CN220863089U - White car body welding system - Google Patents

Abstract

The utility model relates to the technical field of automobile production, in particular to a white automobile body welding system. The welding robot comprises a conveying mechanism, a plurality of welding robots, a plurality of brackets provided with vision cameras, a vision industrial personal computer and a plurality of robot control modules which are in one-to-one correspondence with the welding robots; the visual camera is electrically connected with the visual industrial control computer; the visual industrial personal computer is electrically connected with a robot control module, and one robot control module is correspondingly electrically connected with one welding robot. The utility model overcomes the defects that the welding effect is affected by the fact that the pose of the white car body is changed but the welding track of the welding robot is unchanged in the prior art, and finally the repair work and cost of the car body are increased, the vision camera is used for collecting images of different hole sites on the white car body, detecting the change of the position and the pose of the white car body, and correcting the welding track of the welding robot according to the pose change of the white car body, thereby realizing the accurate welding of the white car body.

Description

White car body welding system

Technical Field

The utility model relates to the technical field of automobile production, in particular to a white automobile body welding system.

Background

The welding of the white car body is that the white car body is conveyed to a welding station by a conveying mechanism, and then the white car body is welded by a welding robot according to a preset welding path. The prior art discloses a car welds dress side wall line conveying mechanism, it includes transport roof beam and jacking cylinder, the piston rod upper portion fixedly connected with bracket of jacking cylinder, parallel arrangement's transport roof beam supports on the both ends of bracket, be equipped with on the transport roof beam and follow transport roof beam gliding transport sled, every all be equipped with guide roller on the transport roof beam, still include with the jacking cylinder sets up side by side and is used for controlling the synchronous mechanism that the jacking cylinder goes up and down simultaneously. And locking mechanisms for limiting the conveying skid are further arranged at two ends of the conveying beam.

In the technical scheme, the guide roller comprises a side guide roller and a bottom supporting wheel arranged above the conveying beam, and the conveying skid is supported to slide through the bottom supporting wheel. However, after long-time body-in-white conveying, each bottom supporting wheel is worn to different degrees, and a conveying skid above the bottom supporting wheel is inclined to a certain degree, so that the position and the posture of the body-in-white on the skid are changed. Because the welding track of the welding robot is set in advance, the welding robot always welds on the same track no matter how the pose of the white car body changes. When the pose of the white car body changes, the actual welding position of the welding robot deviates from the position to be welded on the white car body, so that the white car body is not welded in place, even spark splashes occur, the quality of a car body sheet metal part is affected, and the repair work and repair cost of the white car body are increased.

Disclosure of utility model

Aiming at the problems that the welding effect is affected due to the fact that the welding track of a welding robot is unchanged when the pose of the white car body is changed in the prior art, and the repair work and cost of the car body are finally increased, the utility model provides a white car body welding system which can detect the change of the position and the pose of the white car body, correct the welding track of the welding robot according to the change and realize the accurate welding of the white car body.

In order to solve the technical problems, the technical scheme provided by the utility model is as follows:

A white car body welding system comprises a conveying mechanism, a plurality of welding robots, a plurality of brackets, a visual industrial personal computer and a plurality of robot control modules, wherein the brackets are provided with visual cameras; a welding station is formed among the brackets, and the welding robots are all positioned in the welding station; the visual camera is electrically connected with the visual industrial control computer; the visual industrial personal computer is electrically connected with the robot control modules, and one robot control module is correspondingly and electrically connected with one welding robot.

In the technical scheme, a white car body is used as a reference object and is conveyed into a welding station through a conveying mechanism, and each vision camera firstly collects images at different positions on a standard white car body as standard images and transmits the standard images to a vision industrial personal computer; after receiving and processing the standard image, the visual industrial personal computer fits the pose of the white automobile body according to the pixel coordinate information of different hole sites, so as to establish a welding track standard template of the white automobile body; teaching the welding robot according to the welding track template, so that the welding robot welds the white car body according to the welding track standard template; when the conveying mechanism conveys the next white car body of the same car type to the welding station, the vision camera acquires images of different hole sites on the white car body again and transmits the images to the vision industrial personal computer; the visual industrial personal computer processes the image information and compares the image information with a standard image, calculates pose deviation values of hole sites in the image and the same hole site in the standard image, and then sends pose deviation data to the robot control module; and the robot control module corrects the welding track according to the pose deviation value, and then controls the welding robot to weld the white car body according to the corrected welding track.

