embodiment of the present invention.

[0025] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1. Robotic arm; 2. Laser cleaning assembly; 201. Cleaning laser input interface; 202. Cleaning galvanometer housing; 203. Cleaning field lens; 204. Cleaning beam splitter module; 3. Laser welding assembly; 301. Welding laser input interface; 302. Welding galvanometer housing; 303. Welding field lens; 304. Vision inspection interface; 305. Welding beam splitter module; 306. Welding collimation and focusing module; 307. Welding indicator light module; 308. Welding water and gas flow meter; 309. Welding double-layer air knife; 310. Welding galvanometer control box; 311. Welding protective lens drawer module; 4. Vision acquisition assembly; 5. Connecting flange. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0027] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0029] 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.

[0030] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature 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 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 that the first feature is at a lower horizontal level than the second feature.

[0031] Example: Please see Figures 1-3 The preferred embodiment of the automotive body cleaning and welding device of the present invention includes a robotic arm 1, a laser cleaning component 2, a laser welding component 3, and a vision acquisition component 4. The robotic arm 1 has the laser cleaning component 2 and the laser welding component 3 fixedly mounted at its moving end. The laser welding component 3 is connected to the vision acquisition component 4, which is used to acquire images of the points to be welded, thereby locating the points. The laser cleaning component 2 is used to perform laser cleaning on the points to be welded on the vehicle body to remove the galvanized layer. The laser welding component 3 is used to perform laser welding on the cleaned points.

[0032] In this embodiment, the moving end of the robotic arm 1 is preferably provided with a connecting flange 5. The laser cleaning assembly 2 and the laser welding assembly 3 are preferably connected side by side to the connecting flange 5 so that laser cleaning and laser welding can be performed below them. After the vision acquisition assembly 4 acquires the information of the point to be welded, it can be used to guide the laser cleaning assembly 2 and the laser welding assembly 3 to perform precise operations on the corresponding point to be welded. The automotive body cleaning and welding device provided by this invention, by setting a vision acquisition component 4 on the laser welding component 3, can pre-acquire images of the points to be welded and achieve precise positioning, ensuring the positional accuracy of laser cleaning and laser welding, and effectively avoiding welding defects caused by positioning deviations; furthermore, the laser cleaning component 2 removes the galvanized layer of the points to be welded, creating a clean welding surface, so that the laser welding component 3 can perform laser welding to form flat, stable, defect-free, and traceless weld points, significantly improving the weld point quality and the strength of the vehicle body structure. Moreover, by simultaneously fixing the laser cleaning component 2 and the laser welding component 3 at the moving end of the robotic arm 1, keeping their relative positions fixed, it can realize the integrated operation of pre-welding cleaning and laser welding of the points to be welded, eliminating the need for multiple clamping and positioning, and greatly improving the production efficiency of automotive body welding.

[0033] For example, the visual acquisition component 4 may be a CCD camera.

[0034] More preferably, the laser cleaning assembly 2 includes a cleaning laser input interface 201, a cleaning galvanometer housing 202, and a cleaning field mirror 203; the cleaning field mirror 203 is installed on the light-emitting side of the cleaning galvanometer housing 202; a first X-mirror and a first Y-mirror are provided inside the cleaning galvanometer housing 202; the cleaning laser input interface 201 is used to input the cleaning laser, and the cleaning laser is deflected sequentially by the first X-mirror and the first Y-mirror before entering the cleaning field mirror 203, and is focused by the cleaning field mirror 203 and directed towards the welding point on the vehicle body for laser cleaning.

