AI robot vision-guided automobile door panel automatic assembly welding flexible production line

Abstract

The application discloses an AI robot vision-guided automobile door panel automatic assembly welding flexible production line, which comprises a transmission mechanism, a lifting die changing mechanism, a multi-point welding mechanism, a six-axis welding mechanism and a screw driving mechanism. A plurality of transmission mechanisms are connected to form a material transmission channel, and double-layer reverse transmission assemblies of the transmission mechanisms respectively constitute an upper material feeding channel and a lower material feeding channel; the lifting die changing mechanism is arranged at both ends of the channel and can complete die butt joint and die changing. The welding assembly of the multi-point welding mechanism can slide in multiple directions, and the welding head can rotate. The six-axis welding mechanism is suitable for special-shaped welding seams. The screw driving mechanism realizes automatic screw assembly. The production line can complete integrated operations such as welding, screw driving and die changing, can flexibly switch multiple welding processes, can also expand processes such as buckle assembly, overcomes the defects of process solidification of traditional production lines, considers batch production and flexible production, improves processing precision and production efficiency, reduces production cost, and is suitable for large-scale production of multiple types of automobile door panels.

Description

Technical Field

[0001] This invention relates to the field of automotive component processing technology, and in particular to a flexible production line for automated assembly and welding of automotive door panels guided by AI robot vision. Background Technology

[0002] As a core component of the vehicle body, the door panel's processing precision and assembly stability directly determine the overall vehicle performance and appearance quality. In the standardized processing flow of automotive door panels, the components to be processed must sequentially complete multiple core processes, including barcode scanning and filing, welding, screw tightening, demolding and material distribution, and double-sided quality inspection. The orderly connection of these processes is fundamental to ensuring the consistency and pass rate of door panel processing.

[0003] Meanwhile, for different car models and configurations of door panels, the processing technology has differentiated adaptation requirements based on actual assembly and usage needs. Specifically, different specifications of door panels have different welding stress and forming requirements, requiring flexible switching of welding methods; some special models of door panels require additional adaptation processing steps such as snap-fit ​​installation and auxiliary positioning reinforcement to improve assembly sealing and structural robustness, in order to meet the production standards of different products.

[0004] Currently, most automotive door panel processing production lines in the industry are fixed, dedicated production lines. Their process layout, processing equipment, and process parameters are all designed for a single product, resulting in a rigid overall structure and extremely poor adjustability. Traditional production lines can only adapt to fixed processes and fixed door panel models, and cannot flexibly switch welding modes according to product process requirements, nor do they support the flexible addition or removal of adaptive processes such as clip installation within standardized processes.

[0005] The existing technical solutions have many shortcomings: First, the production line lacks versatility and adaptability. To meet the production needs of automotive door panels with multiple categories and processes, multiple dedicated production lines need to be built, resulting in high equipment investment costs and large space occupation. Second, process adjustment requires manual breakdown of processes, equipment replacement, and parameter readjustment, making the production process cumbersome, with poor process continuity, which easily leads to processing errors and a decrease in product qualification rate. Third, it cannot achieve integrated flexible production of the entire process, including barcode scanning, welding, fastener installation, demolding and material distribution, and double-sided inspection, resulting in low production efficiency and difficulty in adapting to the market production needs of batch differentiation. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the defects of the existing technology, such as fixed production lines, poor versatility, inconvenient process adjustment, and low production efficiency, and to provide an AI robot vision-guided automated assembly and welding flexible production line for automobile door panels.

[0007] To address the aforementioned technical problems, this invention provides an AI robot vision-guided automated assembly and welding flexible production line for automotive door panels. The line includes two lifting and mold-changing mechanisms, a multi-point welding mechanism, a six-axis welding mechanism, a screw-driving mechanism, and multiple transmission mechanisms. These transmission mechanisms are sequentially connected end-to-end to form a material transmission channel. Each transmission mechanism corresponds to one of the multi-point welding mechanisms, the six-axis welding mechanism, and the screw-driving mechanism. The two lifting and mold-changing mechanisms are respectively connected to both ends of the material transmission channel. Each transmission mechanism includes two transmission components spaced apart along its height, with opposite transmission directions. The upper transmission components form an loading transmission channel, and the lower transmission components form an unloading transmission channel. The lifting and mold-changing mechanisms... The system includes a lifting assembly and a mold transfer module, the mold transfer module being mounted on the lifting assembly to connect to the loading or unloading transfer channel; a multi-point welding mechanism including a first welding frame and multiple welding components, any one of which is slidably connected to the first welding frame in a horizontal and / or vertical direction, and has a welding head capable of rotating around its central axis; a six-axis welding mechanism including a second welding frame and a six-axis robot, the six-axis robot being mounted on the second welding frame, and its moving end being connected to a second welding head; and a screw-driving mechanism including a screw-driving machine platform, a screw loading platform, a screw-driving robot, and a screw gun, the screw loading platform being located on one side of the screw-driving machine platform, the screw-driving robot being mounted on the screw-driving machine platform, and the screw gun being connected to the moving end of the screw-driving robot.

[0008] In one embodiment of the present invention, the transmission mechanism includes a transmission frame, the transmission component is disposed in the transmission frame, the transmission component further includes a transmission driver, a transmission roller assembly and a check valve, the power output end of the transmission driver is connected to the transmission roller assembly, the material to be transmitted is supported on the transmission roller assembly, and the check valve is disposed at the discharge end of the transmission roller assembly.

[0009] In one embodiment of the present invention, the transmission mechanism further includes a support assembly, which includes a support rail, a guide carriage, and a support plate. The support rail is connected to the transmission frame and extends along the transmission direction. The guide carriage is slidably connected to the support rail and is provided with a guide ramp and a guide sleeve. The guide ramp is configured as a slope structure that is inclined along the height direction in the moving direction of the guide carriage. The guide sleeve is arranged in the vertical direction. The bottom surface of the support plate is provided with a guide post and a guide pulley. The guide pulley can move along the guide ramp to drive the support plate to rise and fall. The guide post passes through the guide sleeve.