Preferably, the support is provided with a light emitting source. The white car body can be illuminated by the luminous source, and the quality of an image shot by the vision camera is improved, so that the accuracy of a welding track is further improved.

Preferably, the conveying mechanism comprises a base at least partially positioned in the welding station, a skid slidingly connected with the base and a driving mechanism connected with the base, wherein the driving mechanism is used for driving the skid to slide into the welding station. Placing a white car body to be welded on a skid, driving the skid to slide by a driving mechanism, and conveying the white car body into a welding station through the skid for image acquisition and welding; after the white car body is welded, the driving mechanism drives the skid to slide forwards or backwards continuously, and the white car body is conveyed out of the welding station; after the welded white car body is sent out of the welding station, the same skid or different skids are used for conveying the next white car body into the welding station for welding. The conveying mechanism in this specification is skid conveying mechanism, compact structure, occupation of land space is little to the bearing capacity of skid is stronger, compares in hoist device and carries white automobile body more reliably.

Preferably, the sliding device further comprises a displacement detection device, wherein the displacement detection device is used for detecting the sliding distance of the skid. The sliding distance of the skid is measured through the displacement detection device, the skid is determined to slide in place according to the sliding distance of the skid, and the sliding distance of the skid is kept consistent when the white car body is conveyed every time, so that the position accuracy of the white car body is improved.

The displacement detection device can be one of a resistance type displacement detector, an electromagnetic induction type displacement detector, a piezoelectric type displacement detector, a laser displacement detector and a linear displacement encoder.

In one preferable scheme, the displacement detection device comprises a coding ruler and a reading head, wherein the coding ruler is arranged on one side of the skid close to the base, and the reading head is arranged on one side of the base close to the skid. The code ruler and the reading head in the specification form a code ruler linear displacement detection device in the prior art. It will be appreciated that the code scale moves with the slide relative to the readhead, which contacts the code scale and reads the code on the code scale, resulting in the slide distance of the slide relative to the base. The linear displacement detection device of the coding ruler has higher detection precision and sensitivity, stronger anti-interference capability and higher detection stability.

The driving mode of the driving mechanism can be one of synchronous belt driving, cylinder driving, hydraulic cylinder driving, motor screw driving and the like.

Preferably, the driving mode of the driving mechanism is synchronous belt driving, specifically, the driving mechanism comprises a motor, a driving wheel, a synchronous toothed belt and a plurality of roller assemblies, the roller assemblies are distributed on the base along the sliding direction of the skid, the roller assemblies comprise a first supporting roller and a second supporting roller which are both rotationally connected with the base, and the outer circumferential surface of the first supporting roller and the outer circumferential surface of the second supporting roller are respectively used for being abutted with two opposite sides of the skid; the first support roller and the second support roller are coaxially connected through a rotating shaft, the rotating shaft is coaxially connected with a transmission gear, and the transmission gears are meshed with the synchronous toothed belt; the motor is connected with the base and used for driving the driving wheel to rotate, and the driving wheel is in transmission connection with a transmission gear far away from the driving wheel through the synchronous toothed belt. When the synchronous toothed belt is in implementation, the motor drives the driving wheel to rotate, so that the synchronous toothed belt is driven to move; the synchronous toothed belt drives the transmission gear meshed with the synchronous toothed belt to rotate when moving, the transmission gear transmits torque to the first support roller and the second support roller on the same rotating shaft through the rotating shaft when rotating, and the skid is driven to slide through the friction force of the first support roller and the second support roller to the skid. The driving mechanism is compact in structure, and the rollers have larger bearing capacity, so that the reliability of conveying the white car body can be improved.

