Intelligent adjusting method and system for automobile clamp

Abstract

The invention discloses an intelligent adjusting method and system for an automobile clamp, and relates to the technical field of automobile manufacturing, through accurate three-dimensional position data acquisition and intelligent automatic adjustment, the clamp can quickly adapt to the actual position and angle change of parts, manual intervention is greatly reduced, and the assembly precision and efficiency are improved; the state monitoring module tracks the pressure, temperature and operation state of the clamp in real time and compares the pressure, temperature and operation state with standard values, the operation state and potential abnormity of the clamp can be effectively monitored, faults can be early warned in advance, and therefore the risk of sudden faults is reduced. The data analysis module comprehensively analyzes the operation state factor F1, the clamping force factor F2, the environment factor F3 and the adjustment precision factor P1 of the clamp, generates a comprehensive abnormal index X1, can accurately judge the maintenance requirement of the clamp, automatically adjusts and processes faults, greatly simplifies the maintenance process, and improves the system reliability and the maintenance efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile manufacturing, and in particular to an intelligent adjustment method and system for automobile fixtures. Background Art

[0002] The automotive fixture adjustment system mainly involves the design and adjustment technology of fixtures. The fixtures are used to fix and support workpieces in automobile manufacturing to ensure consistency and accuracy during processing and assembly. It has a wide range of applications, including automobile body welding, parts assembly, and quality inspection.

[0003] However, the automotive fixture adjustment system has the following technical disadvantages when used in the assembly of automotive parts:

[0004] 1. Poor adaptability: Many fixture adjustment systems are designed for specific models or parts and lack sufficient versatility. Changes in different models or parts may require the fixture to be redesigned or adjusted, resulting in poor adaptability;

[0005] 2. Complex maintenance and troubleshooting: Automated fixture adjustment systems often involve complex mechanical and electronic components, which can be complex and expensive to maintain and troubleshoot. Troubleshooting and repair may require specialized technicians, increasing the operating costs of the system.

[0006] 3. High dependence on manual labor: During the assembly process, a lot of manual intervention and adjustment are required, which not only increases the labor intensity, but also may lead to human errors, thus affecting the assembly quality and efficiency. Summary of the invention

[0007] Technical issues solved

[0008] In view of the deficiencies in the prior art, the present invention provides an intelligent adjustment method and system for an automobile fixture, which solves the technical problems of poor adaptability, complex maintenance and troubleshooting, and high manual dependence in the background technology.

[0009] Technical Solution

[0010] To achieve the above objectives, the present invention is implemented through the following technical solutions: an intelligent adjustment system for automobile fixtures, including a position recognition module, an automatic adjustment module, a state monitoring module, a data analysis module and a comprehensive control module;

[0011] The position recognition module is used to automatically locate the automobile parts to be assembled by using sensors and imaging devices, obtain the three-dimensional position data of the parts, and establish the coordinate system of the parts, then evaluate the adjustment path of the fixture according to the coordinate system information and furniture operation related data, and finally select the adjustment path of the fixture according to the evaluation result of the adjustment path of the fixture;

[0012] The automatic adjustment module is used to automatically adjust various components of the fixture, including clamping force, fixture position and angle, according to the coordinate system data provided by the position recognition module;

[0013] The state monitoring module is used to monitor the working state of the fixture in real time, including the pressure, temperature and operating state of the fixture, and compare the monitoring data with the preset standard value, and evaluate the operating state of the fixture and the upcoming abnormality based on the comparison result of the monitoring data with the preset standard value;

[0014] The data analysis module includes a first analysis unit, a second analysis unit and a third correlation analysis unit; the first analysis unit is used to analyze and calculate the running state factor F1, the clamping force factor F2 and the environmental factor F3 of the fixture according to the relevant data of the state monitoring module, and the second analysis unit is used to analyze and calculate the adjustment accuracy factor P1 of the fixture according to the position identification data; the third correlation analysis unit is used to summarize and analyze the running state factor F1, the clamping force factor F2 and the environmental factor F3 to generate a comprehensive environmental factor E1, and to correlate the fixture adjustment accuracy factor P1 with the comprehensive environmental factor E1 to generate a comprehensive abnormality index X1, wherein the comprehensive environmental factor E1 is obtained by the following formula:

[0015] E1=b1*F1+b2*F2+b3*F3+B;

[0016] Wherein, b1, b2 and b3 represent the preset proportional coefficients of the operating state factor F1, the clamping force factor F2 and the environmental factor F3 respectively, and B represents the second correction constant;

[0017] The comprehensive control module is used to pre-set the adaptability threshold A and the evaluation threshold B, and compare the operating status factor F1 with the adaptability threshold A to determine whether the current fixture has an adaptability problem, and compare the evaluation threshold B with the comprehensive abnormality index X1 to obtain the evaluation level, and take corresponding adjustment and maintenance plans according to the evaluation level.

[0018] Preferably, the position identification module includes a three-dimensional positioning unit, a coordinate system establishment unit and a calibration unit;

[0019] The three-dimensional positioning unit is used to use sensors and imaging devices to perform all-round scanning of the automotive parts to be assembled to obtain the three-dimensional position data of the parts and capture the posture information of the parts in real time. The three-dimensional positioning unit determines the position and angle of the parts in space and generates preliminary position-related data;

[0020] The coordinate system establishment unit is used to establish a coordinate system in the space where the component is located according to the three-dimensional position data obtained by the three-dimensional positioning unit, and mark the key points of the component as Cp (x, y, z); and use the coordinate system Cp (x, y, z) as a reference for subsequent confirmation that the adjustment of the fixture matches the actual position of the component.

[0021] Preferably, the calibration unit is used to compare the key point Cp (x, y, z) of the component in the coordinate system with the current position information of the fixture, and calculate the translation parameter Pcs and rotation parameter Xcs required for the fixture by the following formula:

[0022] Pcs=(Δx,Δy,Δz)=(C px -C gx ,C py -C gy ,C pz -C gz );

[0023] Xcs=(Δα,Δβ,Δγ)=(α p -α g ,β p -β g ,γ p -γ g );

[0024] In the formula, Δx, Δy, Δz represent the displacement of the fixture on the x, y, z axis respectively, Cp(x, y, z) represents the coordinates of the key point, and Cg(x, y, z) represents the current position coordinates of the fixture;

[0025] Δα, Δβ, Δγ represent the rotation angle of the fixture around the x, y, and z axes respectively. α p ,β p ,γ p Euler angle representing the target posture, α g ,β g ,γ g Indicates the current Euler angle of the fixture;

[0026] After adjusting the position and angle of the fixture to be completely aligned with the parts through the translation parameter Pcs and the rotation parameter Xcs, the fixture path-related data is collected in real time. The fixture movement speed Jsd, fixture load value Jfz, assembly tolerance value Jcz, and displacement Wyl are collected through the linear velocity sensor, force sensor, laser rangefinder, and linear displacement sensor. At the same time, the collected data is dimensionlessly processed and fitted with the translation parameter Pcs and the rotation parameter Xcs. The fixture movement path index Jjzs is calculated by the following formula:

[0027]

[0028] By presetting the first adjustment threshold Q1 and the second adjustment threshold Q2, the fixture motion path index Jjzs is evaluated, and the first adjustment threshold Q1> the second adjustment threshold Q2, and the specific evaluation content is as follows:

[0029] When the fixture motion path index Jjzs ≥ the first adjustment threshold Q1, it indicates that the current fixture adjustment path meets the ideal optimization state; at this time, the first path result is generated to make the fixture run according to the current path;

[0030] When the second adjustment threshold Q2≤the fixture motion path index Jjzs<the first adjustment threshold Q1, it indicates that the current fixture adjustment path does not meet the ideal optimization state; at this time, the second path result is generated, and some parameters of the fixture adjustment path are adjusted, including the fixture motion speed, and the fixture adjustment path is used as;

[0031] When the fixture motion path index Jjzs<the second adjustment threshold Q2, it indicates that the current fixture adjustment path does not meet the ideal optimization state; at this time, the third path result is generated, and the translation parameter Pcs and the rotation parameter Xcs are recalculated and adjusted.