[0010] In one embodiment of the present invention, the lifting and mold changing mechanism further includes a mold changing frame, the mold changing frame is provided with a mold changing vehicle interface, the lifting component includes a lifting rail, a lifting drive module and a lifting plate, the lifting rail is disposed on the mold changing frame and extends in the vertical direction, the lifting plate is connected to the power output end of the lifting drive module and is slidably connected to the lifting rail, and the mold transfer module is disposed on the lifting plate.

[0011] In one embodiment of the present invention, the multi-point welding mechanism further includes a first horizontal rail, a first carriage, a second horizontal rail, and a second carriage. The first horizontal rail extends along the width direction of the material conveying channel and is connected to the first welding frame. The first carriage is slidably connected to the first horizontal rail. The second horizontal rail is disposed on the first carriage and extends along the length direction of the material conveying channel. The second carriage is slidably connected to the second horizontal rail. The second carriage is provided with a lifting module extending in a vertical direction, and the welding assembly is connected to the lifting module.

[0012] In one embodiment of the present invention, the first welding frame is provided with a plurality of first tool magazines, and the plurality of first tool magazines are arranged one-to-one with a plurality of welding components. Each first tool magazine can buffer a plurality of first welding heads of different types. The welding components further include a rotary driver and a quick-change plate. The rotary driver is slidably connected to the lifting module, and the quick-change plate is connected to the power output end of the rotary driver. The first welding head is detachably connected to the quick-change plate. The six-axis welding mechanism further includes a second tool magazine, which is disposed on one side of the second welding frame and can buffer a plurality of second welding heads of different types.

[0013] In one embodiment of the present invention, the screw-driving robot includes an assembly plate and a telescopic track. The assembly plate is located at the moving end of the screw-driving robot, the telescopic track is disposed on the assembly plate, and the screw gun is slidably connected to the telescopic track. The screw-driving mechanism includes a visual positioning camera and a balancer. The visual positioning camera is connected to one end of the assembly plate and is arranged in the same direction as the screw gun. The balancer is connected to the screw-driving robot.

[0014] In one embodiment of the present invention, the AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels further includes a hot riveting welding mechanism. The hot riveting welding mechanism is detachably disposed in the material transfer channel and includes a third welding frame, a hot riveting welding guide rail, a pressure plate driver, and a hot riveting pressure plate. The third welding frame is provided with a transfer mechanism inside. The hot riveting welding guide rail is disposed inside the third welding frame and extends in a vertical direction. The pressure plate driver is disposed on the third welding frame and connected to the hot riveting pressure plate to drive the hot riveting pressure plate to slide and connect to the hot riveting welding guide rail.

[0015] In one embodiment of the present invention, the AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels further includes a snap-fit ​​assembly mechanism. The snap-fit ​​assembly mechanism is detachably disposed in the material transfer channel and includes an assembly robot, a snap-fit ​​vibrating plate, and a snap-fit ​​assembly machine. The snap-fit ​​assembly machine is disposed on one side of the transfer mechanism, the assembly robot is disposed on the snap-fit ​​assembly machine and is provided with snap-fit ​​grippers, and the snap-fit ​​vibrating plate is connected to one side of the snap-fit ​​assembly machine.

[0016] In one embodiment of the present invention, the AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels further includes at least one assembly station, a top surface inspection station, a bottom surface inspection station, and a material unloading line. The assembly station is located at the loading end of the transmission mechanism. The top surface inspection station, the bottom surface inspection station, and the material unloading line are sequentially connected to the unloading end of the transmission mechanism. The material unloading line includes a good product unloading belt and an NG unloading belt, which are respectively transported relative to each other along the width direction of the material transmission channel.

[0017] The technical solution of the present invention has the following advantages over the prior art: The AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels described in this invention constructs a complete material transfer channel by using multiple sets of interconnected transmission mechanisms, and coordinates with lifting and mold-changing mechanisms at both ends. It also integrates multi-point welding mechanisms, six-axis welding mechanisms, and screw-driving mechanisms, realizing integrated automated production of the entire process of automotive door panel scanning, welding, screw-driving, mold changing, material sorting and inspection. This effectively solves the problems of rigid processes and poor adaptability in traditional fixed production lines.

[0018] In this solution, the transmission mechanism adopts upper and lower double-layer reverse transmission components to form a feeding transmission channel and a discharging transmission channel respectively. With the lifting component of the lifting and mold changing mechanism and the mold transmission module, different transmission channels can be flexibly connected to realize automatic mold changing, feeding and recycling of door panel workpieces and molds, which greatly improves the continuity and automation of material flow in the production line and avoids process interruption and efficiency loss caused by manual mold changing and transfer.

[0019] Meanwhile, the welding components of the multi-point welding mechanism can be flexibly adjusted in the horizontal and vertical directions, and the welding head can rotate. With the independently set six-axis robot welding mechanism, it can flexibly switch between multi-point regular welding and six-axis flexible irregular welding modes according to the processing requirements of different car door panels. It is compatible with various welding processes such as spot welding, full welding, and intermittent welding, and can meet the welding processing requirements of different structures and specifications of car door panels. The process adjustment is extremely flexible.

[0020] The integrated automated screw-driving mechanism, through the coordinated operation of a screw loading platform, a screw-driving robot, and a screw gun, achieves automated and precise screw assembly, further enhancing the integrated processing capabilities of the production line. It can be flexibly integrated with compatible processes such as snap-fit ​​installation and reinforcement welding according to production needs, without requiring the disassembly of the production line or equipment replacement. The overall structure of this production line is compact and rationally designed, combining standardized mass production with differentiated flexible processing capabilities. It effectively avoids the drawbacks of traditional production lines, such as the need for multi-line adaptation, high equipment investment costs, cumbersome manual debugging, and inconsistent processing accuracy. It significantly improves the processing accuracy, production efficiency, and product qualification rate of automotive door panel assembly and welding, greatly reducing production and maintenance costs. It effectively meets the large-scale flexible production needs of multi-category, multi-process automotive door panels, demonstrating strong versatility and practicality. Attached Figure Description