Preferably, a proximity sensor for sensing the skid is arranged on the base. When the skid slides to a certain position, the proximity sensor can detect the existence of the skid, and then the skid is further determined to slide in place by combining the sliding distance measured by the displacement detection device, so that the effect of double guarantee is achieved, and the problem that the welding preparation work is started when the skid does not slide to a designated position due to the fact that the displacement detection device breaks down is avoided.

Preferably, a plurality of supporting blocks and a plurality of locating pin assemblies are arranged on one side of the skid far away from the base. Because the body-in-white is relatively irregular in shape, the body-in-white is unevenly stressed and is easy to shift or incline when the body-in-white is directly placed on a skid. The body in white can be supported by the support blocks, so that the stress of the body in white is more uniform, and the locating pins of the locating pin assembly are inserted into the locating holes in the bottom of the body in white to locate the body in white, so that the body in white is more stable on the skid.

Preferably, the two opposite sides of the base are respectively connected with a plurality of first guide rollers and a plurality of second guide rollers in a rotating manner, the axes of the first guide rollers and the second guide rollers are perpendicular to the sliding direction of the skid, and the outer circumferential surfaces of the first guide rollers and the second guide rollers are respectively used for being abutted to the two opposite sides of the skid. In the sliding process of the skid, the first guide roller and the second guide roller are respectively abutted with two sides of the skid and roll under the static friction force of the skid. The first guide roller and the second guide roller can be respectively abutted with two sides of the skid, so that the skid is prevented from deviating to a sliding direction perpendicular to the skid in the sliding process.

Preferably, a guide lug is arranged on one side, close to the base, of the skid, and the guide lug extends along the sliding direction of the skid; the base is close to one side of skid is equipped with two at least edges along skid slip direction distribution's direction guide component, the direction guide component including all with the base rotates third guide roller and the fourth guide roller of being connected, the third guide roller with the axis of fourth guide roller is all perpendicular to the slip direction of skid, the direction lug is located the third guide roller with between the fourth guide roller and with the outer periphery of third guide roller with the outer periphery butt of fourth guide roller. And a guide cavity is formed between the third guide roller and the fourth guide roller, and the guide lug moves along the guide cavity, so that the skid slides in the extending direction of the guide lug, the deviation of the skid in the sliding process is further limited, and the position accuracy of the white car body is improved.

Preferably, a plurality of anti-slip pad feet are arranged at the bottom of the base, the base is enabled to be more stable through the anti-slip pad feet, and the white car body conveying process is not easy to shake.

The utility model has the beneficial effects that: the method has the advantages that the plurality of vision cameras are utilized to respectively collect images of different positions on the white car body, the pose deviation of the white car body is calculated according to the images, and then the welding track of the welding robot is corrected according to the pose deviation, so that the accuracy of the welding track of the welding robot on the white car body can be improved, the welding quality of the white car body is improved, and the repair work and repair cost of the white car body are reduced.

Drawings

FIG. 1 is a schematic diagram of a body-in-white welding system;

FIG. 2 is a schematic top view of the conveyor mechanism;

FIG. 3 is a schematic front view of the transport mechanism;

FIG. 4 is a schematic top view of the base;

FIG. 5 is a schematic view of a side of the sled adjacent the base;

Fig. 6 is a schematic structural view of the driving mechanism.

In the accompanying drawings: 1-a welding robot; 2-a bracket; 3-vision cameras; 4-a visual industrial personal computer; 5-exchanger; 6-a robot control module; 7-a base; 8-skid; 9-a driving mechanism; 901-a motor; 902-a driving wheel; 903-synchronous toothed belt; 904-a first support roller; 905-a spindle; 906-a drive gear; 907-a second support roller; 10-displacement detection means; 1001-coding rule; 1001-reading head; 11-a proximity sensor; 12-supporting blocks; 13-a dowel assembly; 14-a first guide roller; 15-a second guide roller; 16-guiding lugs; 17-a third guide roller; 18-fourth guide rollers; 19-anti-slip foot pads; 20-a first controller; 21-a light-emitting source.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the present patent; for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationship depicted in the drawings is for illustrative purposes only and is not to be construed as limiting the present patent.

