Threshold beam assembly visual inspection apparatus and visual inspection method

Abstract

The application relates to a visual detection device and a visual detection method for a threshold beam assembly. The visual detection device is characterized in that a three-way camera detection group is fixedly arranged on a rack, a first clamping assembly, a guide seat and a guide piece moving along a circular arc track are arranged on the base at the execution end, a second clamping assembly is fixed to the guide piece and is driven by a indexing driving mechanism, the first clamping assembly and the second clamping assembly alternately clamp the threshold beam assembly, drive the threshold beam assembly to rotate around a fixed rotation axis which is parallel to the length direction and passes through the inside of the assembly, and make the fourth to-be-detected surface which is shielded enter the camera detection range; meanwhile, according to the calibration relationship between the camera and the base, the initial clamping relationship and the actual rotation angle, the detection data in different detection postures are converted to the same workpiece coordinate system, so that the reference change caused by re-clamping is avoided, the unified space reference of multi-side detection is maintained, and the accuracy and reliability of relative position detection of the cross-side to-be-detected structure are improved.

Description

Technical Field

[0001] This invention relates to the field of visual inspection, and more particularly to a visual inspection device and method for a door sill beam assembly. Background Technology

[0002] A door sill beam assembly is a long, strip-shaped component with multiple sides along its circumference. These sides typically contain holes, standard parts, and local contours that require inspection. During the production and assembly of the door sill beam assembly, in addition to inspecting the number and location of holes, the number and installation position of standard parts, local contours, and missing or incorrectly assembled parts on each surface to be inspected, there is also a need to verify the relative positional relationships of structures distributed across different surfaces. For example, checking whether the relative positions of holes and standard parts on different sides meet design requirements in the length and cross-sectional directions. Therefore, visual inspection equipment not only needs to obtain inspection data from different surfaces of the door sill beam assembly but also needs to ensure that the inspection data from different surfaces have a spatial reference that allows for correlation.

[0003] Visual inspection of existing door sill assemblies typically involves using an actuator to clamp the door sill beam assembly and move it to a detection area formed by multiple cameras. The cameras then capture images of the surfaces to be inspected. For door sill assemblies extending along their length and having four peripheral surfaces to be inspected, camera detection groups can be positioned at different locations within the detection area, maintaining the door sill beam assembly in the corresponding detection posture. This allows the camera detection groups at different locations to capture images of multiple surfaces to be inspected. However, the actuator and the clamping mechanism used to hold the door sill beam assembly need to approach and clamp it from one side. Therefore, even when using a three-way visual inspection layout, although the cameras in the three directions can acquire detection data for the three surfaces to be inspected, the remaining surfaces facing the actuator and clamping mechanism are easily obstructed by these components, making effective inspection difficult under the same detection posture.

[0004] For the aforementioned obscured surfaces to be inspected, if the inspection is performed by moving the sill beam assembly out of the current inspection position, releasing the original clamping, changing the clamping position, or flipping the sill beam assembly and then re-clamping it, the re-clamping will re-establish the positional relationship between the sill beam assembly and the actuator. This means that the inspection data for this surface will no longer be based on the spatial reference formed by the same clamping as the inspection data for other surfaces. The positional deviation caused by re-clamping may also mix in the measurement results between different surfaces, thus affecting the accurate judgment of the relative positional relationship between cross-side holes, standard parts, or other structures to be inspected. Therefore, there is an urgent need to propose a visual inspection device and method for sill beam assemblies to solve the above problems. Summary of the Invention

[0005] The first objective of this invention is to provide a visual inspection device for a door sill beam assembly that overcomes the problem that the fourth surface to be inspected is obstructed and that re-clamping easily destroys the unified spatial reference of each surface to be inspected by cooperating with a three-way fixed camera inspection group and a clamping mechanism that can rotate in situ around a fixed rotation axis and is alternately managed by two clamping components.

[0006] The technical solution adopted by the present invention to solve the above problems is: a sill beam assembly visual inspection device for visually inspecting a sill beam assembly, wherein the sill beam assembly extends along a first direction and has a first inspection surface, a second inspection surface, a third inspection surface, and a fourth inspection surface arranged circumferentially, the first inspection surface and the third inspection surface being arranged opposite to each other, the second inspection surface and the fourth inspection surface being arranged opposite to each other, comprising: An actuator, including an execution end, wherein the execution end is provided with a base; A visual inspection assembly includes a frame and a first camera detection group, a second camera detection group, and a third camera detection group fixedly mounted on the frame. The first camera detection group and the third camera detection group are located on opposite sides of a detection area, and their detection directions are opposite to each other. The second camera detection group is located on the other side of the detection area, distinct from the opposite sides, and its detection direction intersects with the detection directions of the first camera detection group and the third camera detection group. Furthermore, when the sill beam assembly is in a first detection posture, the first surface to be inspected, the second surface to be inspected, and the third surface to be inspected face towards the first camera detection group, the second camera detection group, and the third camera detection group, respectively. A clamping mechanism, disposed on the base, includes: The first clamping assembly is fixedly disposed on the base; The guide assembly includes a guide seat fixedly disposed on the base and a guide member that guides and cooperates with the guide seat. The guide member has a circular arc trajectory relative to the guide seat. The plane of the circular arc trajectory is perpendicular to a rotation axis, and the center of the circle corresponding to the circular arc trajectory is located on the rotation axis. The second clamping assembly is fixedly disposed on the guide member. In the clamping state, the second clamping assembly limits the spatial position of the sill beam assembly relative to the second clamping assembly, so that the sill beam assembly rotates with the guide member about the rotation axis. A rotation drive mechanism is connected to the guide member in a transmission manner to drive the guide member to move relative to the guide seat; The rotation axis is fixed relative to the base and parallel to the first direction, and passes through the interior of the sill beam assembly when the sill beam assembly is clamped by the clamping mechanism. The first clamping assembly and the second clamping assembly each have a clamping state and a released state, and are configured to alternately clamp the sill beam assembly, such that when the second clamping assembly clamps and the first clamping assembly releases, it drives the sill beam assembly to rotate around the rotation axis, and the first clamping assembly clamps the sill beam assembly after the sill beam assembly rotates to the target rotation position, and the second clamping assembly releases the sill beam assembly and returns to its original position with the guide member; At the target rotation position, the fourth surface to be detected faces at least one of the first camera detection group, the second camera detection group, and the third camera detection group, and is within the detection range of the at least one camera detection group.

[0007] The beneficial effects of the embodiments of the present invention are as follows: By employing a fixed three-way camera detection group and alternately clamping the sill beam assembly with a first clamping component on the execution end base and a second clamping component on the arc guide, the sill beam assembly can rotate in place around a rotation axis that is fixed relative to the base and passes through the interior of the sill beam assembly. This allows the fourth surface to be detected, which is blocked by the execution end and the clamping mechanism, to enter the detection range of the existing camera detection group. Therefore, the problems in the prior art, such as the difficulty in detecting the fourth surface to be detected due to being blocked by the execution end and the clamping mechanism, and the easy disruption of the unified clamping reference between different surfaces to be detected by unclamping and re-clamping the fourth surface to be detected, are effectively solved. Thus, visual detection of multiple surfaces to be detected can be completed without re-clamping the sill beam assembly, and a continuous mechanical spatial reference between different detection postures is maintained, providing a stable geometric basis for cross-side relative position detection of the structure to be detected on different surfaces to be detected.

[0008] The second objective of this invention is to provide a visual inspection method for a door sill beam assembly that overcomes the problem of inconsistent cross-side inspection data benchmarks and difficulty in accurately determining the relative positions of different inspection surface structures caused by re-clamping by completing the inspection of multiple surfaces to be inspected under the same clamping and unifying the spatial reference of the inspection data of each surface to be inspected based on the camera calibration relationship, the initial clamping relationship and the actual rotation angle.

[0009] The technical solution adopted by the present invention to solve the above problems is: a visual inspection method for the above-mentioned sill beam assembly visual inspection equipment, comprising: The first clamping component clamps the sill beam assembly and places the sill beam assembly in a first detection posture and keeps it stationary. In the first detection posture, the first, second, and third detection surfaces of the sill beam assembly are respectively oriented toward the fixed first, second, and third camera detection groups, and detection data of the structures to be detected on the first, second, and third detection surfaces are respectively acquired. The second clamping assembly clamps the sill beam assembly, and after the second clamping assembly clamps the sill beam assembly, the first clamping assembly releases the sill beam assembly. The guide member with the second clamping assembly is driven to move along an arc trajectory relative to the guide seat fixed to the base, so that the second clamping assembly drives the sill beam assembly to rotate around the rotation axis. The rotation axis is fixed relative to the base, parallel to the length direction of the sill beam assembly, and passes through the interior of the sill beam assembly when the sill beam assembly is clamped. After the sill beam assembly is rotated to the target rotation position, the first clamping assembly clamps the sill beam assembly, and after the first clamping assembly clamps the sill beam assembly, the second clamping assembly releases the sill beam assembly. The threshold beam assembly is kept at the target rotation position, and the detection data of the structure to be detected on the fourth surface to be detected is obtained by at least one camera detection group among the first camera detection group, the second camera detection group and the third camera detection group that faces the fourth surface to be detected. Obtain the actual rotation angle of the sill beam assembly from the first detection posture to the target rotation position; Based on the calibration relationship between the first camera detection group, the second camera detection group, the third camera detection group and the base, the initial clamping relationship of the sill beam assembly relative to the base in the first detection posture, and the actual rotation angle, the detection data obtained in the first detection posture and the target rotation position are converted to the same sill beam assembly workpiece coordinate system, and the relative positional relationship between the structures to be detected located on different surfaces to be detected is determined.

[0010] The beneficial effects of the embodiments of the present invention are as follows: By sequentially performing visual inspections of the first, second, third, and fourth inspection surfaces under the same clamping reference, and by alternately clamping the sill beam assembly with the first and second clamping components, the sill beam assembly rotates from the first inspection posture to the target rotation position around a rotation axis fixed relative to the base. Simultaneously, the actual rotation angle is obtained. Based on the calibration relationship between each camera inspection group and the base, the initial clamping relationship of the sill beam assembly, and the actual rotation angle, the inspection data obtained under different inspection postures are converted to the same sill beam assembly workpiece coordinate system. Therefore, the problem of inconsistent spatial references for cross-side inspection data caused by re-clamping in the prior art, and the difficulty in accurately determining the relative positions of the structures to be inspected on different inspection surfaces, is effectively solved. Furthermore, by maintaining the same clamping reference, unified coordinate association of inspection data for different inspection surfaces can be achieved, improving the accuracy and reliability of cross-side inspection structure relative position detection. Attached Figure Description

[0011] Figure 1 A schematic diagram of the structure of a visual inspection device proposed in one embodiment of this application is shown; Figure 2 This illustration shows a schematic diagram of the clamping mechanism and the sill beam assembly in a clamping state according to an embodiment of this application. Figure 1 ; Figure 3 This illustration shows a schematic diagram of the clamping mechanism and the sill beam assembly in a clamping state according to an embodiment of this application. Figure 2 ; Figure 4 This illustration shows a structural diagram of the second clamping component and the guiding component in a connected state according to an embodiment of this application; Figure 5 A cross-sectional view is shown in one embodiment of this application, showing the second clamping assembly and the guide assembly in a connected state. Figure 6 This shows a schematic diagram of the structure of the first clamping component and the sill beam assembly in a clamping state according to an embodiment of this application; Figure 7 A schematic diagram of the structure of the first clamping component proposed in one embodiment of this application is shown.

[0012] Figure 8 A flowchart of a visual inspection method for a sill beam assembly proposed in one embodiment of this application is shown.