[0032] Preferably, the automatic adjustment module includes a position adjustment unit and a clamping force control unit;

[0033] The position adjustment unit is used to analyze the coordinate system data, convert the target position data into specific adjustment instructions, and adjust the position of the fixture through the drive system;

[0034] The clamping force control unit is used to automatically adjust the clamping force according to the target position data provided by the position adjustment unit and the position feedback of the clamp, and to monitor the clamping state of the clamp in real time, and to adjust the clamping force as needed.

[0035] Preferably, the state monitoring module includes a pressure monitoring unit, a temperature monitoring unit and an operation state monitoring unit;

[0036] The pressure monitoring unit is used to measure and record the pressure value Ylz of the fixture in real time; the real-time pressure value Ylz is calculated with the preset standard pressure value Ylb to obtain the pressure deviation value Ylpc, and the specific method is as follows:

[0037] Ylpc=Ylb-Ylz;

[0038] The temperature monitoring unit is used to read the temperature value Wdz of the temperature sensor in real time and record the data in real time; finally, the temperature value obtained in real time is calculated with the preset standard temperature value Wdb to obtain the temperature deviation value Wdpc, and the specific method is as follows:

[0039] Wdpc = Wdb - Wdz;

[0040] The operation status monitoring unit monitors and reads the operation status value Yzt of the fixture in real time through the operation status sensor, including the operation speed, operation time and other state parameters; finally, the operation status value Yzt is calculated with the preset standard operation status value Yzb to generate the operation status deviation value Yzpc, and the specific method is as follows:

[0041] Yzpc=Yzb-Yzt;

[0042] Finally, the pressure deviation value Ylpc, temperature deviation value Wdpc and operating status deviation value Yzpc are recorded and analyzed.

[0043] Preferably, the data analysis module includes a first analysis unit, a second analysis unit and a third correlation analysis unit;

[0044] The first analysis unit includes an operating state subunit, a clamping force subunit and an environment subunit;

[0045] The operating state subunit extracts the pressure deviation value Ylpc, the temperature deviation value Wdpc and the operating state deviation value Yzpc, and obtains the operating state factor F1 of the fixture by calculating through the following formula:

[0046]

[0047] The clamping force subunit obtains the clamping force deviation value Jjpc by reading the difference between the measured value and the standard value, and obtains the clamping force change rate Jjbh by using the clamping force sensor to monitor the change of the clamping force over a period of time; finally, the clamping force deviation value Jjpc and the clamping force change rate Jjbh are extracted and dimensionlessly processed to calculate the clamping force factor F2, and the specific formula is as follows:

[0048]

[0049] Where, Jjpc i Indicates the i-th clamping force deviation value, Jjbh j represents the j-th clamping force change rate;

[0050] The environmental subunit collects and obtains temperature-related data, humidity-related data and pressure-related data through a digital temperature sensor, a resistive humidity sensor and an air pressure sensor, respectively, and extracts the temperature-related data, humidity-related data and pressure-related data and performs dimensionless processing to obtain the environmental temperature difference Hwc, the environmental humidity difference Hsc, the environmental pressure difference Hqc, the temperature change rate Heb, the humidity change rate Hsb and the air pressure change rate Hqb, and then calculates to obtain the environmental factor F3. The specific formula is as follows:

[0051]

[0052] Preferably, the second analysis unit is used to extract the coordinate system data provided by the position identification module and the actual adjustment data of the fixture, perform dimensionless processing on the extracted data, and calculate the adjustment accuracy factor P1 of the fixture through the following formula:

[0053]

[0054] Wherein, Zwz represents the position error value, Zjd represents the angle error value, Zbc represents the adjustment step size, and Zt represents the time required for adjustment.