[0035] In this embodiment, before the laser cleaning assembly 2 operates, the laser plug is inserted into the cleaning laser input interface 201, and then the laser is turned on. The cleaning laser output from the laser enters through the cleaning laser input interface 201 and is transmitted to the first X-mirror and the first Y-mirror inside the cleaning galvanometer housing 202. The first Y-mirror transmits the cleaning laser downwards to the cleaning field mirror 203, which focuses the cleaning laser and directs it towards the welding point for cleaning. During the laser cleaning process, by controlling the deflection of the first X-mirror and the first Y-mirror inside the cleaning galvanometer housing 202, the cleaning laser is driven to perform precise scanning motion on the X / Y plane of the welding point, thereby completing the comprehensive laser cleaning of the welding point, ensuring uniform removal of the zinc plating layer without residue, and without damaging the steel substrate of the vehicle body. Furthermore, after cleaning one welding point, the first X-mirror and the first Y-mirror can control the cleaning laser to deflect rapidly in the X / Y plane, so that the cleaning laser moves from the current welding point to the next welding point, realizing high-speed continuous cleaning of multiple welding points without mechanical movement, without the need for frequent relocation of the robotic arm 1, thus improving cleaning efficiency.

[0036] Preferably, a cleaning beam splitting module 204 is provided between the cleaning laser input interface 201 and the cleaning galvanometer housing 202. By redirecting the optical path of the cleaning beam splitting module 204, the cleaning laser input interface 201 is arranged vertically, thereby optimizing the overall layout of the laser cleaning assembly 2, reducing the lateral space occupation, and improving the structural compactness. Furthermore, a cleaning collimation and focusing module is preferably provided between the cleaning laser input interface 201 and the cleaning beam splitting module 204. This module is used to adjust the focus of the cleaning laser along the Z-direction to adapt to the cleaning needs of workpieces of different thicknesses or welding points of different heights. This ensures that the cleaning focus is always in a suitable position, improving the cleaning effect and adaptability. The laser cleaning assembly 2 can flexibly adjust and control the focus of the cleaning laser in the X / Y / Z three-dimensional space through the first X galvanometer, the first Y galvanometer, and the cleaning collimation and focusing module. This eliminates the need for frequent movements of the robotic arm 1 to complete cleaning operations at different positions, significantly reducing the movement trajectory of the robotic arm 1 and effectively improving the efficiency of the overall cleaning operation.

[0037] More preferably, the laser welding assembly 3 includes a welding laser input interface 301, a welding galvanometer housing 302, and a welding field mirror 303; the welding field mirror 303 is installed on the light-emitting side of the welding galvanometer housing 302; a second X-mirror and a second Y-mirror are provided inside the welding galvanometer housing 302; the second laser input interface is used to input the welding laser, and the welding laser is deflected by the second X-mirror and the second Y-mirror in sequence before entering the welding field mirror 303, and is focused by the welding field mirror 303 and directed towards the welding point on the vehicle body for laser welding.

[0038] In this embodiment, before the laser welding assembly 3 operates, the laser plug is inserted into the welding laser input interface 301, and then the laser is turned on. The welding laser output from the laser enters through the welding laser input interface 301 and is transmitted to the second X-mirror and the second Y-mirror inside the cleaning galvanometer housing 202. The second Y-mirror transmits the welding laser downwards to the welding field mirror 303, which focuses the welding laser and directs it towards the welding point to complete the welding process. During the laser welding process, by controlling the deflection of the second X-mirror and the second Y-mirror inside the welding galvanometer housing 302, the welding laser is driven to perform precise scanning motion on the X / Y plane of the welding point, thereby completing comprehensive and precise welding of the welding point, ensuring that the weld is uniform, complete, and strong, and avoiding defects such as incomplete welding and cold welding. Furthermore, after completing the welding of one welding point, the second X-mirror and the second Y-mirror can control the welding laser to deflect rapidly in the X / Y plane, so that the welding laser moves from the current welding point to the next welding point, realizing high-speed continuous welding of multiple welding points without mechanical movement, without the need for frequent repositioning of the robotic arm 1, thus improving welding efficiency.

[0039] The automotive body cleaning and welding device of the present invention has a long focal length focusing capability for the welding field lens 303 and the cleaning field lens 203, which allows the robotic arm 1 to move the welding / cleaning galvanometer to a general working position before cleaning and welding can be performed. It can work at a distance of 500 mm or even further from the vehicle body, providing ample space for the design of the vehicle body fixture, and supports unilateral welding, solving the problem that the welding gun cannot reach the traditional resistance spot welding due to the structural design.