[0013] Wherein: 1. Actuating mechanism; 11. Actuating end; 12. Base; 2. Vision inspection component; 21. Frame; 211. First mounting surface; 212. Second mounting surface; 213. Third mounting surface; 22. First camera detection group; 23. Second camera detection group; 24. Third camera detection group; 3. Clamping mechanism; 31. First clamping component; 311. First gripper; 3111. First clamping space; 312. First body; 314. First rotating component; 3141. First pressing side; 315. First pressing component; 3151. Second pressing side; 3152. First abutment groove; 316. 317. Telescopic component; 318. Second telescopic component; 319. First guide shaft; 310. First abutment component; 311. Third telescopic component; 32. Guide assembly; 321. Guide seat; 3211. Arc guide part; 3212. Arc groove; 322. Guide component; 3221. Mating part; 33. Second clamping assembly; 331. Second gripper; 34. Indexing drive mechanism; 341. Motor; 342. Synchronous belt; 343. Guide roller; 344. Connector; 4. Sill beam assembly; 41. First surface to be inspected; 42. Second surface to be inspected; 43. Third surface to be inspected; 44. Fourth surface to be inspected. Detailed Implementation

[0014] Example 1: The automotive sill beam assembly 4 typically extends along its length, and in addition to the end faces at both ends along its length, it has multiple sides that require visual inspection. This embodiment uses the sill beam assembly 4, which has a first inspection surface 41, a second inspection surface 42, a third inspection surface 43, and a fourth inspection surface 44, as the inspection object. The first inspection surface 41 and the third inspection surface 43 are positioned opposite each other, and the second inspection surface 42 and the fourth inspection surface 44 are positioned opposite each other. Adjacent inspection surfaces can be approximately perpendicular, and opposite inspection surfaces can be approximately parallel. The first direction characterizes the length extension direction of the sill beam assembly 4. Holes, standard parts, connectors, local contours, fittings, and other structures that can be visually identified or measured can be distributed on each inspection surface of the sill beam assembly 4.

[0015] This embodiment applies to an automated visual inspection station for automotive parts. The inspection station may include a fixedly installed visual inspection component 2 and an actuator 1 capable of gripping and transporting a sill beam assembly 4. The actuator 1 may be an industrial robot or other execution device capable of feeding the sill beam assembly 4 into a predetermined inspection area and maintaining its spatial posture. The execution end 11 of the actuator 1 is provided with a base 12, and a clamping mechanism 3 is mounted on the base 12. The visual inspection component 2 is fixed relative to the ground or other fixed reference in the inspection station, and the actuator 1 is used to feed the clamped sill beam assembly 4 into the inspection area formed by the visual inspection component 2. During the production process, the sill beam assembly 4 can be placed in the visual inspection fixture, and the actuator 1 can grip the sill beam assembly 4 and feed it into the shooting range of a fixed camera according to a preset motion trajectory. Visual imaging and comparative analysis are performed on the number of holes, hole positions, number of standard parts, installation positions of standard parts, local contours, missing parts, misinstallation, and other structures to be inspected. After the inspection is completed, the actuator 1 can also transport the sill beam assembly 4 to the corresponding conveying area. As an example of raw device parameters, the shooting speed can be approximately 0.05 seconds per frame, and the single-camera recognition accuracy can be approximately 0.1 millimeters.

[0016] like Figures 1 to 3 As shown, the visual inspection device for the sill beam assembly 4 in this embodiment includes an actuator 1, a visual inspection component 2, and a clamping mechanism 3. The actuator 1 includes an actuator end 11, and the actuator end 11 is provided with a base 12. The visual inspection component 2 includes a frame 21 and a first camera detection group 22, a second camera detection group 23, and a third camera detection group 24 fixedly mounted on the frame 21; the first camera detection group 22 and the third camera detection group 24 are respectively located on opposite sides of a detection area, and their detection directions are opposite; the second camera detection group 23 is located on the other side of the detection area, different from the aforementioned opposite sides, and the detection direction of the second camera detection group 23 intersects with the detection directions of the first camera detection group 22 and the third camera detection group 24. When the sill beam assembly 4 is in a first detection posture, the first surface to be inspected 41, the second surface to be inspected 42, and the third surface to be inspected 43 face the first camera detection group 22, the second camera detection group 23, and the third camera detection group 24, respectively.

[0017] The three camera detection groups are all fixedly mounted on the frame 21 so that the spatial relationship between each camera detection group and the frame 21 remains stable after the equipment calibration is completed, and together they form a three-way visual detection space facing the detection area from different directions.

[0018] When taking pictures in the first detection posture, the sill beam assembly 4 remains stationary, thereby avoiding pose changes caused by the movement of the actuator 1 during a single image acquisition. The three camera detection groups can acquire images simultaneously or sequentially according to a preset order. The specific acquisition sequence can be determined based on camera exposure, light source triggering, and the processing capability of the control system.

[0019] The frame 21 has a first mounting surface 211, a second mounting surface 212 and a third mounting surface 213. The first mounting surface 211 and the third mounting surface 213 are arranged opposite to each other, and the second mounting surface 212 intersects with the first mounting surface 211 and the third mounting surface 213 respectively. The first camera detection group 22, the second camera detection group 23 and the third camera detection group 24 are respectively arranged on the first mounting surface 211, the second mounting surface 212 and the third mounting surface 213, and each includes a plurality of cameras arranged sequentially along the first direction. In the first detection posture, the union of the fields of view of multiple cameras in the first camera detection group 22 in the first direction covers the detection area of ​​the first detection surface 41, the union of the fields of view of multiple cameras in the second camera detection group 23 in the first direction covers the detection area of ​​the second detection surface 42, and the union of the fields of view of multiple cameras in the third camera detection group 24 in the first direction covers the detection area of ​​the third detection surface 43; in the target rotation position, the union of the fields of view of multiple cameras facing the fourth detection surface 44 in the first direction covers the detection area of ​​the fourth detection surface 44.

[0020] The union of the field of view of the aforementioned camera detection group in the first direction covers the area to be detected on the corresponding surface to be detected. This means that after the effective field of view of each camera in the same detection group is stitched together along the first direction, it covers at least the area where all the predefined structures to be detected are located. When it is necessary to perform complete appearance inspection on the entire side, the union can also cover the entire effective detection length of the side.

[0021] In one engineering design example, the length of the sill beam assembly 4 can range from 1200 mm to 2200 mm, the cross-sectional outer width can range from 80 mm to 220 mm, and the cross-sectional outer height can range from 60 mm to 180 mm. These dimensions are used to illustrate the design of the number of cameras, clamping openings, and rotational motion envelope. The actual equipment should be adapted according to the sill beam drawings or measured dimensions of the vehicle model to be tested.

[0022] The clamping mechanism 3 is disposed on the base 12 and includes a first clamping assembly 31, a guide assembly 32, a second clamping assembly 33, and a rotation drive mechanism 34. The first clamping assembly 31 is fixedly disposed on the base 12. The guide assembly 32 includes a guide seat 321 fixedly disposed on the base 12 and a guide member 322 that guides and cooperates with the guide seat 321. The guide trajectory of the guide member 322 relative to the guide seat 321 is an arc trajectory; the plane of the arc trajectory is perpendicular to a rotation axis, and the center of the arc trajectory is located on the rotation axis. The second clamping assembly 33 is fixedly disposed on the guide member 322. In the clamping state, the second clamping assembly 33 limits the spatial position of the sill beam assembly 4 relative to the second clamping assembly 33, so that the sill beam assembly 4 can rotate around the rotation axis with the guide member 322. The rotation drive mechanism 34 is connected to the guide member 322 for driving the guide member 322 to move relative to the guide seat 321. The axis of rotation is fixed relative to the base 12 and parallel to the first direction, and passes through the interior of the sill beam assembly 4 when the sill beam assembly 4 is clamped by the clamping mechanism 3.

[0023] In the aforementioned clamping mechanism 3, the first clamping component 31 is mainly used to maintain the relative position and attitude of the sill beam assembly 4 when it is in the initial detection posture or after one rotation; the second clamping component 33 limits the spatial position of the sill beam assembly 4 relative to itself during the rotation stage and moves synchronously with the guide component 322. Thus, the first clamping component 31 undertakes the functions of holding and switching before and after rotation, while the second clamping component 33 undertakes the function of active rotation.

[0024] Preferably, the rotation axis is located in the middle region of the cross-section of the sill beam assembly 4; more preferably, the offset between the rotation axis and the geometric center of the cross-section can be no greater than 20% of the minimum outer dimension of the cross-section, thereby balancing structural avoidance of the actuator 11 and reducing the rotational motion envelope. In another embodiment, as long as the rotation axis remains inside the sill beam assembly 4 and satisfies the relationship of being parallel to the first direction and fixed relative to the base 12, the rotation axis can also have other reasonable offsets relative to the geometric center of the cross-section according to the arrangement of the clamping structure.

[0025] In this embodiment, in-situ rotation refers to the rotation of the sill beam assembly 4 as a rigid body primarily around a rotation axis fixed relative to the base 12, without superimposing independent translations or additional rotations around other axes that affect the unified detection benchmark. For any material position on the sill beam assembly 4, during the ideal rotation process, its vertical distance to the rotation axis and its axial position along the rotation axis remain unchanged. The geometric relationship of the arc trajectory plane being perpendicular to the rotation axis, the center of the circle being located on the rotation axis, the second clamping assembly 33 and the guide 322 being fixed and follow-up, and the rotation axis being fixed relative to the base 12 together constitute the mechanical geometric closed loop of in-situ rotation.

[0026] The first clamping assembly 31 and the second clamping assembly 33 have clamping and releasing states, respectively, and alternately clamp the sill beam assembly 4. When the second clamping assembly 33 clamps and the first clamping assembly 31 releases, it drives the sill beam assembly 4 to rotate around the rotation axis. After the sill beam assembly 4 rotates to the target rotation position, the first clamping assembly 31 clamps the sill beam assembly 4, and then the second clamping assembly 33 releases the sill beam assembly 4 and returns to its original position with the guide member 322. At the target rotation position, the fourth surface to be detected 44 faces at least one of the first camera detection group 22, the second camera detection group 23, and the third camera detection group 24, and is within the detection range of the at least one camera detection group.

[0027] In actual operation, the first clamping component 31 first clamps the sill beam assembly 4, placing the sill beam assembly 4 in the first detection posture and completing the detection of the first three surfaces to be detected. Then, the second clamping component 33 clamps the sill beam assembly 4. After confirming that the second clamping component 33 has established a stable clamp, the first clamping component 31 releases. The indexing drive mechanism 34 drives the guide component 322 to move, causing the second clamping component 33 to drive the sill beam assembly 4 to rotate around the rotation axis. After the sill beam assembly 4 reaches the target indexing position, the first clamping component 31 re-clamps the sill beam assembly 4. After the first clamping component 31 establishes a holding position, the second clamping component 33 releases and returns to its original position with the guide component 322.

[0028] At the target rotation position, the fourth detection surface 44, which was previously obstructed by the execution end 11 or the clamping mechanism 3, faces at least one of the camera detection groups 22, 23, and 24, and is within the effective detection range of that at least one camera detection group. Multiple cameras in the camera detection group corresponding to the fourth detection surface 44 can complete the acquisition of the detection area of ​​the fourth detection surface 44 when the sill beam assembly 4 is stationary. Therefore, it is not necessary to lower, flip, and re-clamp the sill beam assembly 4 to detect the fourth detection surface 44, nor is it necessary to continuously scan the sill beam assembly 4 along the first direction in the target detection posture.

[0029] As an optional implementation, the specific installation angles, number of cameras, overlap of adjacent fields of view, and detection distance of the three camera detection groups can be adjusted according to the cross-sectional dimensions of the sill beam assembly 4, the focal length and resolution of the camera lenses, and the location of the area to be detected; the actuator 1 can also be selected from different models of industrial robots according to the detection station space. All the above changes are based on maintaining the three-way detection relationship, the in-situ rotation relationship under the fixed rotation axis, and the alternating control relationship between the first clamping assembly 31 and the second clamping assembly 33.

[0030] The aforementioned basic action chain enables continuous coordination between the three-dimensional full-coverage detection space, the in-situ rotation under a fixed rotation axis, and the alternating operation of the first clamping assembly 31 and the second clamping assembly 33: the sill beam assembly 4 can remain stationary in every detection posture, and the fourth surface to be detected 44 enters the existing camera detection range through in-situ rotation, without needing to lower and re-clamp the sill beam assembly 4. This maintains a continuous mechanical spatial reference between multiple side detection results and reduces the cumulative pose error caused by continuous scanning along the length direction in the detection posture.

