Vehicle door welding system based on vision

Abstract

The utility model relates to the technical field of automobile machining, in particular to a vision-based automobile door welding system which comprises a bearing assembly used for bearing an automobile door body and a welding assembly used for welding and fixing the automobile door body. The welding assembly comprises an executing mechanism, a coping mechanism and a detecting mechanism. A back plate on the detection mechanism is sequentially divided into an equipment bin, a detection bin and a light supplementing bin, the shell is mounted on the back plate in a covering manner, and a first detection notch communicated with the detection bin is formed in the middle of the shell and is used for allowing the execution mechanism to movably penetrate through and place a to-be-detected electrode in the detection bin; a shooting assembly for carrying out image acquisition on the electrode entering the detection bin is fixedly arranged in the equipment bin; a light supplementing assembly used for conducting shooting and light supplementing on the electrode entering the detection bin is fixedly arranged in the light supplementing bin. According to the utility model, image recording is carried out on the ground electrode, so that the collection of the effect of the ground electrode can be completed from the perspective of visual collection.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile processing, in particular to a vision-based door welding system. Background Technique

[0002] In modern automobile manufacturing, door welding, as one of the key links in body manufacturing, its welding quality and efficiency directly affect the safety and production efficiency of the whole vehicle. Most traditional door welding systems rely on manual or semi-automatic welding equipment, and these equipment have many technical problems and limitations in the welding process.

[0003] Firstly, the traditional welding system lacks an effective real-time monitoring and grinding mechanism for the wear state of the electrode. As the number of welds increases, the electrode tip will gradually wear, resulting in uneven distribution of the welding current density, which in turn affects the welding quality and the visual effect of the solder joints. The traditional method is to manually remove the electrode for grinding after welding a certain number of times. This method not only has low efficiency, but also the grinding quality is difficult to guarantee, and it is easy to have the situation of insufficient grinding or over-grinding.

[0004] Secondly, the traditional welding system lacks a high-precision vision detection and feedback mechanism. During the welding process, factors such as the position, angle and posture of the electrode will affect the welding quality, and the traditional system often relies on mechanical positioning and manual adjustment, making it difficult to achieve high-precision control. In addition, the detection of the solder joint quality after welding mostly relies on manual visual inspection. This method not only takes time and effort, but also is easy to miss subtle defects.

[0005] In response to the above problems, although the existing technology has been improved, such as introducing a robot welding system and using an automatic grinding equipment, there are still deficiencies in the vision detection and feedback mechanism. Although the robot welding system improves the welding precision and efficiency, it still requires manual intervention in electrode grinding and solder joint quality detection; while the automatic grinding equipment, although realizing the automation of the grinding process, lacks real-time vision detection and feedback, and it is difficult to ensure the consistency of the grinding quality. Content of the Utility Model

[0006] The purpose of the utility model is to propose a vision-based door welding system that can monitor the electrode state in real time, achieve high-precision vision detection and feedback, and complete the acquisition of the effect after electrode grinding from the perspective of vision acquisition by recording the images of the electrodes after grinding, so as to solve the technical problem that the existing technology cannot record the grinding state of the electrodes in real time.

[0007] To achieve this purpose, the utility model adopts the following technical solutions:

[0008] A vision-based door welding system, comprising a carrying component for supporting the door body and at least one set of welding components for welding and fixing the door body;

[0009] The welding component includes an actuator for performing welding operations on the door body, a grinding mechanism for grinding the electrodes after welding the door body, and a detection mechanism for collecting images of the electrodes after grinding;

[0010] The detection mechanism includes a detection support column and a back plate provided at the upper end of the detection support column. The rear plate surface of the back plate is mounted on the detection support column. On both sides of the front plate surface of the back plate, two side plates are symmetrically provided. Between the two side plates, a cover and a diffusion plate are provided. Between the two side plates, an equipment chamber, a detection chamber, and a supplementary light chamber are sequentially separated by the cover and the diffusion plate;

[0011] The cover, the diffusion plate, and the two side plates are jointly installed with a housing. The housing is cover-mounted on the back plate, and a first detection notch communicating with the detection chamber is centrally provided in the housing. The first detection notch is used for the actuator to movably pass through the electrode to be detected and place it in the detection chamber;

[0012] A shooting component for collecting images of the electrodes entering the detection chamber is fixedly provided in the equipment chamber;

[0013] A supplementary light component for shooting and supplementing light to the electrodes entering the detection chamber is fixedly provided in the supplementary light chamber.

