Welding spot automatic detection system

Abstract

The utility model discloses a welding spot automatic detection system which comprises a sled positioning mechanism, a left side wall tool clamp, a right side wall tool clamp, a left robot detection mechanism and a right robot detection mechanism, the sled positioning mechanism comprises a sliding frame which is arranged on a bottom frame and used for installing a total assembly or a bottom plate assembly, and a detection positioning mechanism is arranged between the sliding frame and the bottom frame. The left side wall tool clamp and the right side wall tool clamp each comprise a positioning frame used for installing a side wall inner plate assembly, a plurality of manual clamping assemblies and a plurality of positioning pins are arranged on the positioning frames, and a plurality of vehicle model sensors are arranged on the bottom frame and the positioning frames. The left robot detection mechanism and the right robot detection mechanism each comprise a collaborative robot capable of moving front and back, and each collaborative robot is provided with a visual camera, a telescopic coupling agent liquid supply pipe and an ultrasonic probe. And the collaborative robot can apply the coupling agent on the surface of each welding spot and detect the welding spot in sequence by utilizing the coupling agent liquid supply pipe and the ultrasonic probe according to the feedback of the visual camera. The device is convenient to fix parts, does not need to hold a probe for detection, and is accurate, efficient and high in automation degree.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile manufacturing, in particular to an automatic welding spot detection system. Background Art

[0002] In the prior art, workers usually hold a probe to inspect the quality of each weld on the car body parts one by one, which is time-consuming, inefficient, and prone to omissions. In addition, different types of auto parts need to be fixed with different fixing equipment, which is troublesome to switch and cumbersome to operate. The entire inspection process is time-consuming and has a low degree of automation. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide an automatic solder joint detection system, aiming to solve the technical problems existing in the prior art that fixed equipment is troublesome to switch, manual probe detection is prone to omissions and low efficiency, the entire detection process is time-consuming and the degree of automation is low.

[0004] The technical scheme of the utility model is: a welding spot automatic detection system, comprising a sled positioning mechanism, a left side enclosure tooling fixture and a right side enclosure tooling fixture arranged on both sides of the sled positioning mechanism, a left robot detection mechanism and a right robot detection mechanism arranged between the sled positioning mechanism and the side enclosure tooling fixtures on both sides; the sled positioning mechanism comprises a sliding frame installed on a chassis, the sliding frame is used to install the overall assembly or the bottom plate assembly, a detection positioning mechanism for positioning the sliding frame is arranged between the sliding frame and the chassis, the left side enclosure tooling fixture and the right side enclosure tooling fixture both comprise a positioning frame, the positioning frame is used to install the side enclosure inner plate assembly, the positioning frame is provided with a plurality of manual clamping components and a plurality of positioning pins, and the chassis and the positioning frame are respectively provided with a plurality of vehicle type sensors; the left robot detection mechanism and the right robot detection mechanism both comprise a collaborative robot that can move forward and backward, the collaborative robot is provided with a visual camera, a retractable coupling agent liquid supply pipe, and an ultrasonic probe, and the collaborative robot can use the coupling agent liquid supply pipe and the ultrasonic probe to sequentially apply coupling agent to the surface of each welding spot and perform welding spot detection actions according to the feedback of the visual camera.

[0005] Furthermore, the two sides of the base frame described in the utility model are respectively provided with a plurality of rollers and a plurality of guide wheels, and the sliding frame is arranged on the rollers and guided to slide by the guide wheels.

[0006] Furthermore, the detection and positioning mechanism described in the utility model includes a fixed part arranged on both sides of the base frame and a rotating part cooperating with the fixed part. The rotating parts on both sides are driven to rotate by rotating cylinders respectively, and in-position sensors and buffers are also provided on both sides of the base frame; two left and right vertical rods are provided on the sliding frame. After the sliding frame is pushed to contact the buffer, the in-position sensors on both sides detect the vertical rods, and the rotating cylinder drives the rotating parts on both sides to rotate and cooperate with the fixed parts to position the vertical rods, thereby realizing the positioning of the sliding frame.

[0007] Furthermore, the chassis in the utility model is provided with vehicle type sensors, and six vehicle type sensors are divided into two groups and installed on two cross beams.