[0055] Preferably, the third correlation analysis unit is used to correlate the fixture adjustment precision factor P1 with the comprehensive environmental factor E1 to generate a comprehensive abnormality index X1, and the specific formula is as follows:

[0056] X1=a1×P1+a2×E1+a3×P1×E1;

[0057] In the formula, a1 is the weight value of the fixture adjustment accuracy factor P1, a2 is the weight value of the comprehensive environmental factor E1, and a3 is the weight value of the influence of the interaction term of P1 and E1 on X1.

[0058] Preferably, the integrated control module includes a first comparison unit and a second comparison unit;

[0059] The first comparison unit is used to compare the operating state factor F1 with the adaptability threshold W, and the specific comparison content is as follows:

[0060] When the operating status factor F1 ≥ the adaptability threshold W, it means that the fixture has an adaptability problem;

[0061] When the operating status factor F1 < the adaptability threshold W, it means that the fixture does not have an adaptability problem;

[0062] The second comparison unit is used to compare the evaluation threshold E with the comprehensive abnormality index X1. The specific contents are as follows:

[0063] When the comprehensive abnormality index X1>evaluation threshold E, it means that the fixture is abnormal. At this time, the fixture needs to be suspended and detailed inspection, maintenance and adjustment should be carried out;

[0064] When the comprehensive abnormality index X1 ≤ the evaluation threshold E, it indicates that the fixture operates normally and no additional measures are required.

[0065] An intelligent adjustment method for an automobile fixture comprises the following steps:

[0066] Step 1: Use sensors and imaging devices to automatically locate the automotive parts to be assembled, obtain the three-dimensional position data of the parts, and establish the coordinate system of the parts. Then, evaluate the adjustment path of the fixture according to the coordinate system information and furniture operation related data. Finally, select the adjustment path of the fixture according to the evaluation result of the adjustment path of the fixture.

[0067] Step 2: Automatically adjust various components of the fixture, including clamping force, fixture position and angle, according to the coordinate system data provided by the position recognition module;

[0068] Step 3: Monitor the working status of the fixture in real time, including the pressure, temperature and operating status of the fixture, and compare the monitoring data with the preset standard values. Based on the comparison results of the monitoring data with the preset standard values, evaluate the operating status of the fixture and the upcoming abnormalities;

[0069] Step 4: Analyze and calculate the fixture's operating state factor F1, clamping force factor F2, and environmental factor F3 based on the relevant data of the status monitoring module; analyze and calculate the fixture's adjustment accuracy factor P1 based on the position identification data; summarize and analyze the operating state factor F1, clamping force factor F2, and environmental factor F3 to generate a comprehensive environmental factor E1, and associate the fixture adjustment accuracy factor P1 with the comprehensive environmental factor E1 to generate a comprehensive abnormality index X1, where the comprehensive environmental factor E1 is obtained by the following formula:

[0070] E1=b1*F1+b2*F2+b3*F3+B;

[0071] Wherein, b1, b2 and b3 represent the preset proportional coefficients of the operating state factor F1, the clamping force factor F2 and the environmental factor F3 respectively, and B represents the second correction constant;

[0072] Step 5. Pre-set the adaptability threshold A and the evaluation threshold B. Compare the operating status factor F1 with the adaptability threshold A to determine whether the current fixture has an adaptability problem. Compare the evaluation threshold B with the comprehensive abnormality index X1 to obtain the evaluation level, and take corresponding adjustment and maintenance plans based on the evaluation level.

[0073] Beneficial Effects

[0074] The present invention provides an intelligent adjustment method and system for automobile fixtures, which have the following beneficial effects:

[0075] (1) This method and system for intelligent adjustment of automobile fixtures can obtain and analyze the three-dimensional position data of automobile parts in real time through the precise positioning and coordinate system establishment of the position recognition module and the intelligent adjustment mechanism of the automatic adjustment module. This enables the fixture to quickly adapt to the actual position and angle changes of different parts and realize accurate automatic adjustment of the fixture. This automated adjustment greatly improves the adaptability of the fixture, reduces the need for human intervention, and improves the efficiency and accuracy of assembly.