[0021] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0022] Figure 1 This is a schematic diagram of the structural distribution of a flexible production line for automated assembly and welding of automotive door panels guided by AI robots, as described in a preferred embodiment of the present invention. Figure 2 yes Figure 1 The diagram shows a three-dimensional structure of the lifting and mold changing mechanism in a flexible production line for automated assembly and welding of automotive door panels, guided by AI robot vision. Figure 3 yes Figure 1 The diagram shows a three-dimensional structural schematic of the transmission mechanism in a flexible production line for automated assembly and welding of automotive door panels, guided by an AI robot's vision. Figure 4 yes Figure 3 Enlarged structural diagram at point A in the middle; Figure 5 yes Figure 1 The diagram shows a three-dimensional structure of a multi-point welding mechanism in a flexible production line for automated assembly and welding of automotive door panels, guided by an AI robot's vision. Figure 6 yes Figure 5 Enlarged structural diagram at point B; Figure 7 yes Figure 1 The diagram shows a three-dimensional structure of a six-axis welding mechanism in a flexible production line for automated assembly and welding of automotive door panels, guided by an AI robot's vision. Figure 8 This is a three-dimensional structural diagram of the hot riveting welding mechanism in an AI robot vision-guided automated assembly and welding flexible production line for automotive door panels. Figure 9 yes Figure 1 The diagram shows a three-dimensional structure of the screw-driving mechanism in a flexible production line for automated assembly and welding of automotive door panels, guided by an AI robot's vision. Figure 10 yes Figure 9 Enlarged structural diagram at point C; Figure 11 This is a three-dimensional structural diagram of the snap-fit ​​assembly mechanism in an AI robot vision-guided automated assembly and welding flexible production line for automotive door panels.

[0023] Explanation of reference numerals in the accompanying drawings: 100, Transmission mechanism; 110, Transmission frame; 120, Transmission assembly; 121, Transmission driver; 122, Transmission roller assembly; 123, Check valve; 130, Support assembly; 131, Support rail; 132, Guide carriage; 1321, Guide ramp; 133, Guide sleeve; 134, Support plate; 1341, Guide post; 1342, Guide pulley; 200, Lifting and mold changing mechanism; 210, Mold changing frame; 2 11. Mold changing car interface; 220. Lifting assembly; 221. Lifting rail; 222. Lifting drive module; 223. Lifting plate; 230. Mold transfer module; 300. Multi-point welding mechanism; 310. First welding frame; 311. First tool magazine; 320. First horizontal rail; 330. First carriage; 340. Second horizontal rail; 350. Second carriage; 351. Lifting module; 360. Welding assembly; 361. Rotary drive; 3 62. Quick-change disc; 363. First welding head; 400. Six-axis welding mechanism; 410. Second welding frame; 420. Six-axis robot; 421. Second welding head; 430. Second tool magazine; 500. Screw driving mechanism; 510. Screw driving machine; 520. Screw driving robot; 521. Assembly plate; 522. Telescopic track; 530. Screw gun; 540. Vision positioning camera; 550. Screw loading platform; 560. Balancer; 600. Heat exchanger Riveting and welding mechanism; 610, third welding frame; 620, hot riveting and welding guide rail; 630, hot riveting pressure plate; 640, pressure plate driver; 700, snap-fit ​​assembly mechanism; 710, assembly robot; 711, snap-fit ​​gripper; 720, snap-fit ​​vibratory feeder; 730, snap-fit ​​assembly machine; 800, unloading line; 810, good product unloading conveyor belt; 820, NG product unloading conveyor belt; 910, assembly station; 920, top surface inspection station; 930, bottom surface inspection station. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0025] Example: See Figures 1 to 11 As shown, this embodiment provides an AI robot vision-guided automated assembly and welding flexible production line for automotive door panels, which includes two lifting mold-changing mechanisms 200, a multi-point welding mechanism 300, a six-axis welding mechanism 400, a screw-driving mechanism 500, and multiple transmission mechanisms 100. The multiple transmission mechanisms 100 are sequentially connected end-to-end to form a material transmission channel, and each of the multiple transmission mechanisms 100 is respectively positioned corresponding to the multi-point welding mechanism 300, the six-axis welding mechanism 400, and the screw-driving mechanism 500. The two lifting mold-changing mechanisms 200 are respectively connected to both ends of the material transmission channel. Each transmission mechanism 100 includes two transmission components 120 spaced apart along its height direction, with opposite transmission directions. The upper transmission components 120 form a loading transmission channel, and the lower transmission components 120 form a unloading transmission channel. The lifting mold-changing mechanism 200 includes a lifting component 220 and a mold transmission module 230. The mold transfer module 230 is mounted on the lifting assembly 220 to connect to the loading or unloading transfer channel; the multi-point welding mechanism 300 includes a first welding frame 310 and multiple welding components 360, each of which is slidably connected to the first welding frame 310 in a horizontal and / or vertical direction, and has a welding head that can rotate around its central axis; the six-axis welding mechanism 400 includes a second welding frame 410 and a six-axis robot 420, the six-axis robot... Robot 420 is mounted on the second welding frame 410, and its moving end is connected to the second welding head 421; screw driving mechanism 500 includes screw driving machine platform 510, screw loading platform 550, screw driving robot 520 and screw gun 530. The screw loading platform 550 is located on one side of the screw driving machine platform 510, the screw driving robot 520 is mounted on the screw driving machine platform 510, and the screw gun 530 is connected to the moving end of the screw driving robot 520.

[0026] In this embodiment, the production line is equipped with multiple sequentially connected transmission mechanisms 100 to form a complete closed-loop material transmission channel. Each transmission mechanism 100 is respectively arranged corresponding to the multi-point welding mechanism 300, the six-axis welding mechanism 400, and the screw-driving mechanism 500. This enables precise, orderly, and continuous flow of workpieces between processing stations, ensuring close connection between processes, avoiding process disconnection and manual transfer intervention, and providing a basic carrier for fully automated continuous production. Each transmission mechanism 100 adopts two sets of transmission components 120 arranged at vertical intervals and with opposite transmission directions. The upper transmission component 120 forms a feeding transmission channel, mainly used for station transportation and process feeding of the automotive door panel workpiece and matching mold to be processed; the lower transmission component 120 forms an unloading and mold unloading transmission channel, used for unloading the processed workpiece and recycling the tooling mold. The double-layer reverse channel structure design enables the production line to simultaneously carry out feeding and unloading operations without interference, greatly improving the material flow efficiency of the production line. At the same time, it enables the recycling of tooling molds, reduces tooling replacement waiting time, and effectively improves the continuous operation capability and automation level of the entire production line.