[0031] In this embodiment, a fixed three-way camera detection group is used, and a fixed first clamping component 31, a guide component 322 that moves along an arc trajectory, and a second clamping component 33 that moves with the guide component 322 are set on the base 12 of the execution end 11. The first clamping component 31 and the second clamping component 33 alternately take over the sill beam assembly 4 under the same clamping reference, and rotate the sill beam assembly 4 in situ around a rotation axis that is fixed relative to the base 12 and passes through its interior. Therefore, the problem that the fourth surface to be detected 44 is easily blocked by the execution end 11 and the clamping mechanism 3 in the existing three-way visual inspection, and that re-clamping to detect the fourth surface to be detected 44 will destroy the unified spatial reference, can be solved. Thus, the static visual inspection of multiple surfaces to be detected can be completed under the condition that the sill beam assembly 4 maintains a continuous mechanical reference, and a stable geometric basis is provided for the relative position association of the cross-side surface to be detected structures.

[0032] Example 2: Based on Embodiment 1, this embodiment further describes the guide assembly 32, the indexing drive mechanism 34, and the actual indexing angle detection method. This further design is mainly used to ensure that the guide member 322 moves stably along a predetermined arc trajectory, suppressing the guide member 322 from tilting, axial movement, or additional rotation when subjected to driving force and the load of the sill beam assembly 4, and obtaining a repeatable indexing angle within the limited space of the mechanism.

[0033] like Figures 4 to 5 As shown, the guide seat 321 is provided with at least one arc-shaped guide portion 3211, which extends along the arc trajectory described in Embodiment 1; the guide member 322 is provided with at least one mating portion 3221 that guides and cooperates with the arc-shaped guide portion 3211, and the center of each arc-shaped guide portion 3211 is located on the rotation axis. An axial limiting portion is also provided between the guide seat 321 and the guide member 322 to limit the movement of the guide member 322 along the extension direction of the rotation axis.

[0034] The aforementioned arc guide portion 3211 and mating portion 3221 together define the arc motion path of the guide member 322. The axial limiting portion further constrains the independent movement of the guide member 322 along the rotation axis, making the overall movement of the guide member 322 closer to a single degree of freedom rotation around the rotation axis, and suppressing the possible tilting, axial movement or additional rotation that may occur when subjected to driving force and the load of the sill beam assembly 4.

[0035] It should be noted that the axial limiting portion is not shown separately in the accompanying drawings. The axial limiting portion can be formed by one or more of the following structures: a limiting surface, a limiting shoulder, a limiting groove, and a limiting protrusion, which are disposed between the guide seat 321 and the guide member 322 and cooperate with each other along the direction of rotation. In one embodiment, the guide seat 321 forms axial limiting surfaces on both sides of the guide member 322 along the direction of rotation, and the corresponding part of the guide member 322 is located between the two axial limiting surfaces. While satisfying the fitting clearance required for the guide member 322 to move along the arc trajectory, the displacement of the guide member 322 along the direction of rotation is limited by the two axial limiting surfaces. Thus, even if the axial limiting portion is not shown separately in the accompanying drawings, the axial limiting portion can still limit the displacement of the guide member 322 along the direction of rotation. Figure 4 and Figure 5 As indicated separately, those skilled in the art can still set the axial limiting part according to the above-mentioned cooperation relationship to limit the axial movement of the guide 322 without hindering its movement along the arc trajectory.

[0036] The arc guide portion 3211 can employ a wide arc guide rail, an arc guide surface, an arc groove 3212, and a corresponding slider or guide structure. In one embodiment, only one set of arc guide portions 3211 with sufficient guide width is provided, and an axial limiting surface is used to restrict the lateral tilt and axial displacement of the guide member 322. In another embodiment, two sets of spaced-apart arc guide mating structures with coaxial centers can be provided along the rotation axis to further enhance the constraint on the posture of the guide member 322. As long as the guide member 322 can be controlled to move along an arc trajectory concentric with the rotation axis, and the additional degrees of freedom affecting the threshold beam detection reference are limited, the guiding purpose of this embodiment can be achieved.

[0037] Furthermore, the guide seat 321 has an arcuate groove 3212 extending along at least one arcuate guide portion 3211, and a portion of the guide member 322 extends into the guide seat 321 via the arcuate groove 3212. The indexing drive mechanism 34 includes a motor 341, a synchronous belt 342, a plurality of guide rollers 343, and a connector 344; each guide roller 343 defines the synchronous belt 342 as a transmission path extending along the arcuate groove 3212, and the connector 344 connects the portion of the guide member 322 extending into the guide seat 321 with the synchronous belt 342, thereby causing the synchronous belt 342 to drive the guide member 322 to move along an arcuate trajectory.

[0038] The center trajectory of the arc groove 3212 is preferably concentric with the arc guide portion 3211, and the corresponding centers of the two are located on the rotation axis. The portion of the guide member 322 that extends into the guide seat 321 is used to establish a transmission connection with the indexing drive mechanism 34, so that the driving force acts on the guide member 322 as much as possible along the predetermined arc path.

[0039] When using synchronous belt 342 for transmission, synchronous belt 342 can be a synchronous toothed belt to reduce the impact of transmission slippage on the actual indexing angle; a tensioning pulley or adjustable tensioning seat can also be set to ensure that synchronous belt 342 maintains appropriate tension during forward and reverse movement, so as to improve transmission consistency and repeatability accuracy.

[0040] As an alternative, the indexing drive mechanism 34 can adopt a combination structure of an arc-shaped rack, gear, and motor 341. The arc-shaped rack is connected to the guide member 322, and its center trajectory is concentric with the circular arc guide trajectory. The motor 341 drives the gear to rotate, and the gear meshes with the arc-shaped rack, causing the guide member 322 to move along the circular arc trajectory. Both the synchronous belt 342 drive and the arc-shaped rack drive are preferably designed with the drive trajectory concentric with the geometric guide trajectory, so that the driving force acts as much as possible in the allowable direction of movement of the guide member 322, thereby reducing additional runout.

[0041] The sill beam assembly 4 visual inspection device also includes an angle detection element configured to acquire the actual rotation angle of the guide 322 relative to the base 12 about the rotation axis.

[0042] The angle detection device can be implemented by the encoder of motor 341, or it can be an independent rotary encoder, an angle sensor, or other detection devices that can reflect the actual rotation state of guide 322. When using the encoder of motor 341, the rotation angle of guide 322 can be calculated based on the output shaft rotation angle of motor 341, transmission ratio, and geometric relationship of the guide mechanism; when using an independent angle detection device, the actual angle corresponding to guide 322 or second clamping assembly 33 can be directly obtained. The control system can latch the current actual rotation angle after the sill beam assembly 4 completes one rotation and the clamping assembly re-establishes stable holding, as the input parameter for subsequent coordinate association.

[0043] It should be noted that the angle detection component is not shown separately in the accompanying drawings. In the embodiment using a motor 341 with an integrated encoder, the angle detection component is integrated with the motor 341. The control system reads the encoder output and, in conjunction with the output shaft angle of the motor 341, the transmission ratio, and the geometric relationship of the guide assembly 32, calculates the actual rotation angle of the guide component 322 relative to the base 12 about the rotation axis. Therefore, it is not necessary to show the angle detection component as a separate part in the accompanying drawings. In the embodiment using an independent rotary encoder or angle sensor, its detection end can establish a detection relationship with the guide component 322 or the second clamping assembly 33 to directly or indirectly obtain the actual rotation state of the guide component 322 relative to the base 12. Regardless of whether an integrated encoder or an independent angle detection device is used, its output is used to characterize the actual rotation angle of the guide component 322 relative to the base 12 about the rotation axis.

[0044] like Figure 4 and Figure 5 As shown, the arc-shaped guide structure in one prototype design can have a usable structural stroke of nearly 180°, but this value only represents the maximum allowable motion capacity of the mechanism and is not equivalent to the rotation angle of each actual test. In actual operation, a preset rotation angle can be selected according to the avoidance conditions of the detection area, the attitude of the actuator 1, the camera installation space, and the orientation of the target surface to be detected. For example, 30° or 45° can be selected as the step rotation angle to avoid the frame 21, the actuator 11, or other structures; when the adjacent surfaces to be detected are approximately perpendicular and space permits, a single rotation of about 90° can also be selected so that the fourth surface to be detected 44 directly enters the existing camera detection direction.

[0045] When the target total rotation angle is greater than the single usable arc stroke or single allowable rotation angle of the second clamping component 33, a step-by-step cumulative rotation can be achieved by alternating the first clamping component 31 and the second clamping component 33. Specifically, after the second clamping component 33 completes one rotation, the first clamping component 31 holds the sill beam assembly 4, the second clamping component 33 is released and returns to the starting position of the next rotation with the guide 322; after the second clamping component 33 clamps again, the first clamping component 31 is released, and the second clamping component 33 continues to drive the sill beam assembly 4 to rotate. By repeating the above process, a cumulative rotation angle greater than a single stroke can be obtained with a finite arc stroke. When using non-right-angle preset rotation angles such as 30° and 45°, the sill beam assembly 4 will take over between the two clamping components in an inclined intermediate posture. The grippers with ordinary fixed clamping surfaces may generate local apex angles or eccentric forces, which naturally leads to the adaptive in-situ replacement problem in the subsequent embodiments.

[0046] In this embodiment, by employing an arc guide 3211 concentric with the rotation axis, an axial limiting part for restricting axial degrees of freedom, and a drive transmission structure arranged along the arc path, and by setting an angle detection element to record the actual rotation angle, the problem of the guide 322 possibly tilting, axially offsetting, or additional rotating when only limiting local arc movement, and the difficulty of directly covering a large target total rotation angle with a limited arc stroke, is effectively solved. This improves the stability and repeatability of the rotation of the guide 322 and the second clamping assembly 33, and achieves step-by-step cumulative rotation through alternating connection and return, while providing usable actual rotation parameters for the angle correlation between different detection postures in the future.

[0047] Example 3: Based on Embodiment 1, this embodiment further describes the arrangement of the clamping areas and the clamping surface structure of the first clamping component 31 and the second clamping component 33. Since the first clamping component 31 and the second clamping component 33 may simultaneously clamp the sill beam assembly 4 for a short period during the alternating connection process, if the two clamping components occupy the same clamping area along the length of the sill beam assembly 4, spatial interference may easily occur in the grippers, supports, or drive structure, affecting the realization of the alternating connection action.

[0048] like Figure 2 As shown, the first clamping assembly 31 includes two first clamping jaws 311 arranged opposite to each other, and the second clamping assembly 33 includes two second clamping jaws 331 arranged opposite to each other; the first clamping assembly 31 and the second clamping assembly 33 are spaced apart along a first direction, such that the first clamping area corresponding to the two first clamping jaws 311 and the second clamping area corresponding to the two second clamping jaws 331 are staggered along the first direction; at least one of the first clamping jaws 311 and the second clamping jaws 331 has a clamping surface adapted to the partial outer contour of the sill beam assembly 4.

[0049] The clamping area refers to the longitudinal region where the two corresponding clamping jaws exert the main clamping force on the sill beam assembly 4. After the first clamping area and the second clamping area are staggered, during the handover phase where the second clamping component 33 clamps first but the first clamping component 31 has not yet released, or the first clamping component 31 clamps first but the second clamping component 33 has not yet released, the two sets of clamping components can act on the sill beam assembly 4 simultaneously without significant mechanical interference.

[0050] The adaptation to the local outer contour does not require the clamping surface to be completely consistent with the entire side of the sill beam assembly 4. Instead, the corresponding contact area can be set according to the local plane, curved surface, reinforcing rib, folded edge, or other contour of the clamped part. The area outside the clamping surface can form a clearance surface or clearance notch to avoid protrusions, structures near openings, welded standard parts, or other parts that are not suitable for direct clamping force on the sill beam assembly 4. In a preferred embodiment, the clamping surface can be provided with a high-friction elastic pad or a replaceable wear-resistant pad to increase the coefficient of friction and reduce the risk of local scratches or indentations caused by hard metal contact. For sill beam assemblies 4 with different vehicle models or different cross-sectional dimensions, clamping blocks with different contours can be replaced or the effective opening of the clamping jaws can be adjusted.

[0051] The clamping force of the clamping components does not need to be limited to a fixed value. During engineering design, the required clamping force can be calculated based on the mass of the sill beam assembly 4, the rotational acceleration, the coefficient of friction between the gripper and the sill beam assembly 4, and a preset safety factor. For clamping methods that mainly rely on friction to prevent slippage, the clamping action can be achieved using pneumatic, servo-electric, or other existing actuation methods, and a clamping position detection can be configured to confirm that the corresponding clamping components have established a stable clamping position.