[0076] (2) In this intelligent adjustment method and system for automobile fixtures, the status monitoring module tracks the pressure, temperature and operating status of the fixture in real time and compares them with preset standard values; by comprehensively analyzing the pressure deviation Ylpc, temperature deviation Wdpc and operating status deviation Yzpc, the system can effectively monitor the working status and potential abnormalities of the fixture; this comprehensive monitoring function can timely detect and warn of operating problems of the fixture, reduce the possibility of failure, take maintenance measures in advance, and reduce the sudden failure rate of the equipment.

[0077] (3) In this intelligent adjustment method and system for automobile fixtures, the data analysis module combines the fixture's operating status factor F1, clamping force factor F2, environmental factor F3 and adjustment accuracy factor P1 through multi-level analysis units to generate a comprehensive abnormality index X1, and compares it with the evaluation threshold. This comprehensive analysis not only improves the accuracy of fault diagnosis, but also optimizes the fault handling solution. The system can automatically determine the maintenance and adjustment measures of the fixture, thereby reducing the complexity of manual intervention and decision-making, and improving the overall reliability and maintenance efficiency of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 A schematic diagram of the framework structure of an intelligent adjustment system for automobile fixtures according to the present invention;

[0079] Figure 2 The present invention is a schematic flow chart of the steps of an intelligent adjustment method for an automobile fixture. DETAILED DESCRIPTION

[0080] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0081] Example 1

[0082] See also Figure 1, the present invention provides an intelligent adjustment system for automobile fixtures, including a position recognition module, an automatic adjustment module, a state monitoring module, a data analysis module and a comprehensive control module;

[0083] The position recognition module is used to automatically locate the automobile parts to be assembled by using sensors and imaging devices, obtain the three-dimensional position data of the parts, and establish the coordinate system of the parts, then evaluate the adjustment path of the fixture according to the coordinate system information and furniture operation related data, and finally select the adjustment path of the fixture according to the evaluation result of the adjustment path of the fixture;

[0084] The automatic adjustment module is used to automatically adjust various components of the fixture, including clamping force, fixture position and angle, according to the coordinate system data provided by the position recognition module;

[0085] The state monitoring module is used to monitor the working state of the fixture in real time, including the pressure, temperature and operating state of the fixture, and compare the monitoring data with the preset standard value, and evaluate the operating state of the fixture and the upcoming abnormality based on the comparison result of the monitoring data with the preset standard value;

[0086] The data analysis module includes a first analysis unit, a second analysis unit and a third correlation analysis unit; the first analysis unit is used to analyze and calculate the running state factor F1, the clamping force factor F2 and the environmental factor F3 of the fixture according to the relevant data of the state monitoring module, and the second analysis unit is used to analyze and calculate the adjustment accuracy factor P1 of the fixture according to the position identification data; the third correlation analysis unit is used to summarize and analyze the running state factor F1, the clamping force factor F2 and the environmental factor F3 to generate a comprehensive environmental factor E1, and to correlate the fixture adjustment accuracy factor P1 with the comprehensive environmental factor E1 to generate a comprehensive abnormality index X1, wherein the comprehensive environmental factor E1 is obtained by the following formula:

[0087] E1=b1*F1+b2*F2+b3*F3+B;

[0088] Wherein, b1, b2 and b3 represent the preset proportional coefficients of the operating state factor F1, the clamping force factor F2 and the environmental factor F3 respectively, and B represents the second correction constant;

[0089] The comprehensive control module is used to pre-set the adaptability threshold A and the evaluation threshold B, and compare the operating status factor F1 with the adaptability threshold A to determine whether the current fixture has an adaptability problem, and compare the evaluation threshold B with the comprehensive abnormality index X1 to obtain the evaluation level, and take corresponding adjustment and maintenance plans according to the evaluation level.