[0008] Furthermore, the multiple manual clamping components on the left side panel fixture positioning frame described in the utility model include manual cylinders, and eight manual cylinders are connected to the clamping parts correspondingly; the left side panel fixture positioning frame is provided with positioning pins and vehicle type sensors.

[0009] Furthermore, the multiple manual clamping components on the right side enclosure tooling fixture positioning frame described in the utility model include manual cylinders, and seven manual cylinders are connected to corresponding clamping parts; the right side enclosure tooling fixture positioning frame is provided with positioning pins and vehicle type sensors.

[0010] Furthermore, in the utility model, each manual cylinder is provided with a rotating handle, and by rotating the rotating handle, the manual cylinder can drive the clamping part to rotate inward or outward to implement the clamping or releasing action.

[0011] Furthermore, the left robot detection mechanism and the right robot detection mechanism in the utility model include a collaborative robot, which is provided with a visual camera and an ultrasonic probe. The coupling agent supply pipe on the collaborative robot is driven by a telescopic cylinder, and the coupling agent supply pipe is connected to a coupling agent supply pump.

[0012] Furthermore, the collaborative robot described in the utility model is installed on the front and rear transverse movement modules and driven by the electric cylinder servo motor. A travel switch and a zero position sensor are also provided on one side of the front and rear transverse movement modules.

[0013] Compared with the prior art, the utility model has the following advantages: the utility model can use collaborative robots to replace manual labor to achieve automatic detection of welds. Workers only need to place the parts to be detected on the corresponding positioning mechanism or fixture to fix them. After fixation, the vehicle model sensor will automatically identify the part model, and the collaborative robot will call the corresponding program to implement weld quality detection. During detection, the visual camera takes pictures for positioning, and the coupling agent liquid supply pipe and ultrasonic probe are used to apply coupling agent to the surface of each weld and perform weld detection actions. After the detection is completed, the next part can be replaced. The automatic weld detection system of the utility model is convenient for fixing parts, does not require a handheld probe to detect welds, is accurate and efficient, and has a high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is the overall structure diagram of the utility model;

[0015] Figure 2 It is a specific structural diagram of the sled positioning mechanism described in the utility model;

[0016] Figure 3It is a schematic diagram of the positioning state of the sliding frame described in the utility model;

[0017] Figure 4 It is a schematic diagram of the arrangement of vehicle type sensors on the chassis of the utility model;

[0018] Figure 5 This is a specific structural diagram of the left side peripheral fixture described in the utility model;

[0019] Figure 6 It is a specific structural diagram of the manual cylinder (MZ12, MZ13) on the left side surrounding fixture positioning frame described in the utility model;

[0020] Figure 7 It is a specific structural diagram of the manual cylinder (MZ14) on the left side surrounding fixture positioning frame described in the utility model;

[0021] Figure 8 It is a specific structural diagram of the manual cylinder (MZ15, MZ16) on the left side surrounding fixture positioning frame described in the utility model;

[0022] Fig. 9 It is a specific structural diagram of the manual cylinder (MZ17) on the left side surrounding fixture positioning frame described in the utility model;

[0023] Fig.10 It is a specific structural diagram of the manual cylinder (MZ18, MZ19) on the left side surrounding fixture positioning frame described in the utility model;

[0024] Fig.11 It is a specific structural diagram of the right side surrounding fixture described in the utility model;

[0025] Fig.12 It is a specific structural diagram of the manual cylinder (MZ20, MZ21) on the right side surrounding fixture positioning frame described in the utility model;

[0026] Fig.13 It is a specific structural diagram of the manual cylinder (MZ22) on the right side fixture positioning frame described in the utility model;

[0027] Fig.14 It is a specific structural diagram of the manual cylinder (MZ23, MZ24) on the right side surrounding fixture positioning frame described in the utility model;

[0028] Fig.15 It is a specific structural diagram of the manual cylinder (MZ25, MZ26) on the right side surrounding fixture positioning frame described in the utility model;

[0029] Fig.16 It is a specific structural diagram of the left robot detection mechanism described in the utility model;

[0030] Fig.17 It is a specific structural diagram of the right robot detection mechanism described in the utility model.