[0014] Preferably, the shooting component includes a shooting bracket, the shooting bracket is fixedly provided on the back plate, and a camera is fixedly installed on the shooting bracket;

[0015] The cover is provided with a second detection notch, the second detection notch communicates with the equipment chamber and the detection chamber, and the shooting end of the camera faces the second detection notch.

[0016] Preferably, the supplementary light component includes an LED supplementary light, the LED supplementary light is fixedly provided on the inner side surface of the side plate close to the diffusion plate, and the light-emitting side of the LED supplementary light faces the detection chamber.

[0017] Preferably, the actuator includes a robot body, an electrode fixture is installed at the driving end of the robot body, and an upper electrode and a lower electrode are respectively detachably installed on both sides inside the electrode fixture.

[0018] Preferably, the grinding mechanism includes a grinding support column, a fixed seat is provided at the upper end of the grinding support column, a lower double-end pushing cylinder is fixedly installed at the bottom end of the fixed seat, an upper double-end pushing cylinder is fixedly installed at the top end of the fixed seat, the lower double-end pushing cylinder and the upper double-end pushing cylinder are arranged facing each other, and a grinding machine main body is installed between the lower double-end pushing cylinder and the upper double-end pushing cylinder;

[0019] An electrode grinding module is provided on the grinding machine main body, and the electrode grinding module is used to grind the upper electrode and the lower electrode of the electrode fixture.

[0020] Preferably, an upper electrode replacement module and a lower electrode replacement module are respectively arranged on both sides of the grinding machine main body;

[0021] The upper electrode replacement module is used to replace the upper electrode of the electrode fixture, and the lower electrode replacement module is used to replace the lower electrode of the electrode fixture;

[0022] An electrode tightening and loosening module is arranged between the upper electrode replacement module and the lower electrode replacement module, and the electrode tightening and loosening module is used to loosen the upper electrode and the lower electrode of the electrode fixture;

[0023] A grinding driving motor is fixedly installed at the bottom of the grinding machine main body, and the grinding driving motor is used to provide power for the upper electrode replacement module, the lower electrode replacement module, the electrode tightening and loosening module and the electrode grinding module.

[0024] Preferably, a debris collection tray is fixedly installed on the column body of the grinding support column, and the debris collection tray is located below the grinding machine main body.

[0025] Preferably, the carrying component includes a workbench, a plurality of support seats are fixedly installed on the lower table surface of the workbench, and a plurality of clamping mechanisms, supporting mechanisms and carrying seats are detachably installed on the upper table surface of the workbench. The plurality of clamping mechanisms, supporting mechanisms and carrying seats are used to jointly clamp and support the vehicle door main body according to the shape of the vehicle door main body.

[0026] Preferably, the clamping mechanism includes a vertical plate, a lower clamping seat and a clamping driving motor;

[0027] The vertical plate is fixedly installed on the upper table surface of the workbench, the lower clamping seat is fixedly arranged at the upper end of the vertical plate, and an upper clamping seat is hingedly installed at the upper end of the lower clamping seat through a second hinge seat;

[0028] The clamping driving motor is fixedly installed on the side surface of the vertical plate, the driving end of the clamping driving motor is arranged upward, a first hinge seat is fixedly installed at the driving end of the clamping driving motor, and the first hinge seat and the second hinge seat are jointly hingedly installed on the upper clamping seat;

[0029] A clamping space is formed between the upper clamping seat and the lower clamping seat, and clamping seats are respectively installed on the upper clamping seat and the lower clamping seat;

[0030] The clamping driving motor is used to drive the two clamping seats to move away from or close to each other.