[0027] Furthermore, the transmission mechanism 100 includes a transmission frame 110, and the transmission component 120 is disposed in the transmission frame 110. The transmission component 120 also includes a transmission driver 121, a transmission roller assembly 122, and a check valve 123. The power output end of the transmission driver 121 is connected to the transmission roller assembly 122, the material to be transmitted is supported on the transmission roller assembly 122, and the check valve 123 is disposed at the discharge end of the transmission roller assembly 122. The transmission frame 110 serves as the overall load-bearing base, providing stable installation support and operating benchmarks for the internal transmission components 120, ensuring the assembly stability and operational reliability of the overall transmission structure. The transmission driver 121, as a power source, stably drives the transmission roller assembly 122, enabling the door panel material to be processed on the transmission roller assembly 122 to achieve smooth and uniform station conveying, ensuring precise matching between the material feeding rhythm and the working rhythm of the processing station. At the same time, the check valve 123, which is equipped at the discharge end of the transmission roller assembly 122, can limit and lock the material after it has completed the station feeding and accurately reached its position, effectively preventing the workpiece from shifting, retreating, or deviating due to equipment vibration or external processing forces during welding, screw driving, and other processing. This completely avoids problems such as processing point deviation and product defects caused by material movement. On the basis of realizing automated continuous feeding of the production line, it significantly improves the positioning stability and processing accuracy of the workpiece during processing, further adapting to the high-precision and high-stability flexible automated processing requirements of the production line, and ensuring the consistency and reliability of the processing quality of each process.

[0028] Specifically, the transmission mechanism 100 in this embodiment further includes a support assembly 130, which includes a support rail 131, a guide carriage 132, and a support plate 134. The support rail 131 is connected to the transmission frame 110 and extends along the transmission direction. The guide carriage 132 is slidably connected to the support rail 131 and is provided with a guide slope 1321 and a guide sleeve 133. The guide slope 1321 is configured as a slope structure that is inclined along the height direction in the moving direction of the guide carriage 132. The guide sleeve 133 is arranged in the vertical direction. The bottom surface of the support plate 134 is provided with a guide post 1341 and a guide pulley 1342. The guide pulley 1342 can move along the guide slope 1321 to drive the support plate 134 to rise and fall. The guide post 1341 passes through the guide sleeve 133. The support rail 131, fixedly connected to the conveyor frame 110 and extending along the conveying direction, provides a stable sliding installation reference and linear motion constraint for the guide slide 132, ensuring that the guide slide 132 can slide smoothly along the material conveying direction and avoid movement deviation and jamming. The inclined guide surface 1321 on the guide slide 132 and the vertically arranged guide sleeve 133 form a double guide and limit structure. Together with the guide pulley 1342 on the bottom surface of the support plate 134 and the guide column 1341 passing through the guide sleeve 133, a precise lifting linkage mechanism is formed. The sliding movement of the guide pulley 1342 along the guide inclined surface 1321 can precisely drive the support plate 134 to achieve smooth lifting and lowering. At the same time, the vertically arranged guide column 1341 and the guide sleeve The cylinders 133 work together to radially limit the lifting stroke of the support plate 134, effectively preventing problems such as offset, tilting, and shaking that occur during the lifting process of the support plate 134, ensuring that the support plate 134 always maintains a horizontal lifting posture. This structure can adaptively adjust the workpiece support height according to the processing requirements of the workstation, achieving precise alignment between the door panel workpiece to be processed and the welding, screwing, and other processing workstations. At the same time, it can form all-round stable support for the door panel workpiece during the transmission and processing state, greatly reducing the deformation and processing deviation caused by the workpiece being suspended or unevenly supported, significantly improving the stability of the production line transmission and the alignment accuracy of the workpiece workstation, further adapting to the high-precision production requirements of flexible processing of multi-specification door panels, and effectively ensuring the overall processing quality and consistency of the product.

[0029] In this embodiment, a set of lifting mold-changing mechanisms 200 are configured at both ends of the material conveying channel, serving as the loading / unloading end and tooling switching end of the entire flexible production line. These mechanisms primarily undertake the core functions of workpiece feeding, finished product unloading, mold switching, and recycling docking. The lifting mold-changing mechanism 200 consists of a lifting component 220 and a mold transmission module 230 mounted on the lifting component 220. Utilizing the height-adjustable characteristic of the lifting component 220, the mold transmission module 230 can be driven to complete height adaptation adjustment according to the different height positions of the loading and unloading conveying channels, thereby accurately docking with the upper loading and lower unloading conveying channels. This structure enables automatic switching, automatic loading, and automatic recycling of molds for processing door panels of different specifications, replacing the traditional manual mold changing and manual loading / unloading operations. This significantly reduces downtime for mold changing, solving the problems of cumbersome mold changing, poor adaptability, and high downtime losses in traditional production lines. It allows the production line to quickly adapt to the processing and production of different models and structures of automotive door panels, effectively improving the flexibility and efficiency of the production line.

[0030] Furthermore, the lifting and mold changing mechanism 200 also includes a mold changing frame 210, which is provided with a mold changing vehicle interface 211. The lifting component 220 includes a lifting rail 221, a lifting drive module 222, and a lifting plate 223. The lifting rail 221 is disposed on the mold changing frame 210 and extends vertically. The lifting plate 223 is connected to the power output end of the lifting drive module 222 and is slidably connected to the lifting rail 221. The mold transfer module 230 is disposed on the lifting plate 223. The mold changing frame 210 serves as the supporting base for the entire lifting and mold changing mechanism 200, providing a stable installation foundation and rigid support for each functional component. The mold changing trolley interface 211 on the frame enables quick docking between external mold changing equipment and the mold transfer module 230, facilitating the rapid retrieval, replacement, and transfer of molds, effectively improving the convenience and versatility of mold changing operations. Meanwhile, the lifting assembly 220, through the vertically arranged lifting rail 221 on the mold changing frame 210 and powered by the lifting drive module 222, drives the lifting plate 223 to slide vertically and smoothly along the lifting rail 221, allowing the mold mounted on the lifting plate 223 to... The mold transfer module 230 can achieve high-precision and stable height adjustment. Relying on the vertical limiting and guiding function of the lifting rail 221, it can effectively constrain the movement trajectory of the lifting plate 223, avoid deviation, jamming and tilting during the lifting process, and ensure that the mold transfer module 230 can accurately match the different height positions of the loading and unloading transport channels to complete the docking and switching. This enables the automated and precise mold changing, loading and reflow processes of molds of different specifications, greatly reducing the degree of manual intervention and mold changing downtime, and improving the mold changing efficiency, docking accuracy and adaptability of multiple door panel products of the entire flexible production line.