[0040] Preferably, the laser welding assembly 3 further includes a visual inspection interface 304 and a welding beam splitting module 305; the visual inspection interface 304 is used to connect the visual acquisition assembly 4; the welding beam splitting module 305 is disposed between the welding laser input interface 301 and the welding galvanometer housing 302, and is used to make the image acquisition optical path of the visual acquisition assembly 4 coaxial with the welding laser optical path, so that the welding point located by the visual acquisition assembly 4 corresponds to the laser welding point.

[0041] In this embodiment, on the one hand, by redirecting the optical path of the welding beam splitting module 305, the welding laser input interface 301 is arranged vertically, thereby optimizing the overall layout of the laser welding assembly 3, reducing the lateral space occupation, and improving the structural compactness; on the other hand, the welding beam splitting module 305 makes the image acquisition optical path of the vision acquisition component 4 coaxial with the welding laser optical path, thereby ensuring that the welding point located by the vision acquisition component 4 corresponds precisely to the laser welding point, effectively improving the accuracy of positioning and recognition and the work cycle, and further improving the overall welding operation efficiency.

[0042] Preferably, the laser welding assembly 3 further includes a welding collimation and focusing module 306. The welding collimation and focusing module 306 is disposed between the welding laser input interface 301 and the welding beam splitting module 305. It is used to adjust the focus of the welding laser to move along the Z direction to adapt to the welding requirements of workpieces of different thicknesses or welding points of different heights, ensuring that the welding focus is always in a suitable position, improving the welding effect and adaptability. The laser welding assembly 3 can flexibly adjust and control the focus of the welding laser in the X / Y / Z three-dimensional space through the second X galvanometer, the second Y galvanometer, and the welding collimation and focusing module 306. It can complete welding operations at different positions without relying on the frequent movement of the robotic arm 1, greatly reducing the movement trajectory of the robotic arm 1 and effectively improving the efficiency of the overall welding operation.

[0043] More preferably, such as Figure 4 As shown, the welding laser scans the welding point along a spiral trajectory, melting the material at the welding point to form a weld. In this embodiment, the welding laser, controlled by the second X-mirror and the second Y-mirror, can scan the welding point along a spiral trajectory, melting the body material to form a weld. Compared to traditional spot welding, the spiral weld has a larger weld nucleus diameter, significantly increasing the welded joint area and thus improving the connection strength of the weld joint. Simultaneously, the spiral welding path stirs the weld pool, helping to refine the weld grains, promoting gas escape, and reducing defects such as porosity and cracks, resulting in a denser weld structure and superior weld joint performance. Furthermore, when using a spiral trajectory for welding joints, the joint absorbs more energy during failure, exhibiting better toughness and further improving the reliability of the body weld structure. It is worth noting that laser spiral spot welding requires a narrower lap width, reducing it to 3-4 mm, which helps reduce the weight of body parts and saves materials, aligning with the automotive industry's trend towards lightweighting.

[0044] Preferably, the laser welding assembly 3 further includes a welding galvanometer control box 310, which is used to control the deflection of the second X galvanometer and the second Y galvanometer. Specifically, the welding galvanometer control box 310 is disposed above the welding galvanometer housing 302.

[0045] Preferably, the laser welding assembly 3 further includes a welding protective mirror drawer module 311. The welding protective mirror drawer module 311 is disposed between the welding laser input interface 301 and the welding collimation and focusing module 306, and is used to protect the welding collimation and focusing module and subsequent optical components, so as to avoid damage to optical components by spatter, fumes, laser reflection light and other factors generated during the welding process, and to extend the service life of the optical components.

[0046] Preferably, the laser welding assembly 3 further includes a welding water and gas flow meter 308, which is used to connect to the water-cooling circuit and the air-cooling circuit, and to introduce cooling water and cooling gas into the welding galvanometer housing 302 to cool the second X-mirror and the second Y-mirror. Specifically, the welding water and gas flow meter 308 is disposed on one side of the welding galvanometer housing 302, and can be disposed adjacent to or opposite to the welding beam splitting module 305 on the side of the welding galvanometer housing 302.