[0031] Preferably, the supporting mechanism includes a supporting base, the supporting base is fixedly arranged on the upper plate surface of the workbench, and the supporting base is in a hollow cavity shape. A rear supporting driving motor is fixedly installed in the supporting base, the driving end of the supporting driving motor is arranged upward, the driving end of the supporting driving motor movably penetrates through the supporting base, and a supporting seat is fixedly installed at the driving end of the supporting driving motor.

[0032] One of the above technical solutions has the following beneficial effects: By regularly detecting and grinding the electrodes, it is ensured that the electrodes are in the best state during the welding process, thereby improving the welding accuracy and reliability, reducing welding defects, and improving the welding quality. Secondly, the use of automated detection and grinding can reduce manual intervention, reduce the possibility of human error, extend the service life of the electrodes, reduce the frequency of electrode replacement, and thus reduce the maintenance cost. Moreover, the entire welding, grinding, and detection processes are highly integrated, realizing automated and continuous operation, greatly improving production efficiency. More importantly, by obtaining an image record of the electrode after grinding through the photographing component, the effect of the electrode after grinding can be collected from the perspective of visual acquisition, and the grinding state of the electrode can be recorded in real time; and all detection data can be recorded and traced, providing strong support for quality analysis and process improvement. Description of the Drawings

[0033] Figure 1 It is a schematic structural diagram of the present utility model when welding the door body;

[0034] Figure 2 It is a schematic structural diagram of the carrying component of the present utility model when supporting the door body;

[0035] Figure 3 It is a schematic structural diagram of the carrying component of the present utility model;

[0036] Figure 4 It is a schematic structural diagram of the actuator and the grinding mechanism of the present utility model when grinding the electrode;

[0037] Figure 5 It is a schematic structural diagram of the actuator of the present utility model;

[0038] Figure 6 It is a schematic structural diagram of the grinding mechanism of the present utility model;

[0039] Figure 7 It is a schematic structural diagram of the detection mechanism in the present utility model;

[0040] Figure 8 It is a schematic structural diagram of the clamping mechanism in the present utility model;

[0041] Figure 9 It is a schematic structural diagram of the supporting mechanism in the present utility model;

[0042] In the drawings: load-bearing assembly 1, support base 11, workbench 12, load-bearing seat 13;

[0043] Car door main body 2;

[0044] Actuating mechanism 3, robot main body 31, electrode fixture 32, upper electrode 33, lower electrode 34;

[0045] Grinding mechanism 4, grinding support column 41, fixed seat 42, lower double-end pushing cylinder 43, upper double-end pushing cylinder 44, grinding device main body 45, electrode replacement upper module 46, electrode replacement lower module 47, electrode tightening module 48, electrode grinding module 49, grinding drive motor 410, debris collection tray 411;

[0046] Detection mechanism 5, detection support column 50, back plate 51, side plate 52, cover 53, diffusion plate 54, housing 55, first detection notch 56, shooting bracket 57, camera 58, LED fill light 59;

[0047] Clamping mechanism 6, vertical plate 61, lower clamping seat 62, clamping drive motor 63, first hinge seat 64, second hinge seat 65, upper clamping seat 66, clamping seat 67;

[0048] Supporting mechanism 7, supporting base 71, supporting drive motor 72, supporting seat 73. Specific embodiments

[0049] The technical solution of the present utility model will be further described below with reference to the drawings and through specific embodiments.

[0050] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0051] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.

[0052] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0053] A vision-based door welding system includes a carrying component 1 for supporting a door body 2 and at least one set of welding components for welding and fixing the door body 2.

[0054] The welding component includes an execution mechanism 3 for performing welding actions on the door body 2, a grinding mechanism 4 for performing motor grinding actions on the electrodes after welding the door body 2, and a detection mechanism 5 for collecting images of the electrodes after grinding.

[0055] The detection mechanism 5 includes a detection support column 50 and a back plate 51 provided at the upper end of the detection support column 50. The rear plate surface of the back plate 51 is mounted on the detection support column 50. On both sides of the front plate surface of the back plate 51, two side plates 52 are symmetrically provided. Between the two side plates 52, a cover 53 and a diffusion plate 54 are arranged. The space between the two side plates 52 is sequentially divided into an equipment chamber, a detection chamber, and a supplementary light chamber by the cover 53 and the diffusion plate 54.