[0031] In this embodiment, the multi-point welding mechanism 300 serves as the core station for standardized and orderly welding on the production line. Relying on the first welding frame 310 as the overall load-bearing installation foundation, it provides stable operating support and sliding installation benchmarks for each welding component 360. Each welding component 360 is mounted on the first welding frame 310 in a horizontally and / or vertically sliding manner. The lateral and longitudinal operating positions of the welding components 360 can be flexibly adjusted according to the differences in welding points and positions of different door panel workpieces, adapting to the point layout requirements of different specifications of door panels. Simultaneously, each welding component 360 is equipped with a welding head that can rotate around its own central axis, enabling multi-angle adaptation to the workpiece welding surface and achieving adaptive adjustment of the welding posture. This mechanism is mainly used to complete batch standardized welding operations of orderly and fixed-point automotive door panels. It can adapt to processes such as multi-point synchronous welding and fixed-point reinforcement welding. The welding position is adjustable and the angle is flexible, meeting the high efficiency and precision welding requirements of conventional door panel orderly welds, ensuring high consistency of welding positions and stable forming quality in batch products, and improving the processing accuracy and operating efficiency of standardized welding processes.

[0032] Furthermore, the multi-point welding mechanism 300 also includes a first horizontal track 320, a first carriage 330, a second horizontal track 340, and a second carriage 350. The first horizontal track 320 extends along the width direction of the material conveying channel and is connected to the first welding frame 310. The first carriage 330 is slidably connected to the first horizontal track 320. The second horizontal track 340 is disposed on the first carriage 330 and extends along the length direction of the material conveying channel. The second carriage 350 is slidably connected to the second horizontal track 340. The second carriage 350 is provided with a lifting module 351 extending in the vertical direction. The welding assembly 360 is connected to the lifting module 351. The first horizontal rail 320, arranged along the width of the material conveying channel on the first welding frame 310, provides lateral sliding guidance for the first slide 330, enabling the welding assembly 360 to adjust its position along the width of the production line. A second horizontal rail 340, mounted on the first slide 330 and extending along the length of the material conveying channel, allows the second slide 350 to slide, thus adjusting the position of the welding assembly 360 along the feed length of the production line. A vertically arranged lifting module 351 on the second slide 350 then drives the welding assembly 360 to complete vertical displacement adjustment. This is achieved through the connection of the first horizontal rail 320 to the first slide 330 and the second horizontal rail 340 to the second slide 350. The three-axis linkage sliding adjustment structure formed by the lifting module 351 and the welding assembly 360 allows the welding assembly 360 to flexibly change its working position in three dimensions: horizontal, vertical, and vertical height on the production line plane. It can quickly adjust the working coordinates of the welding head according to the shape and size of different car door panels and the distribution of weld points. It can adapt to the welding point requirements of various specifications of workpieces without modifying the main structure of the frame, effectively expanding the adjustment coverage of the multi-point welding mechanism 300, ensuring that the welding assembly 360 can accurately align with the position to be welded, reducing tooling modification costs, improving the position adjustment accuracy and flexible adaptation capability of the multi-point welding mechanism 300, and ensuring the stability and welding accuracy of multi-point welding operations for different models of door panels.

[0033] Specifically, the first welding frame 310 is provided with a plurality of first tool magazines 311, and the plurality of first tool magazines 311 are arranged one-to-one with the plurality of welding components 360. Each first tool magazine 311 can buffer a plurality of first welding heads 363 of different types. The welding component 360 also includes a rotary driver 361 and a quick-change plate 362. The rotary driver 361 is slidably connected to the lifting module 351, and the quick-change plate 362 is connected to the power output end of the rotary driver 361. The first welding head 363 is detachably connected to the quick-change plate 362. The first tool magazine 311 can buffer various types of first welding heads 363. The welding assembly 360 is further equipped with a rotary driver 361 and a quick-change disk 362. The rotary driver 361 is slidably mounted on the lifting module 351, and the quick-change disk 362 is connected to the power output end of the rotary driver 361. The first welding heads 363 are detachably mounted on the quick-change disk 362. The first tool magazine 311 enables centralized storage and backup buffering of first welding heads 363 of different specifications. The quick-change disk 362 allows for quick switching between different types of first welding heads 363. 1. It can drive the quick-change plate 362 and the assembled first welding head 363 to achieve circumferential rotation, thereby adapting to different welding posture requirements. When facing different welding process requirements of automotive door panels, the first welding head 363 can be quickly called up and replaced according to the differences in weld type, plate thickness and welding point. There is no need for manual handling and storage of welding heads, reducing the auxiliary time for changing parts. It can be compatible with various welding operation conditions such as spot welding and continuous welding, improve the welding head replacement efficiency and process compatibility of the multi-point welding mechanism 300, reduce the changeover and debugging time, and further enhance the flexible processing performance of the entire production line for multiple types of door panel products.

[0034] In this embodiment, the six-axis welding mechanism 400 uses the second welding frame 410 as a fixed support base, and is equipped with a six-axis robot 420 and a second welding head 421 to form a flexible welding execution body. As the core workstation for welding differentiated and complex irregular structures on the production line, it complements the multi-point welding mechanism 300 in terms of process. Leveraging the multi-degree-of-freedom, large range of motion, and flexible posture adjustment characteristics of the six-axis robot 420, it can drive the second welding head 421 to complete welding operations on complex trajectories, irregular curved surfaces, corner joints, and unconventional points. It can flexibly switch between various welding processes such as spot welding, full welding, and intermittent welding to adapt to the differentiated welding needs of different vehicle door panels. For some irregular door panel structures, complex assembly seams, and customized welding requirements, the six-axis welding mechanism 400 can achieve flexible adaptive welding, breaking through the limitations of traditional fixed welding workstations. It effectively compensates for the shortcomings of regular welding in handling complex welds, significantly improving the production line's compatibility and adaptability to multiple types and processes of door panel products, and ensuring the forming accuracy and structural strength of complex welding positions.