[0047] More preferably, the laser welding assembly 3 further includes a welding indicator light module 307, which outputs indicator light to mark the welding points. Specifically, the welding indicator light module is located below the welding galvanometer housing 302, arranged side by side with the welding field mirror 303.

[0048] Preferably, the laser welding assembly 3 further includes a double-layer welding air knife 309, which is disposed on the lower side of the welding field lens 303. It is used to deliver protective gas to the welding point during the welding process, blow away the spatter and fumes generated during the welding process, prevent them from adhering to the welding field lens 303, protect the lens from damage, and at the same time isolate the air, reduce the contact between the air and the weld pool, prevent the air from interfering with the formation of the weld pool, prevent the weld pool from oxidizing, stabilize the welding process, and improve the weld quality.

[0049] Before welding, the laser welding assembly 3 first installs the vision inspection component to the vision inspection interface 304, introduces water cooling and air cooling in series with the welding water and air flow meter 308, turns on the welding indicator light module 307 and the welding double-layer air knife 309, then inserts the laser connector into the welding laser input interface 301, turns on the laser and starts the welding work.

[0050] More preferably, the present invention also provides an automobile body cleaning and welding station, including a body clamp and the above-mentioned automobile body cleaning and welding device, wherein the body clamp is used to clamp and fix the automobile body to be welded.

[0051] In practical use, the present invention also provides a method for cleaning and welding automobile bodies, which is completed using the aforementioned automobile body cleaning and welding station, and includes the following process: (1) The body clamp holds and fixes the body to be welded within the working range of the laser cleaning assembly 2 and the laser welding assembly 3; (2) The visual acquisition component 4 acquires images of several points to be welded, thereby realizing the positioning and calibration of the points to be welded; (3) Based on the positioning information of the vision acquisition component 4, the robotic arm 1 drives the laser cleaning component 2 and the laser welding component 3 to perform motion rehearsal on several points to be welded; (4) After the pre-rehearsal positioning is correct, the laser cleaning component 2 performs laser cleaning on the welding point to remove the zinc plating layer of the welding point. (5) The laser welding assembly 3 performs laser welding on the cleaned welding points to form weld points.

[0052] In step (5), the laser welding assembly 3 preferably scans the welding point along a spiral trajectory to perform laser welding.

[0053] More preferably, the automobile body cleaning and welding method further includes the following processes: (6) After the welding operation is completed, the vision acquisition component 4 acquires images of each weld point; (7) Analyze and process the collected weld point images to determine whether there are defects such as porosity, cracks, false welds, missing welds and substandard weld point formation. At the same time, compare the deviation between the actual position of the weld point and the preset welding point to be welded to complete the dual detection of welding quality and positioning accuracy.

[0054] In step (7), if a defect is detected in the weld or the positioning deviation exceeds the preset range, an early warning signal can be issued to remind the operator to handle it in time; if all welds are qualified, all operations of the batch of welds are completed and the next process can begin.

[0055] The automotive body cleaning and welding method of this invention removes the galvanized layer at the welding points using a laser cleaning component 2, followed by laser welding. This ensures weld quality, improves the connection strength and reliability of the welded joint, and extends the service life of the automotive body. Combined with a vision acquisition component 4, it achieves precise positioning of the welding points. The seamless integration of laser cleaning and welding avoids problems such as incomplete cleaning and welding misalignment caused by positioning deviations, improving welding accuracy and work qualification rate, and reducing rework costs. After the fixture clamps and fixes the vehicle body, the continuous "positioning-cleaning-welding" operation eliminates the need for excessive manual intervention, simplifying the operation process, improving work efficiency, and adapting to the needs of large-scale automotive body production.

[0056] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A car body cleaning and welding device, characterized in that, The robotic arm includes a laser cleaning assembly and a laser welding assembly fixedly mounted on its moving end. The laser welding assembly is connected to a vision acquisition assembly, which is used to acquire images of the points to be welded in order to locate the points to be welded. The laser cleaning assembly is used to perform laser cleaning on the welding points of the vehicle body to remove the zinc plating layer at the welding points. The laser welding assembly is used to perform laser welding on the cleaned welding points.