[0090] In this embodiment, by integrating advanced sensor technology and intelligent data analysis, the automation level and adaptability of the fixture are significantly improved; the system accurately obtains the three-dimensional position data of parts through the position recognition module, automatically adjusts the clamping force, position and angle of the fixture, realizes fast and accurate assembly adjustment, reduces manual intervention and improves assembly efficiency; the status monitoring module tracks the pressure, temperature and operating status of the fixture in real time, promptly discovers and warns of potential faults, and reduces the risk of sudden failures; the data analysis module generates a comprehensive abnormality index X1 by comprehensively analyzing the operating status factor F1, clamping force factor F2, environmental factor F3 and adjustment accuracy factor P1, accurately judges the operating status of the fixture and optimizes the maintenance plan, thereby simplifying the maintenance process and improving the reliability and maintenance efficiency of the system; the overall solution effectively solves the problems of poor adaptability, complex maintenance and high manual dependence of traditional fixture systems.

[0091] Example 2

[0092] See also Figure 1 , the position identification module includes a three-dimensional positioning unit, a coordinate system establishment unit and a calibration unit;

[0093] The three-dimensional positioning unit is used to use sensors and imaging devices to perform all-round scanning of the automotive parts to be assembled to obtain the three-dimensional position data of the parts and capture the posture information of the parts in real time. The three-dimensional positioning unit determines the position and angle of the parts in space and generates preliminary position-related data;

[0094] The coordinate system establishment unit is used to establish a coordinate system in the space where the component is located according to the three-dimensional position data obtained by the three-dimensional positioning unit, and mark the key points of the component as Cp (x, y, z); and use the coordinate system Cp (x, y, z) as a reference for subsequent confirmation that the adjustment of the fixture matches the actual position of the component.

[0095] The calibration unit is used to compare the key point Cp (x, y, z) of the component in the coordinate system with the current position information of the fixture, and calculate the translation parameter Pcs and rotation parameter Xcs required for the fixture through the following formula:

[0096] Pcs=(Δx,Δy,Δz)=(C px -C gx ,C py -C gy ,C pz -C gz );

[0097] Xcs=(Δα,Δβ,Δγ)=(α p -α g ,β p -βg ,γ p -γ g );

[0098] In the formula, Δx, Δy, Δz represent the displacement of the fixture on the x, y, z axis respectively, Cp(x, y, z) represents the coordinates of the key point, and Cg(x, y, z) represents the current position coordinates of the fixture;

[0099] Δα, Δβ, Δγ represent the rotation angle of the fixture around the x, y, and z axes respectively. α p ,β p ,γ p Euler angle representing the target posture, α g ,β g ,γ g Indicates the current Euler angle of the fixture;

[0100] After adjusting the position and angle of the fixture to be completely aligned with the parts through the translation parameter Pcs and the rotation parameter Xcs, the fixture path-related data is collected in real time. The fixture movement speed Jsd, fixture load value Jfz, assembly tolerance value Jcz, and displacement Wyl are collected through the linear velocity sensor, force sensor, laser rangefinder, and linear displacement sensor. At the same time, the collected data is dimensionlessly processed and fitted with the translation parameter Pcs and the rotation parameter Xcs. The fixture movement path index Jjzs is calculated by the following formula:

[0101]

[0102] By presetting the first adjustment threshold Q1 and the second adjustment threshold Q2, the fixture motion path index Jjzs is evaluated, and the first adjustment threshold Q1> the second adjustment threshold Q2, and the specific evaluation content is as follows:

[0103] When the fixture motion path index Jjzs ≥ the first adjustment threshold Q1, it indicates that the current fixture adjustment path meets the ideal optimization state; at this time, the first path result is generated to make the fixture run according to the current path;

[0104] When the second adjustment threshold Q2≤the fixture motion path index Jjzs<the first adjustment threshold Q1, it indicates that the current fixture adjustment path does not meet the ideal optimization state; at this time, the second path result is generated, and some parameters of the fixture adjustment path are adjusted, including the fixture motion speed, and the fixture adjustment path is used as;

[0105] When the fixture motion path index Jjzs<the second adjustment threshold Q2, it indicates that the current fixture adjustment path does not meet the ideal optimization state; at this time, the third path result is generated, and the translation parameter Pcs and the rotation parameter Xcs are recalculated and adjusted.