The same or similar reference numbers in the drawings of embodiments of the utility model correspond to the same or similar components; in the description of the present utility model, it should be understood that, if there are orientations or positional relationships indicated by terms "upper", "lower", "left", "right", "long", "short", etc., based on the orientations or positional relationships shown in the drawings, this is merely for convenience in describing the present utility model and simplifying the description, and is not an indication or suggestion that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so that the terms describing the positional relationships in the drawings are merely for exemplary illustration and are not to be construed as limitations of the present patent, and that it is possible for those of ordinary skill in the art to understand the specific meaning of the terms described above according to specific circumstances.

The technical scheme of the utility model is further specifically described by the following specific embodiments with reference to the accompanying drawings:

Example 1

The welding system for the white car body shown in fig. 1 comprises a conveying mechanism, six welding robots 1, four brackets 2 provided with vision cameras 3, a vision industrial personal computer 4, a switch 5 and six robot control modules 6 which are in one-to-one correspondence with the welding robots 1; a welding station is formed among the four brackets 2, and the vision cameras 3 are electrically connected with the vision industrial personal computer 4 (the connecting wires of the vision cameras 3 and the vision industrial personal computer 4 are not shown in the figure); the vision industrial personal computer 4 is electrically connected with the switch 5, each robot control module 6 is electrically connected with the switch 5, and one robot control module 6 is correspondingly electrically connected with one welding robot 1.

Further, the light emitting sources 21 are arranged on the support 2, and the white car body can be illuminated by the light emitting sources 21, so that the quality of the image shot by the vision camera 3 is improved, and the accuracy of the welding track is further improved.

Further, the system also comprises a first controller 20, wherein a signal input end of the first controller 20 is connected with the vision industrial personal computer 4, and a signal output end of the first controller is connected with the switch. The first controller 20 receives the data transmitted by the vision industrial personal computer 4 and processes the data, and packages the processed data to the switch 5, so that the switch 5 sends the data to each robot control module 6 according to a specific sequence, and each welding robot 1 welds the body in white simultaneously or according to the specific sequence. It can be understood that when the vision industrial personal computer 4 directly transmits data to the switch 5, the switch 5 simultaneously transmits data to each robot control module 6, and after the first controller 20 is set, the switch 5 sequentially transmits data to each robot control module 6 according to the sequence set by the first controller 20, so that the welding robot 1 sequentially welds the white car body, and interference of the welding robot 1 in the simultaneous welding process is prevented.

Specifically, the robot control module 6 includes a control cabinet, a data processing center and a second controller both provided on the control cabinet. The data processing center is electrically connected with the switch 5, and the second controller is electrically connected with the data processing center. Further, a demonstrator, that is, a man-machine interaction interface is arranged on the control cabinet, and the demonstrator teaches the welding robot 1, so that the welding robot 1 welds according to the set welding track.

Specifically, the first controller 20 and the second controller of the robot control module 6 are both PLC controllers.

The working principle or workflow of the present embodiment: in the technical scheme, a white car body is used as a reference object, the white car body is conveyed into a welding station through a conveying mechanism, and each vision camera 3 firstly collects images of different positions on a standard white car body as standard images and transmits the standard images to a vision industrial personal computer 4; after receiving and processing the standard image, the visual industrial personal computer 4 fits the pose of the white car body according to the pixel coordinate information of different hole sites, so as to establish a welding track standard template of the white car body; then teaching the welding robot 1 through a demonstrator according to the welding track template, so that the welding robot 1 welds the white car body according to the welding track standard template; when the conveying mechanism conveys the next white car body of the same car type to the welding station, the vision camera 3 acquires images of different hole sites on the white car body again and transmits the images to the vision industrial personal computer 4; the vision industrial personal computer 4 processes the image information and compares the image information with a standard image, calculates the pose deviation value of the same hole site in the image and the standard image, packages the pose deviation data together and sends the pose deviation data to the first controller 20, the first controller 20 sends the data to the switch 5, the switch 5 sends the pose deviation data of the white car body to the data processing center of each robot control module 6 through different output ends according to the sequence set by the first controller 20, the data processing center of each robot control module 6 corrects the welding track according to the pose deviation data, and the second controller of the robot control module 6 controls the welding robot 1 to weld the white car body according to the corrected welding track.