[0056] The cover 53, the diffusion plate 54, and the two side plates 52 are jointly installed with a housing 55. The housing 55 is cover-mounted on the back plate 51, and a first detection notch 56 communicating with the detection chamber is centrally opened on the housing 55. The first detection notch 56 is used for the execution mechanism 3 to movably penetrate and place the electrode to be detected into the detection chamber.

[0057] A shooting component for collecting images of the electrodes entering the detection chamber is fixedly arranged in the equipment chamber.

[0058] A supplementary light component for supplementing light for shooting the electrodes entering the detection chamber is fixedly arranged in the supplementary light chamber.

[0059] As Figures 1-9As shown, first, the door body 2 is placed on the bearing component 1 and kept fixed. Then, the actuator 3 performs welding operations on the door body 2 according to a preset program.

[0060] After the welding operation, the grinding mechanism 4 automatically grinds the used electrodes to ensure welding quality and the long-term usability of the electrodes. To ensure that the electrodes after grinding meet the welding standards, the detection mechanism 5 can perform visual inspection on the electrodes to confirm whether the state of the electrodes is suitable for continued use.

[0061] Among them, the specific working principle of the detection mechanism 5 is as follows: When the actuator 3 moves the electrode to be detected into the detection chamber of the detection mechanism 5, the imaging component captures the image of the electrode to record in detail the wear condition, surface quality, etc. of the electrode. At the same time, the light supplementing component provides uniform and soft light in the light supplementing chamber to ensure that the captured image is clear and shadowless, improving the detection accuracy.

[0062] Finally, the imaging component transmits the captured image to an external control unit for processing and analysis. The control unit uses advanced image processing algorithms to perform operations such as denoising, enhancement, and edge detection on the image to extract the key feature information of the electrode. Subsequently, the control unit evaluates the wear degree, surface quality, etc. of the electrode according to preset standards and algorithms to determine whether the electrode needs further grinding or replacement. Then, according to the analysis result, the control unit can automatically adjust the parameters of the grinding mechanism or directly issue an instruction to replace the electrode, which is executed by the actuator 3.

[0063] In summary, the utility model ensures that the electrodes are in the best state during the welding process by regularly detecting and grinding the electrodes, thereby improving the welding accuracy and reliability, reducing welding defects, and improving welding quality. Secondly, the use of automated detection and grinding reduces manual intervention, reduces the possibility of human errors, extends the service life of the electrodes, reduces the frequency of electrode replacement, and thus reduces the maintenance cost. Moreover, the entire welding, grinding, and detection processes are highly integrated, realizing automated and continuous operations, greatly improving production efficiency. More importantly, by obtaining the image record of the electrodes after grinding through the imaging component, the collection of the effect after electrode grinding can be completed from the perspective of visual acquisition, and the grinding state of the electrodes can be recorded in real time; and all detection data can be recorded and traced, providing strong support for quality analysis and process improvement.

[0064] Further explanation, the imaging component includes an imaging bracket 57, the imaging bracket 57 is fixedly arranged on the back plate 51, and a camera 58 is fixedly installed on the imaging bracket 57;

[0065] The cover 53 is provided with a second detection notch which communicates the equipment bin and the detection bin, and the shooting end of the camera 58 faces the second detection notch.

[0066] As Figure 7 shown, the shooting bracket 57 is firmly fixed on the back plate 51, and this design ensures the stability and accuracy of the camera 58 during shooting.

[0067] When the actuator 3 moves the electrode to be detected into the detection bin and stably places it at the designated position, the camera 58 starts to work. The shooting end of the camera 58 faces the second detection notch, and the design of the second detection notch enables the camera 58 to capture the electrode image in the detection bin without obstruction. Through the high-precision lens and image sensor of the camera, the fine features and wear conditions of the electrode can be detailedly recorded.

[0068] Furthermore, the supplementary lighting component includes an LED supplementary light 59 which is fixedly arranged on the inner side of the side plate 52 close to the diffusion plate 54, and the light-emitting side of the LED supplementary light 59 faces the detection bin.