[0031] Among them: 1. sled positioning mechanism; 2. left side enclosure fixture; 3. right side enclosure fixture; 4. left robot detection mechanism; 5. right robot detection mechanism; 6. base frame; 7. sliding frame; 7a. vertical rod; 8. roller; 9. guide wheel; 10. fixed part; 11. rotating part; 12. crossbeam; 13. positioning frame; 14. rotating handle; 15. coupling agent supply pipe; 16. coupling agent supply pump; 17. electric cylinder servo motor; 18. travel switch; 19. zero position sensor; 20. buffer. DETAILED DESCRIPTION

[0032] The specific implementation of the utility model is described in detail below with reference to the accompanying drawings.

[0033] Example:

[0034] The following is a specific implementation of the automatic solder joint detection system of the utility model. Figure 1 The system mainly includes a sled positioning mechanism 1, a left side enclosure tooling fixture 2 and a right side enclosure tooling fixture 3 arranged on both sides of the sled positioning mechanism 1, and a left robot detection mechanism 4 and a right robot detection mechanism 5 arranged between the sled positioning mechanism 1 and the side enclosure tooling fixtures on both sides.

[0035] Among them, the structure of the sled positioning mechanism 1 is as follows Figure 2 As shown, it mainly includes a base frame 6, and a plurality of rollers 8 and a plurality of guide wheels 9 are respectively arranged on both sides of the base frame 6. A sliding frame 7 is arranged on the base frame 6, and the sliding frame 7 is arranged on the rollers 8 and guided by the guide wheels 9 to slide.

[0036] The sliding frame 7 is used to install the overall assembly or the bottom plate assembly. A detection and positioning mechanism is provided between the sliding frame 7 and the bottom frame 6. Figure 2 , Figure 3 The detection and positioning mechanism includes a fixed part 10 arranged on both sides of the base frame 6, and a rotating part 11 matched with the fixed part 10. The rotating parts 11 on both sides are driven to rotate by the rotary cylinders MZ11a and MZ11b respectively. In-position sensors BT11 and BT12 and a buffer 20 are also arranged on both sides of the base frame 6. The sliding frame 7 is provided with two left and right vertical rods 7a. After the sliding frame 7 is pushed to contact with the buffer 20, the in-position sensors BT11 and BT12 on both sides detect the vertical rods 7a. The rotary cylinders MZ11a and MZ11b drive the rotating parts 11 on both sides to rotate and match the fixed part 10 to position the vertical rods 7a, thereby realizing the positioning of the sliding frame 7.

[0037] The chassis 6 is provided with vehicle type sensors BT21, BT22, BT23, BT24, BT25, and BT26. The six vehicle type sensors are installed in two groups on two beams 12. Figure 4 shown.

[0038] The structure of the left side fixture 2 is as follows Figure 5 As shown, it mainly includes a positioning frame 13 for installing the left side inner panel assembly. The positioning frame 13 is provided with manual cylinders MZ12, MZ13, MZ14, MZ15, MZ16, MZ17, MZ18, and MZ19, and the eight manual cylinders are connected to the clamping parts m1, m2, m3, m4, m5, m6, m7, and m8 respectively. Figures 6 to 10 Each manual cylinder is provided with a rotating handle 14, and by rotating the rotating handle 14, the manual cylinder can drive the clamping part to rotate inward or outward to implement the clamping or loosening action.

[0039] The positioning frame 13 of the left side peripheral fixture 2 is provided with positioning pins NB_D11, PoLo_D11, T-Cross_D11, Tharu PA_D11, and Tharu PA_D12, which are respectively used to position parts of different models.

[0040] The positioning frame 13 of the left side peripheral fixture 2 is provided with vehicle type sensors BT13, BT14, BT15, BT16 for identifying parts of different models.

[0041] The structure of the right side fixture 3 is as follows Fig.11 As shown, it also includes a positioning frame 13 for installing the right side inner panel assembly. The positioning frame 13 is provided with manual cylinders MZ20, MZ21, MZ22, MZ23, MZ24, MZ25, and MZ26. The seven manual cylinders are connected to the clamping parts m9, m10, m11, m12, m13, m14, and m15 respectively. Figures 12 to 15 Similarly, each manual cylinder is also provided with a rotating handle 14, and by rotating the rotating handle 14, the manual cylinder can drive the clamping part to rotate inward or outward to implement the clamping or loosening action.