The beneficial effects of this embodiment are: the method has the advantages that the plurality of vision cameras are utilized to respectively collect images of different positions on the white car body, the pose deviation of the white car body is calculated according to the images, and then the welding track of the welding robot is corrected according to the pose deviation, so that the accuracy of the welding track of the welding robot on the white car body can be improved, the welding quality of the white car body is improved, and the repair work and repair cost of the white car body are reduced.

Example 2

This embodiment is based on embodiment 1 and is shown in conjunction with fig. 1 to 6, specifically, the conveying mechanism includes a base 7 partially located in the welding station, a skid 8 slidably connected to the base 7, and a driving mechanism 9 connected to the base 7, where the driving mechanism 9 is used to drive the skid 8 to slide. Specifically, three of the welding robots 1 are located on one side of the base 7, and the other three welding robots 1 are located on the other side of the base 7; two of the brackets 2 are located on one side of the base 7 and the other two brackets 2 are located on the other side of the base 7. When the method is implemented, a white car body to be welded is placed on the skid 8, the skid 8 is driven to slide by the driving mechanism 9, and the white car body is conveyed into a welding station through the skid 8 for image acquisition and welding; after the white car body is welded, the driving mechanism 9 drives the skid 8 to slide forwards or backwards continuously, and the white car body is conveyed out of the welding station; after the welded white car body is sent out of the welding station, the same skid 8 or different skids 8 are used for conveying the next white car body into the welding station for welding. The conveying mechanism in the specification is a skid conveying mechanism, the structure is compact, the occupied space is small, the bearing capacity of the skid 8 is stronger, and the white car body conveying device is more reliable compared with a lifting device.

Specifically, when the white car body on the skid 8 is conveyed into the welding station for welding, the lenses of the four vision cameras 3 respectively face four vertex angles of the white car body, more hole sites on the white car body can be shot at the shooting angle, and the reference data of the pose change of the white car body are increased, so that the accuracy of the corrected welding track is improved.

Further, a displacement detecting device 10 is further included, and the displacement detecting device 10 is used for detecting the sliding distance of the sled 8. The sliding distance of the skid 8 is measured by the displacement detection device 10, and the skid 8 is determined to be slid in place according to the sliding distance of the skid 8, so that the sliding distance of the skid 8 is kept consistent when the white car bodies are conveyed each time, and each white car body is welded on the same station.

Specifically, the displacement detecting device 10 includes a code scale 1001 and a reading head 1002, the code scale 1001 is disposed on a side of the sled 8 near the base 7, and the reading head 1002 is disposed on a side of the base 7 near the sled 8. The code scale 1001 and the reading head 1002 in this specification constitute a code scale linear displacement detecting device in the prior art, and the structure and the principle of action are the same as those in the prior art. It will be appreciated that the code scale 1001 moves relative to the read head 1002 as the sled 8 slides, the read head 1002 contacts the code scale 1001 and reads the code on the code scale 1001, resulting in a sliding distance of the sled 8 relative to the base 7. The linear displacement detection device 10 of the code scale has higher detection precision and sensitivity, stronger anti-interference capability and higher detection stability.