[0052] During the alternating insertion process, it is preferable to follow the sequence of clamping the insertion side first and releasing the holding side later, allowing the two clamping components to form a brief overlapping clamp at the moment of handover. Since the first clamping area and the second clamping area are staggered along the first direction, the brief overlapping clamping will not require the sill beam assembly 4 to be repositioned along the first direction, nor will it hinder the release and return of the second clamping component 33 when the first clamping component 31 holds the sill beam assembly 4. This embodiment does not require the setting of a separate length direction positioning mechanism for the sill beam assembly 4. As long as the two sets of clamping components can provide sufficient clamping force in their respective clamping states and prevent the sill beam assembly 4 from slipping in the length direction that would affect the visual inspection accuracy, a unified mechanical spatial reference can be maintained.

[0053] In this embodiment, by employing a first clamping area and a second clamping area that are staggered along a first direction, and by ensuring that at least some of the grippers have clamping surfaces that are adapted to the local outer contour of the sill beam assembly 4, the problem of spatial interference easily occurring between the first clamping assembly 31 and the second clamping assembly 33 during the alternating connection process, as well as the insufficient clamping area of ​​ordinary planar grippers for complex local contours, is effectively solved. This allows the two sets of clamping assemblies to form a brief overlap and hold during the handover phase, enabling reliable connection without repositioning the sill beam assembly 4, and improving the anti-slip capability and clamping stability during the rotation process.

[0054] Example 4: Based on Embodiment 3, this embodiment further enhances the adaptive clamping of the first clamping component 31 and the second clamping component 33. The step-by-step in-situ rotation described in Embodiment 2 allows the sill beam assembly 4 to remain in non-right-angle intermediate rotation postures such as 30° and 45°. When the second clamping component 33 holds the sill beam assembly 4 in this intermediate posture and is taken over by the first clamping component 31, the first gripper 311 of the ordinary fixed clamping surface may form a significant angle with the current outer surface of the sill beam assembly 4, only forming point or line contact near the corner. If directly forced to close, it is easy to apply an eccentric thrust to the sill beam assembly 4, causing a secondary change in the newly established rotation angle. Furthermore, when the first clamping component 31 maintains the aforementioned intermediate posture and the second clamping component 33 returns to its original position with the guide 322, the object that the second clamping component 33 takes over again is still in this intermediate posture. Therefore, the second clamping component 33 also needs to have the ability to establish clamping according to the current posture of the sill beam assembly 4.

[0055] Based on this, in this embodiment, both the first clamping component 31 and the second clamping component 33 adopt corresponding adaptive multi-directional pressing structures, wherein the first body 312 is fixed to the base 12 and the second body is fixed to the guide member 322.

[0056] Therefore, in this embodiment, both the first clamping assembly 31 and the second clamping assembly 33 have structures capable of forming multi-directional pressure around the corresponding clamping space and adapting to the current posture. The purpose of this enhanced structure is not to use the connecting clamping assembly to recalibrate the sill beam assembly 4 to a certain theoretical angle, but rather to allow the clamping assembly to be connected to gradually establish contact and maintain contact with the current outer surface while the other clamping assembly continuously maintains the current posture of the sill beam assembly 4, thereby completing the in-situ constraint replacement.

[0057] like Figures 6 to 7As shown, the first clamping assembly 31 further includes a first body 312, a first pressure sensor, a second pressure sensor, a third pressure sensor, a first rotating member 314, a first pressing member 315, and a fourth pressure sensor. The first body 312 is fixedly disposed on the base 12, and two first grippers 311 are disposed opposite to each other on the first body 312, and can move closer or further apart from each other, forming a first clamping space 3111 between the two first grippers 311. The first pressure sensor is disposed on the side of the first body 312 facing the first clamping space 3111, with its pressure-sensing side facing the first clamping space 3111; the second pressure sensor and the third pressure sensor are respectively disposed on the opposite sides of the two first grippers 311, with their pressure-sensing sides both facing the first clamping space 3111. The first rotating member 314 is rotatably disposed on one of the two first grippers 311 and has a first pressing side 3141 facing the first clamping space 3111; the first pressing member 315 is rotatably disposed on the other of the two first grippers 311 and has a second pressing side 3151 facing the first clamping space 3111; the fourth pressure sensor is disposed on the second pressing side 3151 of the first pressing member 315, and its pressure-sensing side faces the first clamping space 3111.

[0058] The first clamping space 3111 is used to accommodate the first clamping area of ​​the sill beam assembly 4, and contracts or expands in the corresponding direction as the two first grippers 311 move closer or further apart. The first pressure sensor is used to reflect the lateral force state between the sill beam assembly 4 and the first body 312, and the second pressure sensor and the third pressure sensor are used to reflect the lateral clamping state between the sill beam assembly 4 and the two first grippers 311, respectively. The first pressing member 315 can change the orientation of the second pressing side 3151 relative to the current side of the sill beam assembly 4 by rotating itself, so as to establish contact adapted to the current posture when the sill beam assembly 4 is in an inclined intermediate posture.

[0059] The second clamping assembly 33 further includes a second body, a fifth pressure sensor, a sixth pressure sensor, a seventh pressure sensor, a second rotating member, a second pressing member, and an eighth pressure sensor. The second body is fixedly mounted on the guide member 322. Two second grippers 331 are disposed opposite to the second body and can move closer or further apart, forming a second clamping space between the two second grippers 331. The fifth pressure sensor is disposed on the side of the second body facing the second clamping space, with its pressure-sensing side facing the second clamping space. The sixth and seventh pressure sensors are respectively disposed on opposite sides of the two second grippers 331, with their pressure-sensing sides both facing the second clamping space. The second rotating member is rotatably disposed on one of the two second grippers 331 and has a third pressing side facing the second clamping space. The second pressing member is rotatably disposed on the other of the two second grippers 331 and has a fourth pressing side facing the second clamping space. The eighth pressure sensor is disposed on the fourth pressing side of the second pressing member, with its pressure-sensing side facing the second clamping space.

[0060] Since the second body is fixed to the guide member 322, the second clamping assembly 33 can move around the rotation axis with the guide member 322 after establishing a stable clamp. When the second clamping assembly 33 approaches the sill beam assembly 4, which is in the intermediate rotation posture, from the return position, the first clamping assembly 31 can continue to hold the sill beam assembly 4, and then the two second jaws 331, the second pressing member and the second rotating member can gradually establish a pressing state around the second clamping space, so that the second clamping assembly 33 can complete the reverse takeover according to the current posture of the sill beam assembly 4.

[0061] The pressure-sensing sides of the first pressure sensor, the second pressure sensor, the third pressure sensor, the first abutting side 3141 of the first rotating member 314, and the fourth pressure sensor are respectively oriented towards the first clamping space 3111 to jointly define the position of the sill beam assembly 4 within the first clamping space 3111; the pressure-sensing sides of the fifth pressure sensor, the sixth pressure sensor, the seventh pressure sensor, the third abutting side of the second rotating member, and the eighth pressure sensor are respectively oriented towards the second clamping space to jointly define the position of the sill beam assembly 4 within the second clamping space.

[0062] During the actual clamping process, the two first grippers 311 move closer to each other, and the first pressing member 315 and the first rotating member 314 rotate according to the current posture of the sill beam assembly 4. This allows multiple force-bearing positions to gradually move closer to the sill beam assembly 4 and establish multi-point pressure. The second clamping assembly 33 establishes multi-point pressure in a corresponding manner. The purpose of the above-mentioned multi-directional enclosure relationship is to maintain the current rotation posture of the sill beam assembly 4, rather than using the connecting pipe clamping assembly to recalibrate the sill beam assembly 4.

[0063] Pressure sensors are used to convert the contact and holding states between the clamping assembly and the sill beam assembly 4 into measurable signals. The fourth and eighth pressure sensors are particularly suitable for determining whether the corresponding rotatable clamping element has established contact with the current outer surface of the sill beam assembly 4. The pressure sensors on the body side and the gripper side can be used in conjunction with the clamping element side pressure to determine whether the corresponding clamping assembly has formed a multi-point force state sufficient to independently hold the sill beam assembly 4. During actual assembly and debugging, each pressure sensor should be zero-point calibrated, and corresponding contact and holding criteria should be established based on the force distribution under different sill beam cross-sections and different rotation angles.

[0064] It should be noted that the first clamping component 31 and the second clamping component 33 are completely identical in design structure in this embodiment. The only difference between them is the installation position. The first body 312 of the first clamping component 31 is fixedly installed on the base 12, and the second body of the second clamping component 33 is fixedly installed on the guide member 322.

[0065] It should be further explained that, Figure 4 and Figure 5 This is used to illustrate the basic connection relationship and rotational movement relationship between the second clamping assembly 33 and the guide assembly 32. Figure 6 and Figure 7 Based on the aforementioned basic structure, the adaptive clamping deepening structure described in Embodiments 4 and 5 is illustrated using the first clamping component 31 as an example. Since the deepening structure of the first clamping component 31 and the second clamping component 33 is the same, the corresponding deepening structure in the second clamping component 33 will not be repeated in the accompanying drawings; its specific structural relationship can be found by referring to... Figure 6 and Figure 7 The corresponding structure of the first clamping component 31 shown is understood; the difference between the second clamping component 33 and the first clamping component 31 is that its second body is fixedly disposed on the guide 322, while its first body 312 is fixedly disposed on the base 12.

[0066] As an optional implementation, an independent abutment end can be provided on the side of the body facing the clamping space, and a corresponding pressure sensor can be arranged between the abutment end and the body or on its force transmission path, so that the abutment end establishes an in-situ contact reference when it approaches the sill beam assembly 4 at a low speed. It should be noted that this optional abutment end is not a necessary structure, and the pressure sensor on the body side used in this application can also perform the corresponding contact or force detection function.

[0067] The measurement range of each pressure sensor can be selected based on the maximum normal holding force of the corresponding clamping assembly. Pressure sensors installed in different locations can have the same measurement range, or different ranges can be used depending on the expected force.

[0068] In this embodiment, since the first clamping assembly 31 and the second clamping assembly 33 are both equipped with multi-point pressure detection positions, rotatable rotating parts and pressing parts facing the corresponding clamping space, the two clamping assemblies can gradually form multi-directional pressure while the other clamping assembly continuously maintains the current posture of the sill beam assembly 4. Therefore, it effectively solves the problem that ordinary fixed jaws are prone to cornering, insufficient fit and pushing the sill beam assembly 4 off during the replacement process after the stepping rotation forms a non-right angle intermediate posture. As a result, the first clamping assembly 31 and the second clamping assembly 33 after returning to their original position can establish in-situ clamping according to the current rotation posture of the sill beam assembly 4, reducing the secondary disturbance of the established rotation angle and unified mechanical reference to the alternating pipe.

[0069] Example 5: Based on Example 4, this example further describes the specific driving and contact structure of the first rotating member 314, the first pressing member 315, the second rotating member, and the second pressing member, so as to realize the motion conversion from linear output of the telescopic member to adjustment of the pressing member's posture and final pressing. This structure is used to enable the rotatable pressing member to first establish contact according to the current posture of the sill beam assembly 4, and then obtain further pressing effect through the cooperation of the contact member and the contact groove.

[0070] like Figures 6 to 7 As shown, the first clamping assembly 31 further includes a first telescopic member 316, a second telescopic member 317, a first guide shaft 318, a first abutment member 319, and a third telescopic member 310. The first telescopic member 316 is rotatably mounted on a first gripper 311 equipped with a first rotating member 314, and its telescopic end is rotatably connected to the first rotating member 314 to drive the first rotating member 314 to rotate relative to the first gripper 311. The second telescopic member 317 is rotatably mounted on a first gripper 311 equipped with a first pressing member 315, and its telescopic end is rotatably connected to the first pressing member 315 to drive the first pressing member 315 to rotate relative to the first gripper 311. A first guide hole is provided at the end of the first rotating member 314 away from its rotatable connection with the first gripper 311. The first guide shaft 318 is movably inserted into the first guide hole along its own axial direction. The first abutment member 319 is connected to the first guide shaft 318 and located at the end of the first guide shaft 318 facing the first pressing member 315. The third telescopic member 310 is disposed on the first rotating member 314, and its telescopic end is connected to the first abutting member 319 to drive the first abutting member 319 to move along the axial direction of the first guide shaft 318 with the first guide shaft 318; the first pressing member 315 has a first abutting groove 3152 on the side away from the first clamping space 3111.