[0035] Correspondingly, the six-axis welding mechanism 400 also includes a second tool magazine 430, which is located on one side of the second welding frame 410. The second tool magazine 430 can buffer multiple second welding heads 421 of different models. It can centrally store various second welding heads 421 adapted to different welding conditions and workpiece specifications, so that the six-axis robot 420 can directly select the corresponding model of second welding head 421 for automatic replacement according to the actual welding process requirements of the automotive door panel. There is no need for manual handling and disassembly of welding heads, reducing downtime during the changeover process. It can quickly match the appropriate second welding head 421 for irregular welds, different plate thicknesses and differentiated welding processes, broaden the process application range of the six-axis welding mechanism 400, improve the welding head replacement efficiency, further enhance the flexible switching capability of the production line when producing multiple models of door panels, and ensure the continuous and stable operation of welding.

[0036] In this embodiment, the screw-driving mechanism 500 is a dedicated automated workstation for door panel assembly and fastening. It relies on the screw-driving machine base 510 as the overall installation and operating support base, ensuring overall operational stability. A screw feeding platform 550 on one side enables automatic sorting and feeding of screw materials, continuously providing material support for the screw-driving operation and avoiding process interruptions caused by manual material replenishment. By deploying a screw-driving robot 520 on the screw-driving machine base 510, and mounting a screw gun 530 on the robot's moving end, the robot's multi-degree-of-freedom precise positioning characteristics allow the screw gun 530 to accurately align with each preset screw assembly point on the door panel, achieving automated, high-precision, and high-efficiency screw-locking assembly operations. This mechanism can adapt to the assembly requirements of screws of different specifications and the multi-point screw fastening operation of different door panels, completely replacing manual screw-driving operations, effectively improving the assembly and fastening accuracy and consistency of door panels, reducing manual assembly errors and defect rates, and improving the integrated processing capabilities of welding and fastening of the production line, enabling the entire production line to independently complete the entire process of door panel welding and screw assembly, further improving the automation integration and production compatibility of the production line.

[0037] Furthermore, the screw-driving robot 520 includes an assembly plate 521 and a telescopic track 522. The assembly plate 521 is located at the moving end of the screw-driving robot 520, and the telescopic track 522 is disposed on the assembly plate 521. The screw gun 530 is slidably connected to the telescopic track 522. The assembly plate 521 provides a reliable mounting carrier for the telescopic track 522. The telescopic track 522 can drive the screw gun 530 to achieve telescopic displacement compensation relative to the moving end of the robot. Based on the movement of the screw gun 530 to the screw operation point, it can adaptively extend and retract to make fine adjustments according to the undulations of the door panel workpiece surface and the assembly position deviation, to compensate for the small positioning error of the robot, so that the screw gun 530 can reliably press against the screw assembly position, ensuring the axial clamping force during the screw tightening operation, avoiding situations such as incomplete driving, stripping, and screw misassembly, improving the alignment and adaptability of the screw gun 530 and the screw hole position, improving the assembly quality of screw fastening, and further enhancing the flexible assembly capability of the screw driving mechanism 500 for different curved surfaces and different structures of automobile door panels.

[0038] Furthermore, the screw-driving mechanism 500 includes a visual positioning camera 540 and a balancer 560. The visual positioning camera 540 is connected to one end of the assembly plate 521 and is arranged in the same direction as the screw gun 530. The balancer 560 is connected to the screw-driving robot 520. Among them, the visual positioning camera 540 can move synchronously with the screw gun 530, collect image information of the screw hole positions on the door panel in real time, complete hole position recognition and position correction, compensate for position deviations caused by workpiece transmission and tooling, guide the screw gun 530 to accurately align with the screw assembly position, and reduce assembly defects caused by hole misalignment. The balancer 560 is mounted on the screw-driving robot 520, which can buffer and offset the self-weight of the robot's working end and the reaction force generated by the screw gun 530 during operation, reduce the load on the robot joints, suppress the vibration generated during the screw-driving operation, and ensure the stability of the screw gun 530's working posture. The two work together to improve the screw hole position recognition and positioning accuracy and improve the running stability of the screw-driving operation, effectively reduce defects such as stripped threads, missed screws, and incomplete screw tightening, further improve the assembly accuracy and operational reliability of the screw-driving mechanism 500, and adapt to the automated screw fastening processing needs of different specifications of automotive door panels.

[0039] In different embodiments, the AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels further includes a replaceable or additional hot riveting welding mechanism 600. The hot riveting welding mechanism 600 is detachably disposed in the material transfer channel and includes a third welding frame 610, a hot riveting welding guide rail 620, a pressure plate driver 640, and a hot riveting pressure plate 630. The third welding frame 610 is provided with a transfer mechanism 100 inside. The hot riveting welding guide rail 620 is disposed inside the third welding frame 610 and extends vertically. The pressure plate driver 640 is disposed on the third welding frame 610 and connected to the hot riveting pressure plate 630 to drive the hot riveting pressure plate 630 to slide and connect to the hot riveting welding guide rail 620. The third welding frame 610 serves as the overall load-bearing foundation. Its internal transmission mechanism 100 can smoothly transfer workpieces from the front and rear workstations. The vertically arranged hot riveting welding guide rail 620 provides sliding guidance constraint for the hot riveting pressure plate 630. The pressure plate driver 640 outputs power to drive the hot riveting pressure plate 630 to make a stable vertical lifting and lowering motion along the hot riveting welding guide rail 620, thereby completing the hot riveting pressing operation of the door panel workpiece. The hot riveting welding mechanism 600 adopts a detachable installation form, which can replace some of the original processing workstations according to the product process requirements, or it can be connected to the material transmission channel as an additional workstation. It can flexibly adapt to the door panel production conditions that require hot riveting processing without modifying the main structure of the entire production line. It can expand the hot riveting processing function on the basis of the original welding and screwing processes, effectively enriching the process selection of the production line, reducing production line modification downtime and modification costs, and further improving the process scalability and flexible production capacity of the entire production line.