[0042] The positioning frame 13 of the right side fixture 3 is provided with positioning pins NB_D21, PoLo_D21, T-Cross_D21, Tharu PA_D21, and Tharu PA_D22, which are respectively used to position parts of different models.

[0043] The positioning frame 13 of the right side surrounding fixture 3 is provided with vehicle type sensors BT17, BT18, BT19, BT20 for identifying parts of different models.

[0044] The structure of the left robot detection mechanism 4 is as follows Fig.16As shown, it mainly includes a collaborative robot R01, which is installed on the front and rear lateral movement module and driven by the electric cylinder servo motor 17. A travel switch 18 and a zero position sensor 19 are provided on one side of the front and rear lateral movement module. The collaborative robot R01 is provided with a visual camera C01, a coupling agent supply pipe 15 driven by a telescopic cylinder MZ27 to extend and retract forward and backward, and an ultrasonic probe T01. The coupling agent supply pipe 15 is connected to a coupling agent supply pump 16.

[0045] The structure of the right robot detection mechanism 5 is as follows Fig.17 As shown, it mainly includes a collaborative robot R02. Similarly, the collaborative robot R02 is installed on the front and rear lateral movement module and driven by the electric cylinder servo motor 17. A travel switch 18 and a zero position sensor 19 are provided on one side of the front and rear lateral movement module. The collaborative robot R02 is provided with a visual camera C02, a coupling agent supply pipe 15 driven by a telescopic cylinder MZ28 to extend and retract forward and backward, and an ultrasonic probe T02. The coupling agent supply pipe 15 is connected to a coupling agent supply pump 16.

[0046] When this embodiment works specifically:

[0047] (I) Ultrasonic welding spot detection for different models of overall assembly or base assembly

[0048] (1.1) Baseboard UB1_NB

[0049] The sequence of actions is as follows:

[0050] Step 1: The operator installs the base plate on the sliding frame 7 and pushes it into the inspection station.

[0051] Step 2: The in-place sensors BT11 and BT12 receive signals, the rotary cylinders MZ11a and MZ11b are clamped, and the base plate is in place.

[0052] Step 3: Vehicle type sensor BT23 has a signal, while other vehicle type sensors have no signal.

[0053] Step 4: The collaborative robot R01 moves to the top of the soldering point PS0001, and the visual camera C01 takes a picture to locate it. The collaborative robot R01 moves to the position for applying the coupling agent according to the coordinate position fed back by the camera. The telescopic cylinder MZ27 extends, and the coupling agent supply tube 15 is placed close to the soldering point. The supply pump 16 starts for 3 seconds (tentative) and then shuts down. The coupling agent is applied to the surface of the soldering point, and the telescopic cylinder MZ27 retracts.

[0054] Step 5: Based on the coordinate position fed back by the camera, the collaborative robot R01 places the ultrasonic probe T01 on the solder joint, performs solder joint inspection, and outputs the inspection results.

[0055] Step 6: If the solder joint is qualified, proceed to the next step. If the solder joint fails the first time, recycle steps 4-5 once. If it fails the second time, proceed to the next step.

[0056] Step 7: The collaborative robot R01 moves to the top of the solder joint PS0002 and loops through steps 4-6 for subsequent solder joint inspections until all solder joints that can be inspected with ultrasonic probes are inspected.

[0057] Note: The left and right collaborative robots R01 and R02 run synchronously and follow the same steps.

[0058] For solder joints that cannot be reached or inspected by ultrasonic probes, use visual cameras to directly inspect the appearance of the solder joints. The steps are as follows:

[0059] Step 1: The collaborative robot R01 moves to the top of the solder joint FS0001, and the visual camera C01 takes a picture. It determines whether the solder joint is qualified based on image comparison and outputs the test result.

[0060] Step 2: The collaborative robot R01 moves to the top of the solder joint FS0002, and the visual camera C01 takes a picture. It determines whether the solder joint is qualified based on image comparison and outputs the test result.

[0061] ——Repeat the above steps to perform subsequent solder joint inspections until all solder joints have been inspected.