[0071] When the first rotating member 314 rotates to a position where the first abutting member 319 is opposite to the first abutting groove 3152, the third telescopic member 310 drives the first abutting member 319 to move toward the first abutting groove 3152, so that the first abutting member 319 at least partially enters the first abutting groove 3152 and abuts against the inner wall of the first abutting groove 3152, thereby applying a force to the first pressing member 315 to rotate toward the first clamping space 3111.

[0072] The two ends of the first telescopic member 316 are rotatably connected, allowing the first telescopic member 316 to adapt to changes in the included angle between its mounting points when it extends or shortens, and converting the telescopic displacement into the rotation of the first rotating member 314 relative to the corresponding first gripper 311. When the second telescopic member 317 is activated, it drives the first pressing member 315 to rotate relative to the corresponding first gripper 311, thereby changing the angle of the second pressing side 3151 of the first pressing member 315 toward the first clamping space 3111. When the sill beam assembly 4 is in a non-right-angle intermediate rotation posture, the second telescopic member 317 can be controlled to gradually turn the first pressing member 315 toward the current outer side of the sill beam assembly 4 until the fourth pressure sensor detects reliable contact.

[0073] The first guide hole and the first guide shaft 318 together restrict the main direction of movement of the first abutment 319 relative to the first rotating member 314, allowing the first abutment 319 to approach or move away from the first pressing member 315 along the axial direction of the first guide shaft 318. When the first abutment 319 continues to apply force to the inner wall of the first abutment groove 3152, this force generates a rotational torque at the rotational connection position of the first pressing member 315 relative to the first gripper 311, causing the first pressing member 315 to rotate further toward the first clamping space 3111. Thus, the second telescopic member 317 undertakes the active positioning and attitude pre-adjustment of the first pressing member 315, the first telescopic member 316 is used to make the first rotating member 314 and the first abutment 319 correspond to the first abutment groove 3152, and the third telescopic member 310 further applies a pressing action to the first pressing member 315 through the first abutment 319, constituting a phased action of first fitting, then alignment, and then pressurization.

[0074] The second clamping assembly 33 further includes a fourth telescopic member, a fifth telescopic member, a second guide shaft, a second abutment member, and a sixth telescopic member. The fourth telescopic member is rotatably mounted on the second jaw 331, which has a second rotating member, and its telescopic end is rotatably connected to the second rotating member to drive the second rotating member to rotate relative to the second jaw 331. The fifth telescopic member is rotatably mounted on the second jaw 331, which has a second pressing member, and its telescopic end is rotatably connected to the second pressing member to drive the second pressing member to rotate relative to the second jaw 331. A second guide hole is provided at the end of the second rotating member away from its rotatable connection with the second jaw 331. The second guide shaft is movably inserted into the second guide hole along its own axial direction. The second abutment member is connected to the second guide shaft and located at the end of the second guide shaft facing the second pressing member. The sixth telescopic member is mounted on the second rotating member, and its telescopic end is connected to the second abutment member to drive the second abutment member to move axially along the second guide shaft. A second abutment groove is provided on the side of the second pressing member away from the second clamping space.

[0075] When the second rotating member rotates to a position where the second abutting member is opposite to the second abutting groove, the sixth telescopic member drives the second abutting member to move toward the second abutting groove, so that the second abutting member at least partially enters the second abutting groove and abuts against the inner wall of the second abutting groove, thereby applying a force to the second pressing member to rotate toward the second clamping space.

[0076] The driving structure of the second clamping assembly 33 corresponds to that of the first clamping assembly 31. When the second clamping assembly 33 takes over the sill beam assembly 4, which is in the intermediate rotation posture, from the return position, the fifth telescopic member can first drive the second pressing member to rotate according to the current posture of the outer side of the sill beam, and the eighth pressure sensor can confirm the contact; then the fourth telescopic member drives the second rotating member to complete the alignment, and then the sixth telescopic member drives the second abutting member to apply further pressing force to the second pressing member through the second abutting groove, thereby ensuring that the alternating take-over in both directions can adapt to the current posture of the sill beam assembly 4.

[0077] In a preferred design, the adjustable swing range of the first clamping member 315 and the second clamping member can at least cover the typical non-right-angle rotation posture used in Embodiment 2. For example, the swing adaptation range of the clamping member relative to its mounting jaw can reach approximately ±45°, or through the design of specific link lengths, telescopic strokes, and abutment groove shapes, its effective adaptation range can cover preset rotation scenarios such as 30°, 45°, and 90°. The specific swing angle and telescopic stroke should be determined according to the cross-sectional shape of the sill beam assembly 4, the position of the clamping area, and the required clamping direction. The first abutment groove 3152 and the second abutment groove can be set as elongated grooves, arc-shaped abutment grooves, or other groove shapes that allow the abutment members to maintain stable contact during alignment and force application; the abutment members and the inner wall of the abutment groove can adopt rolling contact, low-friction sliding contact, or wear-resistant contact parts to reduce wear caused by multiple clamping cycles. The first telescopic member 316 to the sixth telescopic member can be a cylinder, an electric push rod, a servo linear actuator, or other actuators capable of providing controlled telescopic displacement.

[0078] In this embodiment, by employing a telescopic structure that separately drives the rotating component and the pressing component to rotate, and by utilizing a guide shaft, guide hole, abutment component, and abutment groove to convert the linear telescopic motion into the further swinging and pressing of the pressing component toward the clamping space, the problem of how to achieve controllable positioning, alignment, and pressure increase of the adjustable posture pressing component during non-right-angle replacement is effectively solved. This enables the first clamping assembly 31 and the second clamping assembly 33 to form a stable multi-point clamping that is compatible with the current outer surface of the sill beam assembly 4 under different intermediate rotation postures, and provides a clear mechanical execution basis for replacement confirmation and release interlock based on pressure detection.

[0079] Example 6: Based on the visual inspection equipment for the sill beam assembly 4 described in Embodiment 5, this embodiment provides a visual inspection method, such as... Figure 8 As shown. This method takes the threshold beam assembly 4 as a basic condition that it is not lowered and re-clamped during the entire multi-sided inspection process. Through fixed posture shooting, alternating in-situ rotation of the connecting pipe, reshooting the target posture, and unifying the coordinates of the detection data, it realizes continuous visual inspection between multiple surfaces to be inspected and judgment of the relative position across the sides.

[0080] Before implementing the detection method, the basic calibration of the detection equipment can be completed. First, the intrinsic parameters of each camera in the first camera detection group 22, the second camera detection group 23, and the third camera detection group 24 can be calibrated. Then, the extrinsic parameters of each camera can be calibrated using common three-dimensional calibration components arranged within the detection area, thereby establishing the conversion relationship between the detection results of each camera and the fixed coordinate reference of the frame 21. The coordinate system of the frame 21 can be denoted as ΣF, the coordinate system of the base 12 established by the execution end 11 base 12 can be denoted as ΣB, and the workpiece coordinate system established after the initial stable clamping of the sill beam assembly 4 can be denoted as ΣW. The position of the rotation axis in ΣB remains fixed; therefore, the spatial relationship of the sill beam assembly 4 after each rotation can be determined by the initial pose of ΣW relative to ΣB and the actual rotation angle. Furthermore, a fixed coordinate transformation relationship between the coordinate system ΣB of the base 12 and the coordinate system ΣF of the frame 21 can be established through common calibration components, the coordinate calibration of the actuator 1 itself, or known reference features set between the base 12 and the frame 21. After the threshold beam assembly 4 is initially stabilized, the initial pose of the workpiece coordinate system ΣW relative to the coordinate system ΣB of the base 12 can be determined based on the known positioning reference of the first clamping component 31 or the workpiece reference features measured visually.

[0081] Step S100: The first clamping component 31 clamps the sill beam assembly 4, and the sill beam assembly 4 is placed in a first detection posture and kept stationary. In the first detection posture, the first detection surface 41, the second detection surface 42, and the third detection surface 43 of the sill beam assembly 4 are respectively oriented towards the fixedly set first camera detection group 22, second camera detection group 23, and third camera detection group 24, and detection data of the structures to be detected on the first detection surface 41, the second detection surface 42, and the third detection surface 43 are respectively acquired.

[0082] In practice, the actuator 1 can deliver the sill beam assembly 4 into the three-way vision detection area. In the first detection posture, the length direction of the sill beam assembly 4 is consistent with or parallel to the first direction, and the first clamping component 31 maintains the initial clamping relationship of the sill beam assembly 4 relative to the base 12; the three camera detection groups can collect data simultaneously or in a preset order. Since the combined field of view of multiple cameras in the same detection group covers the corresponding detection area along the first direction, it is not necessary to drive the sill beam assembly 4 to scan continuously along the first direction.

[0083] In step S200, the second clamping component 33 clamps the sill beam assembly 4, and after the second clamping component 33 clamps the sill beam assembly 4, the first clamping component 31 releases the sill beam assembly 4.

[0084] During this takeover process, it is preferable to first confirm that the second clamping assembly 33 has established a clamping state capable of independently holding the sill beam assembly 4, and then release the first clamping assembly 31. When the clamping areas of the first clamping assembly 31 and the second clamping assembly 33 are staggered along the first direction, a brief overlapping clamping can be formed to reduce the risk of workpiece position changes at the moment of handover.

[0085] In step S300, the guide member 322, on which the second clamping assembly 33 is provided, is driven to move along an arc trajectory relative to the guide seat 321 fixed to the base 12, so that the second clamping assembly 33 drives the sill beam assembly 4 to rotate around a rotation axis. The rotation axis is fixed relative to the base 12, parallel to the length direction of the sill beam assembly 4, and passes through the interior of the sill beam assembly 4 when the sill beam assembly 4 is clamped.

[0086] During the indexing process, the second clamping assembly 33 maintains the spatial position of the sill beam assembly 4 relative to itself, so the sill beam assembly 4 mainly undergoes in-situ rotation around the rotation axis. The control system can provide the target indexing position according to the direction of the target surface to be detected, and control the guide 322 to move to the angle corresponding to the target indexing position.

[0087] In step S400, after the sill beam assembly 4 is rotated to the target rotation position, the first clamping component 31 clamps the sill beam assembly 4, and after the first clamping component 31 clamps the sill beam assembly 4, the second clamping component 33 releases the sill beam assembly 4.

[0088] For devices employing an adaptive clamping structure, the first clamping component 31 can be controlled to establish multi-point clamping according to the current rotation posture of the sill beam assembly 4, thus avoiding the need for the first clamping component 31 to recalibrate the angle of the sill beam assembly 4 during the replacement process. After release, the second clamping component 33 can return to its original position with the guide 322 or remain in a position that does not obstruct subsequent detection.

[0089] Step S500: Hold the sill beam assembly 4 at the target rotation position, and acquire detection data of the structure to be detected on the fourth surface to be detected 44 through at least one camera detection group among the first camera detection group 22, the second camera detection group 23 and the third camera detection group 24 that faces the fourth surface to be detected 44.

[0090] The combined field of view of multiple cameras in the corresponding camera detection group covers the detection area of ​​the fourth detection surface 44. Therefore, the detection of the fourth detection surface 44 can be completed by keeping the sill beam assembly 4 stationary at the target rotation position, and there is no need to scan along the first direction.

[0091] Step S600: Obtain the actual rotation angle of the threshold beam assembly 4 from the first detection posture to the target rotation position.

[0092] The actual rotation angle can be obtained by calibrating the motor 341 encoder, an independent angle detection device, or both. To avoid the difference between the theoretical command angle and the actual mechanical angle from being included in subsequent coordinate calculations, it is preferable to use the actual rotation angle after the clamping replacement is completed and save it as the angle value of the current detection posture.

[0093] Step S700: Based on the calibration relationship between the first camera detection group 22, the second camera detection group 23, and the third camera detection group 24 and the base 12, the initial clamping relationship of the sill beam assembly 4 relative to the base 12 in the first detection posture, and the actual rotation angle, the detection data obtained in the first detection posture and the target rotation position are converted to the same workpiece coordinate system of the sill beam assembly 4, and the relative positional relationship between the structures to be detected on different detection surfaces is determined.

[0094] Specifically, the hole position coordinates, standard part positions, local contour features or other measurement results detected by each camera can be converted to a unified frame 21 coordinate reference. Then, combined with the calibration relationship between the base 12 and the frame 21, the clamping relationship between the initial workpiece and the base 12, and the actual rotation angle around the fixed rotation axis, the corresponding position in the workpiece coordinate system of the sill beam assembly 4 can be calculated.