Further, the driving mechanism 9 includes a motor 901, a driving wheel 902, a timing belt 903, and five roller assemblies distributed on the base 7 along the sliding direction of the sled 8. Specifically, the roller assembly includes a first supporting roller 904 and a second supporting roller 907, both rotatably connected to the base 7, and an outer circumferential surface of the first supporting roller 904 and an outer circumferential surface of the second supporting roller 907 are respectively used for abutting against two opposite sides of the skid 8; the first support roller 904 and the second support roller 907 are coaxially connected through a rotating shaft 905, the rotating shaft 905 is coaxially connected with a transmission gear 906, and the transmission gears 906 are meshed with the synchronous toothed belt 903. The base 7 is provided with a protection cavity, the rotating shaft 905 and the transmission gear 906 are both located in the protection cavity, and the first support roller 904 and the second support roller 907 are partially located in the protection cavity and partially exposed outside the protection cavity, that is, exposed at the top of the base 7. The motor 901 is connected with the base 7, and the output shaft of motor 901 is connected with the action wheel 902 coaxial, and action wheel 902 passes through synchronous toothed belt 903 and is connected with the drive gear 906 that keeps away from action wheel 902 transmission. In implementation, the motor 901 drives the driving wheel 902 to rotate, so as to drive the synchronous toothed belt 903 to move; when the synchronous toothed belt 903 moves, the transmission gear 906 meshed with the synchronous toothed belt 903 is driven to rotate, when the transmission gear 906 rotates, torque is transmitted to the first support roller 904 and the second support roller 907 on the same rotating shaft 905 through the rotating shaft 905, and the skid 8 is driven to slide through friction force of the first support roller 904 and the second support roller 907 on the skid 8. The driving mechanism 9 has a compact structure, and the rollers have a larger bearing capacity, so that the reliability of conveying the white car body can be improved.

Further, the base 7 is provided with two proximity sensors 11 for sensing the sled 8. When the skid 8 slides to a certain position, the proximity sensor 11 can detect the existence of the skid 8, and the skid 8 is further determined to slide in place by combining the sliding distance measured by the displacement detection device 10, so that the double-guarantee effect is achieved, and the problem that the displacement detection device 10 fails to cause that the welding preparation work starts when the skid 8 does not slide to a designated position yet is avoided.

Further, the skid 8 is provided with four support blocks 12 and four locating pin assemblies 13 on the side remote from the base 7. Because the body-in-white is relatively irregular in shape, the body-in-white is unevenly stressed and easily deflected or inclined when placed directly on the sled 8. The body in white can be supported by the support blocks 12, so that the stress of the body in white is more uniform, and the body in white is positioned by inserting the positioning pins of the positioning pin assembly 13 into the positioning holes at the bottom of the body in white, so that the body in white is more stable on the skid 8.

Other features, operation principles, and advantageous effects of this embodiment are the same as those of embodiment 1.

Example 3

In this embodiment, on the basis of embodiment 2, as shown in fig. 2 to 5, two first guide rollers 14 and two second guide rollers 15 are rotatably connected to opposite sides of the base 7, respectively, and axes of the first guide rollers 14 and the second guide rollers 15 are perpendicular to a sliding direction of the skid 8, and outer circumferential surfaces of the first guide rollers 14 and the second guide rollers 15 are respectively used for abutting against opposite sides of the skid 8. During the sliding process of the skid 8, the first guide roller 14 and the second guide roller 15 respectively abut against two sides of the skid 8 and roll under the static friction force of the skid 8. The first guide roller 14 and the second guide roller 15 may respectively abut against two sides of the sled 8, so as to avoid the sled 8 from being deviated in a sliding direction perpendicular to the sled 8 during sliding.

Further, a guide lug 16 is arranged on one side of the skid 8 close to the base 7, and the guide lug 16 extends along the sliding direction of the skid 8; one side of the base 7, which is close to the skid 8, is provided with two guide assemblies distributed along the sliding direction of the skid 8, each guide assembly comprises a third guide roller 17 and a fourth guide roller 18 which are rotationally connected with the base 7, the axes of the third guide roller 17 and the fourth guide roller 18 are perpendicular to the sliding direction of the skid 8, and each guide lug 16 is positioned between the third guide roller 17 and the fourth guide roller 18 and is abutted to the outer circumferential surface of the third guide roller 17 and the outer circumferential surface of the fourth guide roller 18. A guide cavity is formed between the third guide roller 17 and the fourth guide roller 18, along which the guide projection 16 moves, so that the sled 8 slides in the extending direction of the guide projection 16, thereby further limiting the displacement of the sled 8 during sliding, and thus improving the positional accuracy of the body-in-white.

Further, a plurality of anti-slip pad feet 19 are arranged at the bottom of the base 7, the base is stable through the anti-slip pad feet 19, and the white car body conveying process is not easy to shake.