[0062] Note: The collaborative robots R01 and R02 on the left and right sides run synchronously and follow the same steps.

[0063] (1.2) Baseboard UB2_NB

[0064] The difference between the action sequence and the base board UB1_NB is that in step 3, the vehicle type sensors BT23 and BT26 have signals, and the rest are the same.

[0065] (1.3) Total spelling_NB

[0066] The difference between the action sequence and the base plate UB1_NB is that in step 3, the vehicle type sensors BT21, BT23, and BT26 have signals, and the rest are the same.

[0067] (2.1) Baseboard UB1_PoLo

[0068] The difference between the action sequence and the base board UB1_NB is that in step 3, the vehicle type sensor BT25 has a signal, and the rest are the same.

[0069] (2.2) Baseboard UB2_PoLo

[0070] The difference between the action sequence and UB1_PoLo is that in step 3, the vehicle type sensors BT25 and BT26 have signals, and the rest are the same.

[0071] (2.3) Total fight_PoLo

[0072] The difference between the action sequence and UB1_PoLo is that in step 3, the vehicle type sensors BT21, BT25, and BT26 have signals, and the rest are the same.

[0073] (3.1) Base plate UB1_T-Cross

[0074] The difference between the action sequence and the base board UB1_NB is that in step 3, the vehicle type sensor BT24 has a signal, and the rest are the same.

[0075] (3.2) Base plate UB2_T-Cross

[0076] The difference between the action sequence and the base plate UB1_T-Cross is that in step 3, the vehicle type sensors BT24 and BT26 have signals, and the rest are the same.

[0077] (3.3) Total spelling_T-Cross

[0078] The difference between the action sequence and the base plate UB1_T-Cross is that in step 3, the vehicle type sensors BT21, BT24, and BT26 have signals, and the rest are the same.

[0079] (4.1) Baseboard UB1_Tharu PA

[0080] The difference between the action sequence and the base board UB1_NB is that in step 3, the vehicle type sensor BT22 has a signal, and the rest are the same.

[0081] (4.2) Baseboard UB2_Tharu PA

[0082] The difference between the action sequence and the base plate UB1_Tharu PA is that in step 3, the vehicle type sensors BT22 and BT26 have signals, and the rest are the same.

[0083] (4.3) Total spelling_Tharu PA

[0084] The difference between the action sequence and the base plate UB1_Tharu PA is that in step 3, the vehicle type sensors BT21, BT22, and BT26 have signals, and the rest are the same.

[0085] (II) Ultrasonic welding spot detection for left side inner panel assembly of different models

[0086] (1.1) Left side_NB

[0087] The sequence of actions is as follows:

[0088] Step 1: The operator installs the left side panel on the positioning frame 13 (the manual cylinder MZ14 is initially in the clamping state).

[0089] Step 2: Use the locating pin NB_D11 to position the plate, clamp the manual cylinders MZ13 and MZ15, and the left side enclosure is fixed.

[0090] Step 3: The vehicle model sensor BT16 has a signal, while the other vehicle model sensors have no signal.

[0091] Step 4: Use the collaborative robot R01 to inspect solder joints. The inspection steps are the same as those for the aforementioned base plate UB1_NB using the collaborative robot R01. For solder joints that cannot be reached or inspected by the ultrasonic probe, the inspection steps are the same as those for the aforementioned base plate UB1_NB using the collaborative robot R01.

[0092] (1.2) Left side_PoLo

[0093] The action sequence is different from that of the left side panel_NB in ​​that in step 1, the manual cylinders MZ14 and MZ18 are initially clamped; in step 2, the plate is positioned using the positioning pin PoLo_D11, and the manual cylinders MZ13, MZ17, and MZ19 are clamped, and the left side panel is fixed; in step 3, the vehicle type sensor BT13 has a signal, and the other vehicle type sensors have no signal. Step 4 is the same.

[0094] (1.3) Left side_T-Cross

[0095] The action sequence is different from that of the left side panel_NB in ​​that, in step 1, the initial state of the eight manual cylinders is all open; in step 2, the plate is positioned using the positioning pin T-Cross_D11, and the manual cylinders MZ12, MZ17, and MZ18 are clamped, and the left side panel is fixed; in step 3, the vehicle type sensor BT15 has a signal, and the other vehicle type sensors have no signal. Step 4 is the same.