[0040] In different embodiments, the AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels also includes a replaceable or additional snap-fit ​​assembly mechanism 700. The snap-fit ​​assembly mechanism 700 is detachably disposed in the material transfer channel and includes an assembly robot 710, a snap-fit ​​vibrating plate 720, and a snap-fit ​​assembly machine 730. The snap-fit ​​assembly machine 730 is disposed on one side of the transfer mechanism 100, and the assembly robot 710 is disposed on the snap-fit ​​assembly machine 730, which is provided with snap-fit ​​grippers 711. The snap-fit ​​vibrating plate 720 is connected to one side of the snap-fit ​​assembly machine 730. The snap-fit ​​assembly machine 730 is arranged on one side of the transmission mechanism 100 as an overall installation base. The snap-fit ​​vibratory feeder 720 is located on one side of the snap-fit ​​assembly machine 730 to realize automatic sorting and continuous feeding of snap-fit ​​workpieces. The assembly robot 710 is mounted on the snap-fit ​​assembly machine 730 and equipped with snap-fit ​​grippers 711. It can pick up snap-fits from the snap-fit ​​vibratory feeder 720 and accurately assemble the snap-fits to the preset assembly positions on the door panel. This mechanism adopts a detachable arrangement, which can replace the original workstation of the production line according to the process requirements of different car models' door panels, or it can be connected to the material transmission channel as an additional workstation to complete the snap-fit ​​assembly process. The automatic snap-fit ​​assembly function can be expanded without modifying the main frame of the production line, eliminating the operation of manual snap-fit ​​assembly, reducing the error caused by human assembly, realizing fully automated operation of snap-fit ​​feeding, picking, and assembly, enriching the processing process types of the production line, adapting to the production of door panel products that require snap-fit ​​installation, and further improving the process scalability and flexible adaptation production capabilities of the entire production line.

[0041] In this embodiment, the AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels further includes at least one assembly station 910, a top surface inspection station 920, a bottom surface inspection station 930, and a material unloading line 800. The assembly station 910 is located at the loading end of the transmission mechanism 100. The top surface inspection station 920, the bottom surface inspection station 930, and the material unloading line 800 are sequentially connected to the unloading end of the transmission mechanism 100. The material unloading line 800 includes a good product unloading belt 810 and an NG unloading belt 820. The good product unloading belt 810 and the NG unloading belt 820 are respectively transported relative to each other along the width direction of the material transmission channel. The assembly station 910 is located at the loading end of the transmission mechanism 100 and can be used to complete the pre-assembly of the door panel. The top surface inspection station 920, the bottom surface inspection station 930, and the unloading line 800 are connected to the unloading end of the transmission mechanism 100 in sequence. They can perform double-sided inspection on the top and bottom surfaces of the door panel respectively, and realize the quality identification and judgment of the top and bottom surfaces of the workpiece after processing. The unloading line 800 is equipped with a good product unloading belt 810 and an NG unloading belt 820 that can be transported relative to each other along the width of the material transmission channel. Based on the inspection results output by the double-sided inspection station, qualified workpieces and defective workpieces can be transported to the corresponding unloading belts to complete the material sorting and unloading. This realizes the pre-assembly of workpieces, double-sided quality inspection, and automatic separation and unloading of good and defective products. There is no need for manual sorting and selection. It completes the assembly, inspection, and material sorting and unloading process after barcode scanning and processing, reduces manual intervention, avoids the problem of missorting and omission caused by manual sorting, improves the full-process automated closed-loop production capability of the entire production line, and further improves the processing and inspection integration level and production efficiency of the production line.

[0042] In summary, the AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels described in this invention constructs a complete material transfer channel by using multiple sets of interconnected transmission mechanisms 100, and coordinates with lifting and mold-changing mechanisms 200 arranged at both ends. It also integrates a multi-point welding mechanism 300, a six-axis welding mechanism 400, and a screw-driving mechanism 500, realizing integrated automated production of the entire process of automotive door panel scanning, welding, screw driving, mold changing, and material distribution and inspection. This effectively solves the problems of rigid processes and poor adaptability in traditional fixed production lines.

[0043] In this solution, the transmission mechanism 100 adopts upper and lower double-layer reverse transmission components 120 to form a feeding transmission channel and a discharging transmission channel respectively. In conjunction with the lifting component 220 and the mold transmission module 230 of the lifting mold changing mechanism 200, different transmission channels can be flexibly connected to realize automatic mold changing, feeding and recycling of door panel workpieces and molds, which greatly improves the continuity and automation of material flow in the production line and avoids process interruption and efficiency loss caused by manual mold changing and transfer.

[0044] Meanwhile, the welding components 360 of the multi-point welding mechanism 300 can be flexibly adjusted in the horizontal and vertical directions, and the welding head can rotate. Combined with the independently set six-axis robot 420 welding mechanism, it can flexibly switch between multi-point regular welding and six-axis flexible irregular welding modes according to the processing requirements of different car door panels. It is compatible with various welding processes such as spot welding, full welding, and intermittent welding, and can meet the welding processing requirements of different structures and specifications of car door panels. The process adjustment is extremely flexible.

[0045] The automated screw-driving mechanism 500, through the coordinated operation of the screw loading table 550, the screw-driving robot 520, and the screw gun 530, achieves automated and precise screw assembly, further improving the integrated processing function of the production line. It can be flexibly integrated into compatible processes such as snap-fit ​​installation and reinforcement welding according to production needs, without the need to disassemble the production line or replace equipment. The overall structure of this production line is compact and rationally designed, combining standardized mass production with differentiated flexible processing capabilities. It effectively avoids the drawbacks of traditional production lines, such as the need for multi-line adaptation, high equipment investment costs, cumbersome manual debugging, and inconsistent processing accuracy. It significantly improves the processing accuracy, production efficiency, and product qualification rate of automotive door panel assembly and welding, greatly reducing production and maintenance costs. It effectively meets the needs of large-scale flexible production of multi-category, multi-process automotive door panels, demonstrating strong versatility and practicality.