[0095] In a unified workpiece coordinate system, the relative positional relationships between structures to be inspected on different inspection surfaces can be determined. For example, the relative positions of holes on the first inspection surface 41 and standard parts on the fourth inspection surface 44 in the length and cross-sectional directions can be calculated. The three-dimensional spacing, included angle, or projected position between holes on adjacent inspection surfaces can also be calculated. Inspection data may also include the number of holes, hole coordinates, number of standard parts, standard part installation positions, local contours, missing parts, mis-installation, and other visually identifiable structural parameters. The measured cross-side relative position deviation can be denoted as Δ and compared with the allowable tolerance T in the corresponding vehicle model drawings or customer standards. For example, if |Δ|≤T, the corresponding positional requirements are considered met.

[0096] In one debugging implementation, the local visual recognition accuracy of a single camera can be selected and calibrated to be on the order of approximately 0.1 mm. The overall measurement error across cameras and across the surface to be inspected can be set at no more than approximately 0.2 mm as the system debugging target. The above values ​​are only used to illustrate the error budgeting method. The specific product qualification judgment should be based on the tolerances specified in the corresponding vehicle model drawings or customer standards, and is not uniformly limited by this embodiment.

[0097] Using the above method, the detection of the first three surfaces to be detected and the fourth surface to be detected 44 are all based on the same continuous clamping reference. The actual rotation angle transforms the mechanical rotation state into coordinate transformation parameters. The detection data of each camera is then mapped to a unified workpiece coordinate system through calibration relationships. This avoids the error of re-establishing the coordinate reference caused by re-clamping and transforms the continuity of the mechanical reference formed by the in-situ rotation mechanism into a quantifiable cross-side relative position detection capability.

[0098] Example 7: Based on Embodiment 6, this embodiment further defines steps S300 and S400 in Embodiment 6. This embodiment further describes a step-cumulative rotation method when the rotation angle achievable by the second clamping component 33 in a single operation is less than the target rotation angle required for the sill beam assembly 4 to reach the target rotation position, and a control method for the first clamping component 31 and the second clamping component 33 to adaptively take over control at intermediate rotation positions according to the current posture of the sill beam assembly 4. This method is particularly suitable for scenarios where small-angle segmented rotations of 30° or 45° are used due to space constraints imposed by the actuator 1, the frame 21, or the camera installation space.

[0099] Step S310: When the rotation angle of the second clamping component 33 driving the sill beam assembly 4 to rotate in a single operation is less than the target rotation angle required for the sill beam assembly 4 to reach the target rotation position, the second clamping component 33 drives the sill beam assembly 4 to rotate around the rotation axis to the intermediate rotation position.

[0100] The intermediate rotation position can be preset according to the avoidance path, the single arc stroke of the guide 322, or the direction of the target surface to be inspected. After the sill beam assembly 4 reaches this position, the second clamping component 33 does not release temporarily, but continues to maintain the current spatial attitude of the sill beam assembly 4, so that the first clamping component 31 can take over without changing this attitude.

[0101] Step S320: Maintain the clamping state of the second clamping component 33 on the sill beam assembly 4, and make the first clamping component 31 establish clamping according to the posture of the sill beam assembly 4 at the intermediate rotation position.

[0102] In step S321, when the second clamping component 33 holds the sill beam assembly 4 and the first clamping component 31 in a clamping state, the clamping state of the second clamping component 33 is maintained, and the two first grippers 311 are driven to move closer to each other.

[0103] As the two first grippers 311 approach each other, the first gripping space 3111 gradually contracts toward the sill beam assembly 4. This action is mainly used to form the envelope space and lateral limiting conditions required for the nozzle, without forcibly correcting the sill beam assembly 4 from its current intermediate rotation posture to other angles using the two first grippers 311.

[0104] Step S322: Drive the second telescopic member 317 to move, so that the first pressing member 315 rotates relative to the first gripper 311 on which the first pressing member 315 is located toward the sill beam assembly 4.

[0105] The first pressing member 315 adapts its posture before the first rotating member 314, so that it moves closer to the current outer side of the sill beam assembly 4, thereby avoiding the rigid clamping surface in the fixed direction from directly pushing the sill beam assembly 4 which is in the middle rotation posture.

[0106] Step S323: Obtain the detection value of the fourth pressure sensor. When the detection value of the fourth pressure sensor meets the preset contact conditions, keep the first pressure member 315 in contact with the sill beam assembly 4.

[0107] The fourth pressure sensor is located on the pressing side of the first pressing member 315 facing the first clamping space 3111. Its detection value is used to determine whether the first pressing member 315 has established reliable contact with the current outer surface of the sill beam assembly 4. The preset contact condition can be a contact threshold lower than the final holding condition. Its purpose is to confirm that the pressing member has contacted the workpiece, rather than to confirm that the first clamping assembly 31 has independent holding capability.

[0108] Step S324: Drive the first telescopic member 316 to move, so that the first rotating member 314 rotates relative to the first gripper 311 on which the first rotating member 314 is located to a preset position, and so that the first abutting member 319 is opposite to the first abutting groove 3152.

[0109] After the fourth pressure sensor confirms that the first pressure member 315 has established contact with the sill beam assembly 4, step S324 is executed. During the rotation of the first rotating member 314, the first abutting member 319 moves with the first rotating member 314 toward the position of the first abutting groove 3152. The detection value of the fourth pressure sensor is continuously monitored; when the detection value changes or increases relative to the holding value when the first pressure member 315 just established contact, the pressure change can be used as an auxiliary confirmation signal that the first abutting member 319 has formed initial contact with the inner wall of the first abutting groove 3152 and established initial force transmission.

[0110] In a preferred control method, after confirming in step S323 that the first pressing member 315 has established contact with the sill beam assembly 4, the detection value of the fourth pressure sensor at this time is recorded as the pressure reference value corresponding to the initial contact state; then step S324 is executed and the first rotating member 314 is driven to rotate, causing the first abutting member 319 to move closer to the first abutting groove 3152. During the rotation of the first rotating member 314, the detection value of the fourth pressure sensor is continuously acquired. When the detection value of the fourth pressure sensor changes relative to the pressure reference value to meet a preset change condition, it is determined that the first abutting member 319 has established initial contact with the inner wall of the first abutting groove 3152; only after confirming the initial contact can the third telescopic member 310 be controlled to move. Figure 6 and Figure 7 In the installation direction shown, the third telescopic member 310 performs a retraction action, causing the first abutting member 319 to further abut against the inner wall of the first abutting groove 3152 along the first guide shaft 318, thereby causing the first pressing member 315 to further press against the sill beam assembly 4.

[0111] The reason is that when the first abutting member 319 has not yet established contact with the inner wall of the first abutting groove 3152, the rotation of the first rotating member 314 is mainly used to change the position of the first abutting member 319 relative to the first abutting groove 3152, and the additional holding force applied to the first pressing member 315 is small. After the first abutting member 319 establishes contact with the inner wall of the first abutting groove 3152, the force generated by the continued movement of the first rotating member 314 can be transmitted to the first pressing member 315 through the first abutting member 319 and the first abutting groove 3152, causing a change in the holding force of the first pressing member 315 on the sill beam assembly 4. This change in holding force is further detected by the fourth pressure sensor. Therefore, the change in the detection value of the fourth pressure sensor relative to the initial contact state can be used to help determine whether the first abutting member 319 and the first abutting groove 3152 have established an initial force transmission.

[0112] Step S325: Drive the third telescopic member 310 so that the first abutting member 319 moves toward the first abutting groove 3152 and abuts against the inner wall of the first abutting groove 3152, so that the first pressing member 315 further presses the sill beam assembly 4.

[0113] Preferably, the third telescopic member 310 is driven to further move only after it is confirmed that the first abutting member 319 and the first abutting groove 3152 have formed an initial abutment. In one embodiment, the third telescopic member 310 can use a retraction action to drive the first abutting member 319 to further press against the inner wall of the first abutting groove 3152 along the axial direction of the first guide shaft 318; if the opposite installation direction is adopted, the same force application effect can also be achieved through an equivalent extension action. When the first abutting member 319 continues to apply force to the inner wall of the first abutting groove 3152, a rotational torque is generated at the rotational connection of the first pressing member 315 relative to the first clamping claw 311, so that the first pressing member 315 further presses the sill beam assembly 4 based on the current posture.

[0114] Step S326: Obtain the detection values ​​of the first pressure sensor, the second pressure sensor, the third pressure sensor, and the fourth pressure sensor.

[0115] The first pressure sensor, the second pressure sensor, the third pressure sensor, and the fourth pressure sensor respectively reflect the contact or clamping state of the first clamping assembly 31 at different force positions, which can be used to form a multi-point holding criterion to avoid inferring the clamping completion based solely on the gripper position signal.

[0116] Step S327: When the detection values ​​of the first pressure sensor, the second pressure sensor, the third pressure sensor and the fourth pressure sensor all meet their respective preset holding conditions, it is determined that the first clamping component 31 has established clamping, and the second clamping component 33 releases the sill beam assembly 4.

[0117] Each preset holding condition can be set individually or achieved through a combination of multiple detection values. A preset confirmation time can be continuously met to filter out transient shocks or pressure fluctuations. Step S327 embodies the interlocking principle of first confirming stable holding on the control side and then releasing on the original holding side.

[0118] Step S328: When the detection value of at least one of the first pressure sensor, the second pressure sensor, the third pressure sensor and the fourth pressure sensor does not meet the corresponding preset holding condition, the clamping state of the second clamping assembly 33 on the sill beam assembly 4 is maintained.

[0119] If any detected value fails to meet the corresponding holding condition, or if an abnormal drop occurs within the confirmation time, the second clamping component 33 will not initiate its return action to avoid losing workpiece constraint before the first clamping component 31 has formed a reliable independent holding.

[0120] Step S330: After confirming that the first clamping component 31 has established clamping, the second clamping component 33 releases the sill beam assembly 4 and returns to the starting position of the next rotation with the guide component 322.

[0121] During the return process, the first clamping component 31 maintains the intermediate rotation posture of the sill beam assembly 4, and the sill beam assembly 4 itself does not return with the second clamping component 33.

[0122] It should be noted that the release of the sill beam assembly 4 by the second clamping component 33 in step S327 is the same release action as the release of the sill beam assembly 4 by the second clamping component 33 in step S330. Step S327 defines the triggering condition of this release action from the perspective of pressure feedback pipe control, while step S330 describes the release action and the return process after release from the perspective of the overall process of step-cumulative indexing. It does not mean that the second clamping component 33 performs two release actions.

[0123] Step S340: Maintain the clamping state of the first clamping component 31 on the sill beam assembly 4, and make the second clamping component 33, after returning to its original position, re-establish clamping according to the posture of the sill beam assembly 4 at the intermediate rotation position.

[0124] In step S341, when the first clamping component 31 holds the sill beam assembly 4 and the second clamping component 33 re-establishes clamping after returning to its original position, the clamping state of the first clamping component 31 is maintained, and the two second grippers 331 are driven to move closer to each other.

[0125] When the two second grippers 331 approach each other, the second gripping space gradually contracts toward the sill beam assembly 4, providing conditions for the second clamping member to establish contact according to the current intermediate rotation posture, without using the two second grippers 331 to forcibly change the current posture held by the first gripping assembly 31.

[0126] Step S342: Drive the fifth telescopic member to move, so that the second pressing member rotates relative to the second gripper 331 with the second pressing member toward the sill beam assembly 4.

[0127] The second pressure component undergoes posture adaptation first, and then subsequent pressure testing confirms whether it makes contact with the current outer surface of the sill beam assembly 4.

[0128] Step S343: Obtain the detection value of the eighth pressure sensor. When the detection value of the eighth pressure sensor meets the preset contact conditions, keep the second pressure member in contact with the sill beam assembly 4.

[0129] The preset contact condition of the eighth pressure sensor is used to confirm that the second pressure member has contacted the sill beam assembly 4. Whether the first clamping assembly 31 is allowed to release ultimately depends on the subsequent fifth to eighth pressure sensors jointly meeting the holding condition.

[0130] Step S344: Drive the fourth telescopic member to rotate the second rotating member relative to the second gripper 331 with the second rotating member to a preset position, and make the second abutting member opposite to the second abutting groove.