[0069] As Figure 7 shown, the light emitted by the LED supplementary light 59 in the supplementary lighting bin enters the detection bin after being evenly diffused by the diffusion plate 54, providing sufficient illumination for the electrode to be detected. This design eliminates the problems of shadows and uneven light, ensuring that the camera 58 can capture clear and accurate images.

[0070] Furthermore, the actuator 3 includes a robot main body 31, and an electrode fixture 32 is installed at the driving end of the robot main body 31, and an upper electrode 33 and a lower electrode 34 are respectively detachably installed on both sides inside the electrode fixture 32.

[0071] As Figures 4-5 shown, when performing a welding operation, the robot main body 31 accurately moves the electrode fixture 32, the upper electrode 33 and the lower electrode 34 to the preset positions according to the preset program and path, such as moving the electrode fixture 32 to the welding position of the vehicle door main body 2, and controlling the closing and opening of the upper electrode 33 and the lower electrode 34 and the on-off of the current through the electrode fixture 32 to achieve efficient and accurate welding of the vehicle door main body 2. Or moving the upper electrode 33 and the lower electrode 34 into the detection bin of the detection component 5 for image acquisition. Or moving the upper electrode 33 and the lower electrode 34 to the grinding mechanism 4 for electrode grinding.

[0072] For further illustration, the grinding mechanism 4 includes a grinding support column 41. A fixing seat 42 is provided at the upper end of the grinding support column 41. A lower double-ended pushing cylinder 43 is fixedly installed at the bottom end of the fixing seat 42, and an upper double-ended pushing cylinder 44 is fixedly installed at the top end of the fixing seat 42. The lower double-ended pushing cylinder 43 and the upper double-ended pushing cylinder 44 are arranged facing each other. A grinding tool body 45 is installed between the lower double-ended pushing cylinder 43 and the upper double-ended pushing cylinder 44;

[0073] An electrode grinding module 49 is provided on the grinding tool body 45. The electrode grinding module 49 is used to grind the upper electrode 33 and the lower electrode 34 of the electrode fixture 32.

[0074] As Figure 6 shown, when the detection component 5 detects that the upper electrode 33 and / or the lower electrode 34 need to be ground, the actuating mechanism 3 moves the electrode fixture 32 and the upper electrode 33 and the lower electrode 34 thereon to the grinding tool body 45 of the grinding mechanism 4. At this time, the grinding support column 41 and the fixing seat 42 provide stable support for the entire grinding process.

[0075] Since the lower end and the upper end of the grinding tool body 45 are respectively fixedly installed with a lower double-ended pushing cylinder 43 and an upper double-ended pushing cylinder 44, and the lower double-ended pushing cylinder 43 and the upper double-ended pushing cylinder 44 are arranged facing each other, through precise control, they adjust the grinding tool body 45 to a position in contact with the electrode fixture 32 and the upper electrode 33 and the lower electrode 34 thereon, thus ensuring precise alignment during the grinding process. After the electrode positioning is completed, the electrode grinding module 49 on the grinding tool body 45 starts to work and automatically grinds the upper electrode 33 or the lower electrode 34.

[0076] For further illustration, an electrode replacement upper module 46 and an electrode replacement lower module 47 are respectively arranged on both sides of the grinding tool body 45;

[0077] The electrode replacement upper module 46 is used to replace the upper electrode 33 for the electrode fixture 32, and the electrode replacement lower module 47 is used to replace the lower electrode 34 for the electrode fixture 32;

[0078] An electrode tightening and loosening module 48 is provided between the electrode replacement upper module 46 and the electrode replacement lower module 47. The electrode tightening and loosening module 48 is used to loosen the upper electrode 33 and the lower electrode 34 of the electrode fixture 32;

[0079] A grinding drive motor 410 is fixedly installed at the bottom of the grinding tool body 45. The grinding drive motor 410 is used to provide power for the electrode replacement upper module 46, the electrode replacement lower module 47, the electrode tightening and loosening module 48, and the electrode grinding module 49.