[0046] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A flexible production line for automated assembly and welding of automotive door panels guided by AI robot vision, characterized in that: The device includes two lifting and mold-changing mechanisms, a multi-point welding mechanism, a six-axis welding mechanism, a screw-driving mechanism, and multiple transmission mechanisms. The multiple transmission mechanisms are connected end-to-end to form a material transmission channel, and each transmission mechanism corresponds to one of the multi-point welding mechanisms, the six-axis welding mechanism, and the screw-driving mechanism. The two lifting and mold-changing mechanisms are respectively connected to both ends of the material transmission channel. Each of the aforementioned transmission mechanisms includes two transmission components spaced apart along its height direction, the two transmission components having opposite transmission directions, the upper plurality of transmission components forming a loading transmission channel, and the lower plurality of transmission components forming a unloading transmission channel. The lifting and mold changing mechanism includes a lifting component and a mold transfer module. The mold transfer module is mounted on the lifting component to connect to the loading transfer channel or the unloading transfer channel. The multi-point welding mechanism includes a first welding frame and multiple welding components. Each of the welding components is slidably connected to the first welding frame in the horizontal and / or vertical direction, and is provided with a welding head that can rotate around its central axis. The six-axis welding mechanism includes a second welding frame and a six-axis robot. The six-axis robot is mounted on the second welding frame, and its moving end is connected to the second welding head. The screw-driving mechanism includes a screw-driving machine, a screw feeding platform, a screw-driving robot, and a screw gun. The screw feeding platform is located on one side of the screw-driving machine, the screw-driving robot is mounted on the screw-driving machine, and the screw gun is connected to the moving end of the screw-driving robot.

2. The AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels according to claim 1, characterized in that: The transmission mechanism includes a transmission frame, and the transmission component is disposed in the transmission frame. The transmission component also includes a transmission driver, a transmission roller assembly, and a check valve. The power output end of the transmission driver is connected to the transmission roller assembly. The material to be transmitted is supported on the transmission roller assembly, and the check valve is disposed at the discharge end of the transmission roller assembly.

3. The AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels according to claim 2, characterized in that: The transmission mechanism further includes a support assembly, which includes a support rail, a guide carriage, and a support plate. The support rail is connected to the transmission frame and extends along the transmission direction. The guide carriage is slidably connected to the support rail and has a guide ramp and a guide sleeve. The guide ramp is configured as a slope structure that is inclined along the height direction in the direction of movement of the guide carriage. The guide sleeve is arranged in the vertical direction. The bottom surface of the support plate has a guide post and a guide pulley. The guide pulley can move along the guide ramp to drive the support plate to rise and fall. The guide post passes through the guide sleeve.

4. The AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels according to claim 1, characterized in that: The lifting and mold changing mechanism also includes a mold changing frame, which is provided with a mold changing vehicle interface. The lifting component includes a lifting rail, a lifting drive module, and a lifting plate. The lifting rail is set on the mold changing frame and extends vertically. The lifting plate is connected to the power output end of the lifting drive module and is slidably connected to the lifting rail. The mold transfer module is set on the lifting plate.

5. The AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels according to claim 1, characterized in that: The multi-point welding mechanism further includes a first horizontal track, a first carriage, a second horizontal track, and a second carriage. The first horizontal track extends along the width direction of the material conveying channel and is connected to the first welding frame. The first carriage is slidably connected to the first horizontal track. The second horizontal track is disposed on the first carriage and extends along the length direction of the material conveying channel. The second carriage is slidably connected to the second horizontal track. The second carriage is provided with a lifting module extending in the vertical direction, and the welding assembly is connected to the lifting module.

6. The AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels according to claim 5, characterized in that: The first welding frame is provided with multiple first tool magazines, and the multiple first tool magazines are arranged one-to-one with the multiple welding components. Each first tool magazine can buffer multiple first welding heads of different types. The welding component also includes a rotary driver and a quick-change plate. The rotary driver is slidably connected to the lifting module, and the quick-change plate is connected to the power output end of the rotary driver. The first welding head is detachably connected to the quick-change plate. The six-axis welding mechanism also includes a second tool magazine, which is located on one side of the second welding frame and can buffer multiple second welding heads of different types.

7. The AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels according to claim 1, characterized in that: The screw-driving robot includes an assembly plate and a telescopic track. The assembly plate is located at the moving end of the screw-driving robot, the telescopic track is disposed on the assembly plate, and the screw gun is slidably connected to the telescopic track. The screw-driving mechanism includes a visual positioning camera and a balancer. The visual positioning camera is connected to one end of the assembly plate and is arranged in the same direction as the screw gun. The balancer is connected to the screw-driving robot.

8. The AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels according to claim 1, characterized in that: The AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels also includes a hot riveting welding mechanism. The hot riveting welding mechanism is detachably installed in the material transfer channel. It includes a third welding frame, a hot riveting welding guide rail, a pressure plate driver, and a hot riveting pressure plate. The third welding frame has a transfer mechanism inside. The hot riveting welding guide rail is installed inside the third welding frame and extends vertically. The pressure plate driver is installed on the third welding frame and connected to the hot riveting pressure plate to drive the hot riveting pressure plate to slide and connect to the hot riveting welding guide rail.

9. The AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels according to claim 1, characterized in that: The AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels also includes a snap-fit ​​assembly mechanism. The snap-fit ​​assembly mechanism is detachably installed in the material transfer channel and includes an assembly robot, a snap-fit ​​vibrating plate, and a snap-fit ​​assembly machine. The snap-fit ​​assembly machine is located on one side of the transfer mechanism, the assembly robot is installed on the snap-fit ​​assembly machine and has snap-fit ​​grippers on it, and the snap-fit ​​vibrating plate is connected to one side of the snap-fit ​​assembly machine.

10. The AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels according to claim 1, characterized in that: The AI ​​robot vision-guided automated assembly and welding flexible production line for automotive door panels also includes at least one assembly station, a top surface inspection station, a bottom surface inspection station, and a material unloading line. The assembly station is located at the loading end of the transmission mechanism. The top surface inspection station, the bottom surface inspection station, and the material unloading line are sequentially connected to the unloading end of the transmission mechanism. The material unloading line includes a good product unloading belt and an NG unloading belt, which are respectively transported relative to each other along the width direction of the material transmission channel.

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