[0096] (1.4) Left side_Tharu PA

[0097] The action sequence is different from that of the left side panel_NB in ​​that in step 1, the initial state of the eight manual cylinders is all open; in step 2, the plate is positioned using the positioning pins Tharu PA_D11 and Tharu PA_D12, and the manual cylinders MZ16 and MZ19 are clamped, and the left side panel is fixed; in step 3, the vehicle type sensor BT14 has a signal, and the other vehicle type sensors have no signal. Step 4 is the same.

[0098] (III) Ultrasonic welding spot detection for right side inner panel assembly of different models

[0099] (1.1) Right side_NB

[0100] The sequence of actions is as follows:

[0101] Step 1: The operator installs the right side panel on the positioning frame 13 (the initial state of the manual cylinder MZ22 is the clamping state).

[0102] Step 2: Use the locating pin NB_D21 to position the plate, clamp the manual cylinders MZ21 and MZ24, and the right side is fixed.

[0103] Step 3: The vehicle model sensor BT20 has a signal, while the other vehicle model sensors have no signal.

[0104] Step 4: Use the collaborative robot R02 to inspect solder joints. The inspection steps are the same as those for the aforementioned base plate UB1_NB using the collaborative robot R02. For solder joints that cannot be reached or inspected by the ultrasonic probe, the inspection steps are the same as those for the aforementioned base plate UB1_NB using the collaborative robot R02.

[0105] (1.2) Right side_PoLo

[0106] The action sequence is different from the right side enclosure_NB in ​​that in step 1, the manual cylinders MZ22 and MZ25 are initially clamped; in step 2, the plate is positioned using the positioning pin PoLo_D21, and the manual cylinders MZ21 and MZ26 are clamped, and the right side enclosure is fixed; in step 3, the vehicle type sensor BT17 has a signal, and the other vehicle type sensors have no signal. Step 4 is the same.

[0107] (1.3) Right side_T-Cross

[0108] The action sequence is different from the right side enclosure_NB in ​​that in step 1, the initial state of the seven manual cylinders is all open; in step 2, the plate is positioned using the positioning pin T-Cross_D21, and the manual cylinders MZ20 and MZ25 are clamped, and the right side enclosure is fixed; in step 3, the vehicle type sensor BT19 has a signal, and the other vehicle type sensors have no signal. Step 4 is the same.

[0109] (1.4) Right side_Tharu PA

[0110] The action sequence is different from the right side enclosure_NB in ​​that in step 1, the initial state of the seven manual cylinders is all open; in step 2, the plate is positioned using the positioning pins Tharu PA_D21 and Tharu PA_D22, and the manual cylinders MZ23 and MZ26 are clamped, and the right side enclosure is fixed; in step 3, the vehicle type sensor BT18 has a signal, and the other vehicle type sensors have no signal. Step 4 is the same.

[0111] Of course, the above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with the technology to understand the content of the utility model and implement it accordingly, and they cannot be used to limit the protection scope of the utility model. Any modifications made according to the spirit of the main technical solution of the utility model should be included in the protection scope of the utility model.

Claims

1. A solder joint automatic detection system, characterized in that: The invention comprises a sled positioning mechanism (1), a left side surrounding tooling fixture (2) and a right side surrounding tooling fixture (3) arranged on both sides of the sled positioning mechanism (1), and a left robot detection mechanism (4) and a right robot detection mechanism (5) arranged between the sled positioning mechanism (1) and the side surrounding tooling fixtures on both sides; the sled positioning mechanism (1) comprises a sliding frame (7) installed on a base frame (6), the sliding frame (7) is used to install the overall assembly or the base plate assembly, a detection and positioning mechanism for positioning the sliding frame (7) is arranged between the sliding frame (7) and the base frame (6), and the left side surrounding tooling fixture (2) and the right side surrounding tooling fixture (3) both comprise a positioning frame (13) The positioning frame (13) is used to install the side inner panel assembly, and the positioning frame (13) is provided with a plurality of manual clamping components and a plurality of positioning pins. The base frame (6) and the positioning frame (13) are respectively provided with a plurality of vehicle type sensors; the left robot detection mechanism (4) and the right robot detection mechanism (5) both include a collaborative robot that can move forward and backward, and the collaborative robot is provided with a visual camera, a retractable coupling agent supply pipe (15), and an ultrasonic probe. The collaborative robot can use the coupling agent supply pipe (15) and the ultrasonic probe to apply coupling agent to the surface of each welding point and perform welding point detection actions in turn according to the feedback of the visual camera.