[0080] AsFigure 6 As shown, after the grinding is completed, if the electrode is severely worn or reaches the replacement standard, the electrode replacement process will be initiated. First, the upper electrode 33 or the lower electrode 34 of the electrode fixture 32 is loosened by the electrode tightening and loosening module 48, and then the upper electrode replacement module 46 and the lower electrode replacement module 47 are respectively responsible for the replacement of the upper electrode 33 and the lower electrode 34, which can accurately remove the old electrode from the electrode fixture 32 and install a new electrode.

[0081] More importantly, as the power source of the grinding mechanism 4, the grinding drive motor 410 not only provides power for the grinding module 49, but also may provide necessary auxiliary power or control signals for the upper electrode replacement module 46, the lower electrode replacement module 47 and the electrode tightening and loosening module 48 through the transmission device or the control system. This design of centralized power supply and power distribution improves the overall efficiency and reliability of the system.

[0082] For further illustration, a debris collection tray 411 is fixedly installed on the column body of the grinding support column 41, and the debris collection tray 411 is located below the grinder main body 45.

[0083] As Figure 6 shown, during the electrode grinding process, when the grinding tool of the grinder main body 45 contacts the surface of the electrode, a certain amount of metal debris or powder will be generated. If these debris are not cleaned up in time, they may pollute the working area and even affect the normal operation of the equipment. Therefore, the debris collection tray 411 is arranged below the grinder main body 45 and fixedly installed on the column body of the grinding support column 41. When the grinding process is in progress, the generated debris naturally falls under the action of gravity and air flow and is effectively collected by the debris collection tray 411.

[0084] For further illustration, the carrier assembly 1 includes a workbench 12, a plurality of support seats 11 are fixedly installed on the lower table surface of the workbench 12, and a plurality of clamping mechanisms 6, supporting mechanisms 7 and carrier seats 13 are detachably installed on the upper table surface of the workbench 12. The plurality of clamping mechanisms 6, supporting mechanisms 7 and carrier seats 13 are used to jointly clamp and support the door body 2 according to the shape of the door body 2.

[0085] As Figures 2-3 shown, through the coordinated work of the workbench 12, the support seats 11, the clamping mechanisms 6, the supporting mechanisms 7 and the carrier seats 13, the carrier assembly 1 provides a stable, reliable and flexible processing platform for the door body 2, ensuring the smooth progress of the processing process and the stable and reliable processing quality.

[0086] For further illustration, the clamping mechanism 6 includes a vertical plate 61, a lower clamping seat 62 and a clamping drive motor 63;

[0087] The vertical plate 61 is fixedly installed on the upper surface of the workbench 12, the lower clamping seat 62 is fixedly arranged at the upper end of the vertical plate 61, and the upper clamping seat 66 is hingedly installed at the upper end of the lower clamping seat 62 through a second hinge seat 65;

[0088] The clamping drive motor 63 is fixedly installed on the side surface of the vertical plate 61, the drive end of the clamping drive motor 63 is arranged upward, the drive end of the clamping drive motor 63 is fixedly installed with a first hinge seat 64, and the first hinge seat 64 and the second hinge seat 65 are jointly hingedly installed on the upper clamping seat 66;

[0089] A clamping space is formed between the upper clamping seat 66 and the lower clamping seat 62, and clamping seats 67 are respectively installed on the upper clamping seat 66 and the lower clamping seat 62;

[0090] The clamping drive motor 63 is used to drive the two clamping seats 67 to move away from or close to each other.

[0091] As Figure 8 shown, before clamping the car door body 2, the upper clamping seat 66 is in an open state, that is, the distance between it and the lower clamping seat 62 is relatively large, forming enough space for the car door body 2 to be placed. Then, the actuator 3 places the car door body 2 on the lower clamping seat 62 and adjusts its position to ensure that the part to be processed of the car door body 2 is aligned with the clamping seat 67. Subsequently, the clamping drive motor 63 is started, and through the transmission of the first hinge seat 64 and the second hinge seat 65, the upper clamping seat 66 is driven to rotate around the hinge point and move downward. As the upper clamping seat 66 gradually approaches, the distance between the two clamping seats 67 gradually decreases, and finally the car door body 2 is firmly clamped between the upper clamping seat 66 and the lower clamping seat 62.