2. The automobile body cleaning and welding device according to claim 1, characterized in that, The laser cleaning assembly includes a first laser input interface, a cleaning galvanometer housing, and a cleaning field mirror; The cleaning field mirror is installed on the light-emitting side of the cleaning galvanometer housing; The cleaning galvanometer box is equipped with a first X galvanometer and a first Y galvanometer; The first laser input interface is used to connect a cleaning laser. The cleaning laser is deflected by the first X-mirror and the first Y-mirror in sequence and then enters the cleaning field mirror. After being focused by the cleaning field mirror, it is directed towards the welding point on the vehicle body for laser cleaning.

3. The automobile body cleaning and welding device according to claim 2, characterized in that, The laser welding assembly includes a welding laser input interface, a welding galvanometer housing, and a welding field mirror; The welding field mirror is installed on the light-emitting side of the welding galvanometer housing; The welding galvanometer box is equipped with a second X galvanometer and a second Y galvanometer. The welding laser input interface is used to receive the welding laser. The welding laser is deflected sequentially by the second X-mirror and the second Y-mirror before entering the welding field mirror. The welding field mirror then focuses the laser onto the welding point on the vehicle body for laser welding.

4. The automobile body cleaning and welding device according to claim 3, characterized in that, The laser welding assembly also includes a vision inspection interface and a welding beam splitting module; The visual inspection interface is used to connect to the visual acquisition component; The welding beam splitting module is located between the welding laser input interface and the welding galvanometer housing, and is used to make the image acquisition optical path of the vision acquisition component coaxial with the welding laser optical path, so that the welding point located by the vision acquisition component corresponds to the laser welding point.

5. The automobile body cleaning and welding device according to claim 4, characterized in that, The laser cleaning assembly includes a cleaning collimation and focusing module, which is disposed between the cleaning laser input interface and the cleaning galvanometer housing, and is used to adjust the focus of the cleaning laser to move along the Z direction; And / or, The laser welding assembly also includes a welding collimation and focusing module, which is disposed between the welding laser input interface and the welding beam splitting module, and is used to adjust the focus of the welding laser to move along the Z direction.

6. The automobile body cleaning and welding device according to claim 3, characterized in that, The laser welding assembly also includes a welding indicator light module, which outputs indicator light to mark the welding points; And / or, The laser welding assembly also includes a double-layer welding air knife, which is located below the side of the welding field mirror and is used to deliver protective gas to the welding point during the welding process.

7. The automobile body cleaning and welding device according to claim 3, characterized in that, The laser welding assembly also includes a welding water and gas flow meter, which is used to connect to the water cooling circuit and the air cooling circuit, and to introduce cooling water and cooling gas into the welding galvanometer housing to cool the second X galvanometer and the second Y galvanometer. And / or, The laser welding assembly also includes a welding galvanometer control box, which is used to control the deflection of the second X-galvanometer and the second Y-galvanometer.

8. The automobile body cleaning and welding apparatus according to any one of claims 1 to 7, characterized in that, The laser welding assembly scans the welding point along a spiral trajectory, causing the material at the welding point to melt and form a weld.

9. A car body cleaning and welding station, characterized in that, The invention includes a car body clamp and an automotive body cleaning and welding apparatus according to any one of claims 1 to 8, wherein the car body clamp is used to hold and fix the car body to be welded.

10. A method for cleaning and welding an automobile body, characterized in that, The process of completing the automotive body cleaning and welding station as described in claim 9 includes the following steps: (1) The body clamp holds and fixes the body to be welded within the working range of the laser cleaning assembly and the laser welding assembly; (2) The vision acquisition component acquires images of several points to be welded, thereby achieving the positioning and calibration of the points to be welded; (3) The robotic arm, based on the positioning information of the vision acquisition component, drives the laser cleaning component and the laser welding component to perform motion rehearsal on several points to be welded; (4) After the pre-positioning is correct, the laser cleaning component performs laser cleaning on the welding point to remove the zinc plating layer of the welding point. (5) The laser welding assembly performs laser welding on the cleaned welding points to form weld points.

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