Other features, operation principles, and advantageous effects of this embodiment are the same as those of embodiment 2.

It is to be understood that the above examples of the present utility model are provided by way of illustration only and not by way of limitation of the embodiments of the present utility model. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims (10)

1. The white car body welding system comprises a conveying mechanism, a plurality of welding robots (1), and is characterized by further comprising a plurality of supports (2) provided with vision cameras (3), vision industrial personal computers (4) and a plurality of robot control modules (6) which are in one-to-one correspondence with the welding robots (1); a welding station is formed among the brackets (2), and the welding robots (1) are all positioned in the welding station; the visual camera (3) is electrically connected with the visual industrial personal computer (4); the visual industrial personal computer (4) is electrically connected with the robot control modules (6), and one robot control module (6) is correspondingly electrically connected with one welding robot (1).

2. A body in white welding system according to claim 1, characterized in that the bracket (2) is provided with a light source (21).

3. A body in white welding system according to claim 1, characterized in that the conveying means comprise a base (7) at least partly located in the welding station, a skid (8) in sliding connection with the base (7) and a drive mechanism (9) connected with the base (7), the drive mechanism (9) being adapted to drive the skid (8) to slide into the welding station.

4. A body-in-white welding system according to claim 3, further comprising displacement detection means (10), said displacement detection means (10) being adapted to detect the sliding distance of said skid (8).

5. A body in white welding system according to claim 4, characterized in that the displacement detection means (10) comprise a coded ruler (1001) and a reading head (1002), the coded ruler (1001) being arranged on the side of the skid (8) close to the base (7), the reading head (1002) being arranged on the side of the base (7) close to the skid (8).

6. A body-in-white welding system according to claim 3, characterized in that the driving mechanism (9) comprises a motor (901), a driving wheel (902), a synchronous toothed belt (903) and a plurality of roller assemblies, the plurality of roller assemblies are distributed on the base (7) along the sliding direction of the skid (8), the roller assemblies comprise a first supporting roller (904) and a second supporting roller (907) which are both rotatably connected with the base (7), and the outer circumferential surfaces of the first supporting roller (904) and the second supporting roller (907) are respectively used for abutting against opposite sides of the skid (8); the first support roller (904) and the second support roller (907) are coaxially connected through a rotating shaft (905), the rotating shaft (905) is coaxially connected with a transmission gear (906), and the transmission gears (906) are meshed with the synchronous toothed belt (903); the motor (901) is connected with the base (7) and used for driving the driving wheel (902) to rotate, and the driving wheel (902) is in transmission connection with a transmission gear (906) far away from the driving wheel (902) through the synchronous toothed belt (903).

7. A body-in-white welding system according to claim 3, characterized in that the base (7) is provided with a proximity sensor (11) for sensing the skid (8).

8. A body in white welding system according to claim 3, characterized in that the skid (8) is provided with a plurality of support blocks (12) and a plurality of locating pin assemblies (13) on the side remote from the base (7).

9. A welding system for body in white according to any of claims 3 to 8, characterized in that a plurality of first guide rollers (14) and a plurality of second guide rollers (15) are rotatably connected to opposite sides of the base (7), respectively, the axes of the first guide rollers (14) and the second guide rollers (15) are perpendicular to the sliding direction of the skid (8), and the outer circumferential surfaces of the first guide rollers (14) and the second guide rollers (15) are respectively used for abutting against both sides of the skid (8).

10. A body in white welding system according to claim 9, characterized in that the skid (8) is provided with a guiding projection (16) on the side close to the base (7), which guiding projection (16) extends in the sliding direction of the skid (8); the base (7) is close to one side of skid (8) is equipped with two at least edges along the direction of sliding of skid (8) is distributed, direction subassembly including all with base (7) rotate third guide roller (17) and fourth guide roller (18) of being connected, third guide roller (17) with the axis of fourth guide roller (18) all perpendicular to the direction of sliding of skid (8), guide lug (16) are located between third guide roller (17) and fourth guide roller (18) and with the outer periphery of third guide roller (17) with the outer periphery butt of fourth guide roller (18).