[0092] In summary, the clamping mechanism 6 can efficiently and stably complete the clamping and releasing actions of the car door body 2, providing strong support for the subsequent processing process.

[0093] For further explanation, the supporting mechanism 7 includes a supporting base 71, the supporting base 71 is fixedly arranged on the upper plate surface of the workbench 12, and the supporting base 71 is in a hollow cavity shape. A supporting drive motor 72 is fixedly installed inside the supporting base 71, the drive end of the supporting drive motor 72 is arranged upward, the drive end of the supporting drive motor 72 movably penetrates through the supporting base 71, and a supporting seat 73 is fixedly installed at the drive end of the supporting drive motor 72.

[0094] As Figure 9As shown, before the door body 2 is placed on the workbench, the support seat 73 is usually in a lower position to avoid interference with the door body 2 to be placed. The actuator 3 then places the door body 2 on the workbench 11 and adjusts its position as needed. At this time, the door body 2 may be partially or completely located above the support seat 73. The support drive motor 72 is then started to drive the support seat 73 to move upward. As the support seat 73 gradually rises, it will contact the bottom or side of the door body 2 and provide support for it. The rising height of the support seat 73 can be adjusted according to the specific shape of the door body 2 and the processing requirements to ensure that the door body 2 maintains a stable posture during the processing.

[0095] In summary, the supporting mechanism 7 provides additional support for the door body 2 in addition to the bearing seat 13, which helps to reduce the vibration and deformation of the door body 2 during the processing, so as to ensure that the door body 2 can maintain a stable posture during the processing.

[0096] The technical principle of the present invention is described above in combination with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the protection scope of the present invention in any way. Based on the explanations here, technicians in this field can think of other specific implementations of the present invention without creative work, and these equivalent variations or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A vision-based door welding system, characterized in that It includes a bearing component (1) for supporting the door body (2) and at least one set of welding components for welding and fixing the door body (2). The welding component includes an actuator (3) for performing welding operations on the door body (2), a grinding mechanism (4) for performing motor grinding operations on the electrodes after welding the door body (2), and a detection mechanism (5) for collecting images of the electrodes after grinding. The detection mechanism (5) includes a detection support column (50) and a back plate (51) provided at the upper end of the detection support column (50). The rear plate surface of the back plate (51) is mounted on the detection support column (50). On both sides of the front plate surface of the back plate (51), two side plates (52) are symmetrically provided. Between the two side plates (52), a cover (53) and a diffusion plate (54) are provided. Between the two side plates (52), an equipment chamber, a detection chamber, and a supplementary lighting chamber are sequentially separated by the cover (53) and the diffusion plate (54). The cover (53), the diffusion plate (54), and the two side plates (52) are jointly installed with a housing (55). The housing (55) is cover-mounted on the back plate (51), and a first detection notch (56) communicating with the detection chamber is centrally opened in the housing (55). The first detection notch (56) is used for the actuator (3) to movably pass through the electrode to be detected and place it in the detection chamber. A shooting component for collecting images of the electrodes entering the detection chamber is fixedly provided in the equipment chamber. A supplementary lighting component for supplementing light for shooting the electrodes entering the detection chamber is fixedly provided in the supplementary lighting chamber.

2. The vision-based door welding system according to claim 1, wherein The shooting component includes a shooting bracket (57). The shooting bracket (57) is fixedly provided on the back plate (51), and a camera (58) is fixedly installed on the shooting bracket (57). The cover (53) is provided with a second detection notch. The second detection notch communicates the equipment chamber and the detection chamber. The shooting end of the camera (58) faces the second detection notch.

3. The vision-based door welding system according to claim 1, characterized in that, The supplementary lighting component includes an LED supplementary light (59). The LED supplementary light (59) is fixedly provided on the inner side surface of the side plate (52) close to the diffusion plate (54), and the light-emitting side of the LED supplementary light (59) faces the detection chamber.

4. The vision-based door welding system according to claim 1, wherein The actuator (3) includes a robot body (31). An electrode fixture (32) is installed at the driving end of the robot body (31), and an upper electrode (33) and a lower electrode (34) are respectively detachably installed on both sides inside the electrode fixture (32).