[0131] After the eighth pressure sensor confirms that the second pressure member has established contact with the sill beam assembly 4, the rotation action is then performed. During the rotation of the second rotating member, the eighth pressure sensor is continuously monitored. When the detected value changes or increases relative to the initial contact holding value, it can be used as an auxiliary confirmation signal that the second abutting member has formed initial contact with the inner wall of the second abutting groove and established initial force transmission.

[0132] In a preferred control method, after confirming in step S343 that the second pressing member has established contact with the sill beam assembly 4, the detection value of the eighth pressure sensor at this time is recorded as the pressure reference value corresponding to the initial contact state; then step S344 is executed and the second rotating member is driven to rotate, causing the second abutting member to move closer to the second abutting groove. During the rotation of the second rotating member, the detection value of the eighth pressure sensor is continuously acquired. When the detection value of the eighth pressure sensor changes relative to the pressure reference value to meet a preset change condition, it is determined that the second abutting member has established initial contact with the inner wall of the second abutting groove; only after confirming the initial contact can the sixth telescopic member be controlled to move. In the second clamping assembly, a method using... Figure 7 In one embodiment corresponding to the installation direction of the first clamping assembly shown, the sixth telescopic member performs a retraction action, causing the second abutting member to further press against the inner wall of the second abutting groove along the second guide axis, thereby causing the second pressing member to further press against the sill beam assembly 4.

[0133] Similarly, before the second abutment member contacts the inner wall of the second abutment groove, the movement of the second rotating member is mainly used to adjust the position of the second abutment member; after the second abutment member establishes contact with the inner wall of the second abutment groove, the force can be transmitted to the second pressing member through the second abutment member and the second abutment groove, and change the pressing force of the second pressing member on the sill beam assembly 4. Therefore, the change of the value detected by the eighth pressure sensor relative to the initial contact state can be used to assist in confirming the initial force transmission state between the second abutment member and the second abutment groove.

[0134] Step S345: Drive the sixth telescopic member to move the second abutting member toward the second abutting groove and abut against the inner wall of the second abutting groove, so that the second pressing member further presses the sill beam assembly 4.

[0135] Preferably, the sixth telescopic member is driven to move further only after it is confirmed that the second abutting member has formed an initial abutment with the second abutting groove. In one embodiment, the sixth telescopic member can retract to make the second abutting member further press against the inner wall of the second abutting groove along the second guide shaft, thereby causing the second pressing member to rotate further toward the second clamping space and establish pressure.

[0136] Step S346: Obtain the detection values ​​of the fifth pressure sensor, the sixth pressure sensor, the seventh pressure sensor, and the eighth pressure sensor.

[0137] The fifth to eighth pressure sensors respectively reflect the contact or clamping state of the second clamping assembly 33 at different force positions, and are used to determine whether the second clamping assembly 33 has truly restored its independent holding capability after returning to its original position.

[0138] Step S347: When the detection values ​​of the fifth pressure sensor, the sixth pressure sensor, the seventh pressure sensor and the eighth pressure sensor all meet their respective preset holding conditions, it is determined that the second clamping component 33 has re-established clamping, so that the first clamping component 31 releases the sill beam assembly 4.

[0139] Steps S347 and S327 form a mirror control logic, both following the sequence of interlocking where the side preparing to take over first meets the holding condition and the original holding side releases it later.

[0140] Step S348: When the detection value of at least one of the fifth pressure sensor, the sixth pressure sensor, the seventh pressure sensor and the eighth pressure sensor does not meet the corresponding preset holding condition, the clamping state of the first clamping assembly 31 on the sill beam assembly 4 is maintained.

[0141] When the second clamping component 33 has not yet met the holding condition, the first clamping component 31 is not allowed to be released, thereby ensuring that the sill beam assembly 4 is always reliably held by at least one clamping component during the alternating take-off process.

[0142] Step S350: After confirming that the second clamping component 33 has re-established clamping, the first clamping component 31 releases the sill beam assembly 4.

[0143] Similarly, the release of the sill beam assembly 4 by the first clamping component 31 in step S347 is the same release action as the release of the sill beam assembly 4 by the first clamping component 31 in step S350. Step S347 defines the release permission conditions, and step S350 describes the handover result after the second clamping component 33 takes over again from the overall process of cumulative rotation. It does not mean that the first clamping component 31 repeats the release action.

[0144] In step S360, the guide member 322 is driven to move again, so that the second clamping assembly 33 continues to drive the sill beam assembly 4 to rotate around the rotation axis.

[0145] After the second clamping component 33 takes over and the first clamping component 31 is released, it can continue to drive the guide component 322 to rotate the sill beam assembly 4 to the next intermediate position or directly to the target position.

[0146] Step S370: Repeat the steps of the second clamping component 33 driving the sill beam assembly 4 to rotate to the next intermediate position, the first clamping component 31 establishing clamping, the second clamping component 33 returning to its original position and re-establishing clamping, and the first clamping component 31 releasing, until the sill beam assembly 4 reaches the target position.

[0147] It should be noted that, in the case of multiple step-cumulative rotation, the actual rotation angle of the sill beam assembly 4 from the first detection posture to the target rotation position in step S600 of Embodiment 6 is the directional cumulative value of the actual rotation angle of the sill beam assembly 4 during each effective rotation, rather than the single angular position of the guide member 322 relative to the base 12 at the end of the last rotation. Each time the second clamping component 33 drives the sill beam assembly 4 to complete one effective rotation, the control system records the actual rotation angle. During the process of the first clamping component 31 taking over the sill beam assembly 4 and the second clamping component 33 returning with the guide member 322, since the sill beam assembly 4 is kept stationary by the first clamping component 31, the return angle of the second clamping component 33 is not included in the actual rotation angle of the sill beam assembly 4. The control system obtains the cumulative actual rotation angle of the sill beam assembly 4 from the first detection posture to the target rotation position by directionally accumulating the actual rotation angle of each effective rotation, and uses the cumulative actual rotation angle as the angle parameter for coordinate transformation in step S700 of embodiment 6.

[0148] By repeating the above cycle, the cumulative rotation angle that meets the target rotation position requirement can be obtained even when the single arc stroke of the second clamping component 33 is limited. If the target total rotation angle is small or the single stroke of the mechanism is sufficient, multiple return-to-accumulation rotations can be omitted, and the second clamping component 33 can drive the sill beam assembly 4 to the target rotation position in one go. For sill beam assemblies 4 that are approximately perpendicular to adjacent surfaces to be inspected, a single rotation of approximately 90° can be used when space permits; when it is necessary to avoid the actuator 1, frame 21, or other equipment structures, a smaller rotation angle such as 30° or 45° can be used, and the target total rotation angle can be accumulated through the above cycle.

[0149] Throughout the entire step-by-step indexing and replacement process, the interlocking principle of "the currently held clamping component is only released after the clamping component to be taken over has confirmed stable clamping" should always be followed. This principle ensures that the sill beam assembly 4 is held by at least one clamping component at any stage of takeover, and uses pressure detection to convert the mechanical contact state into a verifiable control criterion, thereby avoiding the need to judge clamping completion solely based on the gripper position command.

[0150] Through the aforementioned step-by-step rotation and pressure feedback replacement method, a larger cumulative rotation angle can be obtained even with the limited single arc stroke of the second clamping component 33. This ensures that both the first clamping component 31 and the second clamping component 33 complete the takeover in the current posture of the sill beam assembly 4 during intermediate rotation. The entire control system forms a sequential interlock: "continuous holding on the holding side, initial fitting of the pressure member and confirmation of contact with the sill beam assembly 4 by the pressure sensor on the pressure member side, initial force transmission between the rotating component and the abutting component and the abutting groove by pressure changes on the pressure member side, further force application by the abutting telescopic component, multi-point pressure satisfying the holding conditions, and release of the original holding clamping component." This reduces the risk of secondary displacement or rotation of the sill beam assembly 4 during the replacement moment and maintains the continuous clamping reference upon which the cross-side coordinate association in Embodiment 6 depends.

[0151] The above description in this specification is merely illustrative of the invention. Those skilled in the art can make various modifications, additions, or similar substitutions to the described specific embodiments, as long as they do not depart from the spirit of the invention and do not exceed the scope of protection defined in the claims, all of which should fall within the scope of protection of this invention.

Claims

1. A visual inspection device for a sill beam assembly, used for visually inspecting a sill beam assembly, the sill beam assembly extending along a first direction and having a first inspection surface, a second inspection surface, a third inspection surface, and a fourth inspection surface arranged circumferentially, wherein the first inspection surface and the third inspection surface are arranged opposite to each other, and the second inspection surface and the fourth inspection surface are arranged opposite to each other, characterized in that, include: An actuator, including an execution end, wherein the execution end is provided with a base; A visual inspection assembly includes a frame and a first camera detection group, a second camera detection group, and a third camera detection group fixedly mounted on the frame. The first camera detection group and the third camera detection group are located on opposite sides of a detection area, and their detection directions are opposite to each other. The second camera detection group is located on the other side of the detection area, distinct from the opposite sides, and its detection direction intersects with the detection directions of the first camera detection group and the third camera detection group. Furthermore, when the sill beam assembly is in a first detection posture, the first surface to be inspected, the second surface to be inspected, and the third surface to be inspected face towards the first camera detection group, the second camera detection group, and the third camera detection group, respectively. A clamping mechanism, disposed on the base, includes: The first clamping assembly is fixedly disposed on the base; The guide assembly includes a guide seat fixedly disposed on the base and a guide member that guides and cooperates with the guide seat. The guide member has a circular arc trajectory relative to the guide seat. The plane of the circular arc trajectory is perpendicular to a rotation axis, and the center of the circle corresponding to the circular arc trajectory is located on the rotation axis. The second clamping assembly is fixedly disposed on the guide member. In the clamping state, the second clamping assembly limits the spatial position of the sill beam assembly relative to the second clamping assembly, so that the sill beam assembly rotates with the guide member about the rotation axis. A rotation drive mechanism is connected to the guide member in a transmission manner to drive the guide member to move relative to the guide seat; The rotation axis is fixed relative to the base and parallel to the first direction, and passes through the interior of the sill beam assembly when the sill beam assembly is clamped by the clamping mechanism. The first clamping assembly and the second clamping assembly each have a clamping state and a released state, and are configured to alternately clamp the sill beam assembly, such that when the second clamping assembly clamps and the first clamping assembly releases, it drives the sill beam assembly to rotate around the rotation axis, and the first clamping assembly clamps the sill beam assembly after the sill beam assembly rotates to the target rotation position, and the second clamping assembly releases the sill beam assembly and returns to its original position with the guide member; At the target rotation position, the fourth surface to be detected faces at least one of the first camera detection group, the second camera detection group, and the third camera detection group, and is within the detection range of the at least one camera detection group.

2. The visual inspection equipment for the sill beam assembly according to claim 1, characterized in that: The frame has a first mounting surface, a second mounting surface, and a third mounting surface. The first mounting surface and the third mounting surface are disposed opposite to each other, and the second mounting surface intersects with both the first and third mounting surfaces. The first camera detection group, the second camera detection group, and the third camera detection group are respectively disposed on the first mounting surface, the second mounting surface, and the third mounting surface. Each of the first camera detection group, the second camera detection group, and the third camera detection group includes a plurality of cameras arranged sequentially along the first direction. Specifically, in the first detection posture, the union of the fields of view of multiple cameras in the first camera detection group in the first direction covers the detection area of ​​the first detection surface; the union of the fields of view of multiple cameras in the second camera detection group in the first direction covers the detection area of ​​the second detection surface; the union of the fields of view of multiple cameras in the third camera detection group in the first direction covers the detection area of ​​the third detection surface; and, at the target rotation position, the union of the fields of view of multiple cameras facing the fourth detection surface in the first direction covers the detection area of ​​the fourth detection surface.

3. The visual inspection equipment for the sill beam assembly according to claim 1, characterized in that, The guide seat is provided with at least one arc guide portion, which extends along the arc trajectory; the guide member is provided with at least one mating portion that guides and cooperates with the arc guide portion, and the center of each arc guide portion is located on the rotation axis; an axial limiting portion is also provided between the guide seat and the guide member to restrict the movement of the guide member along the extension direction of the rotation axis.