2. The automatic solder joint detection system according to claim 1, characterized in that: A plurality of rollers (8) and a plurality of guide wheels (9) are respectively arranged on both sides of the base frame (6); the sliding frame (7) is arranged on the rollers (8) and is guided to slide by the guide wheels (9).

3. The automatic solder joint detection system according to claim 1, characterized in that: The detection and positioning mechanism comprises a fixed part (10) arranged on both sides of the base frame (6) and a rotating part (11) matched with the fixed part (10), the rotating parts (11) on both sides are driven to rotate by rotating cylinders (MZ11a, MZ11b) respectively, and in-position sensors (BT11, BT12) and a buffer (20) are also arranged on both sides of the base frame (6); the sliding frame (7) is provided with two left and right vertical rods (7a), and after the sliding frame (7) is pushed to contact with the buffer (20), the in-position sensors (BT11, BT12) on both sides detect the vertical rods (7a), and the rotating cylinders (MZ11a, MZ11b) drive the rotating parts (11) on both sides to rotate and match with the fixed part (10) to position the vertical rods (7a), thereby realizing the positioning of the sliding frame (7).

4. The automatic solder joint detection system according to claim 1, characterized in that: The chassis (6) is provided with vehicle type sensors (BT21, BT22, BT23, BT24, BT25, BT26), and the six vehicle type sensors are divided into two groups and installed on two crossbeams (12).

5. The automatic solder joint detection system according to claim 1, characterized in that: The plurality of manual clamping components on the positioning frame (13) of the left side panel fixture (2) include manual cylinders (MZ12, MZ13, MZ14, MZ15, MZ16, MZ17, MZ18, MZ19), and the eight manual cylinders are connected to corresponding clamping parts (m1, m2, m3, m4, m5, m6, m7, m8); the positioning frame (13) of the left side panel fixture (2) is provided with positioning pins (NB_D11, PoLo_D11, T-Cross_D11, Tharu PA_D11, Tharu PA_D12) and vehicle type sensors (BT13, BT14, BT15, BT16).

6. The automatic solder joint detection system according to claim 5, characterized in that: The plurality of manual clamping components on the positioning frame (13) of the right side enclosure fixture (3) include manual cylinders (MZ20, MZ21, MZ22, MZ23, MZ24, MZ25, MZ26), and the seven manual cylinders are connected to corresponding clamping parts (m9, m10, m11, m12, m13, m14, m15); the positioning frame (13) of the right side enclosure fixture (3) is provided with positioning pins (NB_D21, PoLo_D21, T-Cross_D21, Tharu PA_D21, Tharu PA_D22) and vehicle type sensors (BT17, BT18, BT19, BT20).

7. The automatic solder joint detection system according to claim 6, characterized in that: Each manual cylinder is provided with a rotating handle (14), and by rotating the rotating handle (14), the manual cylinder can drive the clamping part to rotate inward or outward, thereby implementing a clamping or loosening action.

8. The automatic solder joint detection system according to claim 1, characterized in that: The left robot detection mechanism (4) and the right robot detection mechanism (5) include collaborative robots (R01, R02), the collaborative robots (R01, R02) are provided with visual cameras (C01, C02) and ultrasonic probes (T01, T02), the coupling agent liquid supply pipe (15) on the collaborative robots (R01, R02) is driven by a telescopic cylinder (MZ27, MZ28), and the coupling agent liquid supply pipe (15) is connected to a coupling agent liquid supply pump (16).

9. The automatic solder joint detection system according to claim 1, characterized in that: The collaborative robots (R01, R02) are mounted on the front and rear transverse movement modules and driven by the electric cylinder servo motor (17). A travel switch (18) and a zero position sensor (19) are also provided on one side of the front and rear transverse movement modules.

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