5. The vision-based door welding system according to claim 4, wherein, The grinding mechanism (4) includes a grinding support column (41). A fixed seat (42) is provided at the upper end of the grinding support column (41). A lower double-ended pushing cylinder (43) is fixedly installed at the bottom end of the fixed seat (42). An upper double-ended pushing cylinder (44) is fixedly installed at the top end of the fixed seat (42). The lower double-ended pushing cylinder (43) and the upper double-ended pushing cylinder (44) are arranged facing each other. A grinding tool body (45) is installed between the lower double-ended pushing cylinder (43) and the upper double-ended pushing cylinder (44). An electrode grinding module (49) is provided on the grinding tool body (45). The electrode grinding module (49) is used for grinding the upper electrode (33) and the lower electrode (34) of the electrode fixture (32).

6. The vision-based door welding system according to claim 5, wherein An upper electrode replacement module (46) and a lower electrode replacement module (47) are respectively arranged on both sides of the grinding tool body (45). The upper electrode replacement module (46) is used for replacing the upper electrode (33) of the electrode fixture (32), and the lower electrode replacement module (47) is used for replacing the lower electrode (34) of the electrode fixture (32). An electrode tightening and loosening module (48) is provided between the upper electrode replacement module (46) and the lower electrode replacement module (47). The electrode tightening and loosening module (48) is used for loosening the upper electrode (33) and the lower electrode (34) of the electrode fixture (32). A grinding drive motor (410) is fixedly installed at the bottom of the grinding tool body (45). The grinding drive motor (410) is used to provide power for the upper electrode replacement module (46), the lower electrode replacement module (47), the electrode tightening and loosening module (48), and the electrode grinding module (49).

7. The vision-based door welding system according to claim 6, wherein A debris collection tray (411) is fixedly installed on the column body of the grinding support column (41). The debris collection tray (411) is located below the grinding tool body (45).

8. A vision-based door welding system according to claim 1, characterized in that, The carrying component (1) includes a workbench (12). A plurality of support seats (11) are fixedly installed on the lower surface of the workbench (12). A plurality of clamping mechanisms (6), supporting mechanisms (7), and carrying seats (13) are detachably installed on the upper surface of the workbench (12). The plurality of clamping mechanisms (6), supporting mechanisms (7), and carrying seats (13) are used to jointly clamp and support the vehicle door body (2) according to the shape of the vehicle door body (2).

9. The vision-based door welding system according to claim 8, characterized in that, The clamping mechanism (6) includes a vertical plate (61), a lower clamping seat (62), and a clamping drive motor (63). The vertical plate (61) is fixedly installed on the upper surface of the workbench (12). The lower clamping seat (62) is fixedly arranged at the upper end of the vertical plate (61). An upper clamping seat (66) is hingedly installed at the upper end of the lower clamping seat (62) through a second hinge seat (65). The clamping drive motor (63) is fixedly installed on the side surface of the vertical plate (61). The drive end of the clamping drive motor (63) is arranged upward. A first hinge seat (64) is fixedly installed at the drive end of the clamping drive motor (63). The first hinge seat (64) and the second hinge seat (65) are jointly hinged and installed on the upper clamping seat (66). A clamping space is formed between the upper clamping seat (66) and the lower clamping seat (62). Clamping seats (67) are respectively installed on the upper clamping seat (66) and the lower clamping seat (62). The clamping drive motor (63) is used to drive the two clamping seats (67) to move away from or close to each other.

10. A vision-based door welding system according to claim 8, wherein, The supporting mechanism (7) includes a supporting base (71). The supporting base (71) is fixedly arranged on the upper plate surface of the workbench (12). The supporting base (71) is in a hollow cavity shape. A rear supporting drive motor (72) is fixedly installed in the supporting base (71). The drive end of the supporting drive motor (72) is arranged upward. The drive end of the supporting drive motor (72) movably penetrates through the supporting base (71), and a supporting seat (73) is fixedly installed at the drive end of the supporting drive motor (72).

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