4. The visual inspection equipment for the sill beam assembly according to claim 3, characterized in that: The guide seat has an arcuate groove extending along at least one of the arcuate guide portions, and a portion of the guide member extends into the guide seat through the arcuate groove; The indexing drive mechanism includes a motor, a synchronous belt, multiple guide rollers, and connecting components; Each of the guide rollers defines the timing belt as a transmission path extending along the arcuate groove; the connector connects the portion of the guide member extending into the guide seat to the timing belt, so that the timing belt drives the guide member to move along the arcuate trajectory; The visual inspection equipment for the sill beam assembly also includes an angle detection element configured to acquire the actual rotation angle of the guide relative to the base about the rotation axis.

5. The visual inspection equipment for the sill beam assembly according to claim 1, characterized in that, The first clamping component includes two first clamping jaws arranged opposite each other, and the second clamping component includes two second clamping jaws arranged opposite each other; the first clamping component and the second clamping component are spaced apart along the first direction, so that the first clamping area corresponding to the two first clamping jaws and the second clamping area corresponding to the two second clamping jaws are staggered along the first direction; at least one of the first clamping jaws and the second clamping jaws has a clamping surface adapted to the partial outer contour of the sill beam assembly.

6. The visual inspection equipment for the sill beam assembly according to claim 5, characterized in that: The first clamping component further includes: A first body is fixedly disposed on the base, and two first grippers are disposed opposite to each other on the first body and can move closer or further away from each other, forming a first clamping space between the two first grippers; A first pressure sensor is disposed on the side of the first body facing the first clamping space, with the pressure-sensing side of the first pressure sensor facing the first clamping space; The second pressure sensor and the third pressure sensor are respectively disposed on the opposite side of the two first grippers, and the pressure-sensing sides of the second pressure sensor and the third pressure sensor are both facing the first clamping space; A first rotating member is rotatably disposed in one of the two first grippers, and the first rotating member has a first pressing side facing the first clamping space; A first pressing member is rotatably disposed on the other of the two first grippers, the first pressing member having a second pressing side facing the first clamping space; A fourth pressure sensor is disposed on the second pressing side of the first pressure member, with the pressure-sensing side of the fourth pressure sensor facing the first clamping space; The second clamping assembly further includes: The second body is fixedly disposed on the guide member, and the two second claws are disposed opposite to each other on the second body and can move closer or further away from each other, forming a second clamping space between the two second claws; A fifth pressure sensor is disposed on the side of the second body facing the second clamping space, with the pressure-sensing side of the fifth pressure sensor facing the second clamping space; The sixth pressure sensor and the seventh pressure sensor are respectively disposed on the opposite side of the two second grippers, and the pressure-sensing sides of the sixth pressure sensor and the seventh pressure sensor both face the second clamping space; The second rotating member is rotatably disposed in one of the two second jaws, and the second rotating member has a third pressing side facing the second clamping space; The second pressure member is rotatably disposed on the other of the two second jaws, and the second pressure member has a fourth pressing side facing the second clamping space; An eighth pressure sensor is disposed on the fourth pressing side of the second pressure member, with the pressure-sensing side of the eighth pressure sensor facing the second clamping space; The pressure-sensing side of the first pressure sensor, the pressure-sensing side of the second pressure sensor, the pressure-sensing side of the third pressure sensor, the first pressing side of the first rotating member, and the pressure-sensing side of the fourth pressure sensor are respectively facing the first clamping space to jointly define the position of the sill beam assembly within the first clamping space. The pressure-sensing sides of the fifth pressure sensor, the sixth pressure sensor, the seventh pressure sensor, the third abutting side of the second rotating member, and the eighth pressure sensor are respectively oriented towards the second clamping space to jointly define the position of the sill beam assembly within the second clamping space.

7. The visual inspection equipment for the sill beam assembly according to claim 6, characterized in that: The first clamping component further includes: A first telescopic member is rotatably disposed on the first gripper provided with the first rotating member. The telescopic end of the first telescopic member is rotatably connected to the first rotating member to drive the first rotating member to rotate relative to the first gripper. The second telescopic member is rotatably disposed on the first gripper where the first pressure member is provided. The telescopic end of the second telescopic member is rotatably connected to the first pressure member to drive the first pressure member to rotate relative to the first gripper. The first guide shaft and the first abutting member, the first rotating member has a first guide hole at the end away from the rotatable connection with the first gripper, the first guide shaft is movably inserted into the first guide hole along its own axis, and the first abutting member is connected to the first guide shaft and located at the end of the first guide shaft facing the first pressing member; A third telescopic member is disposed on the first rotating member. The telescopic end of the third telescopic member is connected to the first abutting member to drive the first abutting member to move axially along the first guide shaft. The first pressing member has a first abutment groove on the side away from the first clamping space; The second clamping assembly further includes: The fourth telescopic member is rotatably disposed on the second gripper where the second rotating member is provided. The telescopic end of the fourth telescopic member is rotatably connected to the second rotating member to drive the second rotating member to rotate relative to the second gripper. The fifth telescopic member is rotatably disposed on the second gripper where the second pressure member is provided. The telescopic end of the fifth telescopic member is rotatably connected to the second pressure member to drive the second pressure member to rotate relative to the second gripper. The second guide shaft and the second abutment are provided. The second rotating member has a second guide hole at one end away from the rotatable connection point with the second gripper. The second guide shaft is movably inserted into the second guide hole along its own axial direction. The second abutment is connected to the second guide shaft and is located at one end of the second guide shaft facing the second pressure member. A sixth telescopic member is disposed on the second rotating member. The telescopic end of the sixth telescopic member is connected to the second abutting member to drive the second abutting member to move axially along the second guide shaft. The second pressing member has a second abutment groove on the side away from the second clamping space; Wherein, after the first rotating member rotates to a position where the first abutting member is opposite to the first abutting groove, the third telescopic member drives the first abutting member to move toward the first abutting groove, so that the first abutting member at least partially enters the first abutting groove and abuts against the inner wall of the first abutting groove, thereby applying a force to the first pressing member to rotate toward the first clamping space. After the second rotating member rotates to a position where the second abutting member is opposite to the second abutting groove, the sixth telescopic member drives the second abutting member to move toward the second abutting groove, so that the second abutting member at least partially enters the second abutting groove and abuts against the inner wall of the second abutting groove, thereby applying a force to the second pressing member to rotate toward the second clamping space.

8. A visual inspection method for a sill beam assembly visual inspection device as described in claim 7, characterized in that, include: The first clamping component clamps the sill beam assembly and places the sill beam assembly in a first detection posture and keeps it stationary. In the first detection posture, the first, second, and third detection surfaces of the sill beam assembly are respectively oriented toward the fixed first, second, and third camera detection groups, and detection data of the structures to be detected on the first, second, and third detection surfaces are respectively acquired. The second clamping assembly clamps the sill beam assembly, and after the second clamping assembly clamps the sill beam assembly, the first clamping assembly releases the sill beam assembly. The guide member with the second clamping assembly is driven to move along an arc trajectory relative to the guide seat fixed to the base, so that the second clamping assembly drives the sill beam assembly to rotate around the rotation axis. The rotation axis is fixed relative to the base, parallel to the length direction of the sill beam assembly, and passes through the interior of the sill beam assembly when the sill beam assembly is clamped. After the sill beam assembly is rotated to the target rotation position, the first clamping assembly clamps the sill beam assembly, and after the first clamping assembly clamps the sill beam assembly, the second clamping assembly releases the sill beam assembly. The threshold beam assembly is kept at the target rotation position, and the detection data of the structure to be detected on the fourth surface to be detected is obtained by at least one camera detection group among the first camera detection group, the second camera detection group and the third camera detection group that faces the fourth surface to be detected. Obtain the actual rotation angle of the sill beam assembly from the first detection posture to the target rotation position; Based on the calibration relationship between the first camera detection group, the second camera detection group, the third camera detection group and the base, the initial clamping relationship of the sill beam assembly relative to the base in the first detection posture, and the actual rotation angle, the detection data obtained in the first detection posture and the target rotation position are converted to the same sill beam assembly workpiece coordinate system, and the relative positional relationship between the structures to be detected located on different surfaces to be detected is determined.

9. The visual inspection method for the sill beam assembly according to claim 8, characterized in that: When the rotation angle of the second clamping component that drives the sill beam assembly to rotate in a single operation is less than the target rotation angle required for the sill beam assembly to reach the target rotation position: The second clamping assembly causes the sill beam assembly to rotate around the rotation axis to the intermediate rotation position; Maintain the clamping state of the second clamping component on the sill beam assembly, and make the first clamping component establish clamping according to the posture of the sill beam assembly at the intermediate rotation position; After confirming that the first clamping component has established clamping, the second clamping component releases the sill beam assembly and returns to the starting position of the next rotation along with the guide member; Maintain the clamping state of the first clamping component on the sill beam assembly, and allow the second clamping component, after returning to its original position, to re-establish clamping according to the posture of the sill beam assembly at the intermediate rotation position; After confirming that the second clamping component has re-established clamping, the first clamping component releases the sill beam assembly; The guide member is driven to move again, so that the second clamping assembly continues to drive the sill beam assembly to rotate around the rotation axis; Repeat the steps of the second clamping component driving the sill beam assembly to the next intermediate rotation position, the first clamping component establishing clamping, the second clamping component returning to its original position and re-establishing clamping, and the first clamping component releasing, until the sill beam assembly reaches the target rotation position.

10. The visual inspection method for the sill beam assembly according to claim 9, characterized in that, The first clamping assembly and the second clamping assembly establish clamping according to the posture of the sill beam assembly at the intermediate rotation position, including: When the sill beam assembly is held in place by the second clamping assembly and the first clamping assembly is clamped together: Maintain the clamping state of the second clamping component and drive the two first grippers to move closer to each other; Drive the second telescopic member to move, causing the first pressing member to rotate relative to the first gripper with the first pressing member on it toward the sill beam assembly; The detection value of the fourth pressure sensor is obtained, and when the detection value of the fourth pressure sensor meets the preset contact conditions, the first pressure member is kept in contact with the sill beam assembly. Drive the first telescopic member to move, so that the first rotating member rotates relative to the first gripper with the first rotating member to a preset position, and so that the first abutting member is opposite to the first abutting groove. Drive the third telescopic member to move the first abutting member toward the first abutting groove and abut against the inner wall of the first abutting groove, so that the first pressing member further presses the sill beam assembly; Acquire the detection values ​​of the first pressure sensor, the second pressure sensor, the third pressure sensor, and the fourth pressure sensor; When the detection values ​​of the first pressure sensor, the second pressure sensor, the third pressure sensor and the fourth pressure sensor all meet their respective preset holding conditions, it is determined that the first clamping assembly has established a clamp, and the second clamping assembly releases the sill beam assembly. When the second clamping component re-establishes clamping after the first clamping component holds the sill beam assembly and returns to its original position: Maintain the clamping state of the first clamping component and drive the two second grippers to move closer to each other; Drive the fifth telescopic member to move, causing the second pressing member to rotate relative to the second gripper with the second pressing member on it toward the sill beam assembly; The detection value of the eighth pressure sensor is obtained, and when the detection value of the eighth pressure sensor meets the preset contact conditions, the second pressure member is kept in contact with the sill beam assembly. Drive the fourth telescopic member to move, so that the second rotating member rotates relative to the second gripper with the second rotating member to a preset position, and so that the second abutting member is opposite to the second abutting groove; Drive the sixth telescopic member to move the second abutting member toward the second abutting groove and abut against the inner wall of the second abutting groove, so that the second pressing member further presses the sill beam assembly; Acquire the detection values ​​of the fifth pressure sensor, the sixth pressure sensor, the seventh pressure sensor, and the eighth pressure sensor; When the detection values ​​of the fifth pressure sensor, the sixth pressure sensor, the seventh pressure sensor and the eighth pressure sensor all meet their respective preset holding conditions, it is determined that the second clamping assembly has re-established clamping, and the first clamping assembly releases the sill beam assembly; When the detection value of at least one of the first pressure sensor, the second pressure sensor, the third pressure sensor and the fourth pressure sensor does not meet the corresponding preset holding condition, the clamping state of the second clamping assembly on the sill beam assembly is maintained. When the detection value of at least one of the fifth pressure sensor, the sixth pressure sensor, the seventh pressure sensor, and the eighth pressure sensor does not meet the corresponding preset holding condition, the clamping state of the first clamping assembly on the sill beam assembly is maintained.

Images