[0106] In this embodiment, the three-dimensional positioning and calibration system accurately determines the spatial position and angle of parts by all-round scanning and real-time capture of the three-dimensional position and posture information of parts, thereby providing an accurate data basis for subsequent fixture adjustment; by establishing a coordinate system and marking key points Cp (x, y, z), the system can ensure the accuracy and consistency of the fixture adjustment path, avoid position deviation, and improve assembly accuracy; the calibration unit uses translation parameters Pcs and rotation parameters Xcs to accurately align the fixture, and performs path optimization evaluation through real-time collected data such as fixture movement speed Jsd, load value Jfz, assembly tolerance value Jcz and displacement Wyl; by calculating the fixture movement path index Jjzs, the system can dynamically adjust the fixture movement path to ensure that it is in the optimal state; this data-based automated calibration and path adjustment not only improves the accuracy and efficiency of assembly, but also reduces human intervention, improves the stability and reliability of the system, and avoids assembly errors and production stagnation caused by path deviations.

[0107] Example 3

[0108] See also Figure 1 , the automatic adjustment module includes a position adjustment unit and a clamping force control unit;

[0109] The position adjustment unit is used to analyze the coordinate system data, convert the target position data into specific adjustment instructions, and adjust the position of the fixture through the drive system;

[0110] The clamping force control unit is used to automatically adjust the clamping force according to the target position data provided by the position adjustment unit and the position feedback of the clamp, and to monitor the clamping state of the clamp in real time, and to adjust the clamping force as needed.

[0111] In this embodiment, precise and automatic adjustment of the clamp position and clamping force is achieved through the synergy of the position adjustment unit and the clamping force control unit; the position adjustment unit converts the target position data into specific adjustment instructions by parsing the coordinate system data, thereby ensuring that the clamp can accurately align the positions of the parts to be assembled; the clamping force control unit automatically adjusts the clamping force based on the real-time feedback of the clamp position data, thereby ensuring that the pressure applied by the clamp during the assembly process is moderate and uniform; the design of this module not only improves the accuracy and stability of the assembly process, but also effectively reduces the frequency and errors of manual adjustments, reduces the risk of failure in the production process, and thus significantly improves production efficiency and quality.

[0112] Example 4

[0113] See also Figure 1 , the state monitoring module includes a pressure monitoring unit, a temperature monitoring unit and an operation state monitoring unit;

[0114] The pressure monitoring unit is used to measure and record the pressure value Ylz of the fixture in real time; the real-time pressure value Ylz is calculated with the preset standard pressure value Ylb to obtain the pressure deviation value Ylpc, and the specific method is as follows:

[0115] Ylpc=Ylb-Ylz;

[0116] The temperature monitoring unit is used to read the temperature value Wdz of the temperature sensor in real time and record the data in real time; finally, the temperature value obtained in real time is calculated with the preset standard temperature value Wdb to obtain the temperature deviation value Wdpc, and the specific method is as follows:

[0117] Wdpc = Wdb - Wdz;

[0118] The operation status monitoring unit monitors and reads the operation status value Yzt of the fixture in real time through the operation status sensor, including the operation speed, operation time and other state parameters; finally, the operation status value Yzt is calculated with the preset standard operation status value Yzb to generate the operation status deviation value Yzpc, and the specific method is as follows:

[0119] Yzpc=Yzb-Yzt;

[0120] Finally, the pressure deviation value Ylpc, temperature deviation value Wdpc and operating status deviation value Yzpc are recorded and analyzed.

[0121] In this embodiment, the pressure, temperature and operating status of the fixture during the working process are effectively monitored through real-time data collection and analysis of the pressure monitoring unit, the temperature monitoring unit and the operating status monitoring unit; the pressure monitoring unit obtains the pressure deviation value Ylpc by measuring the fixture pressure value Ylz and comparing it with the preset standard value Ylb, thereby ensuring that the pressure applied by the fixture is within a safe range; the temperature monitoring unit obtains the temperature deviation value Wdpc by reading and comparing the temperature value Wdz with the standard temperature Wdb, which helps to avoid system failures caused by abnormal temperature; the operating status monitoring unit obtains the operating status deviation value Yzpc through real-time monitoring of the fixture's operating speed, operating time and other parameters, which helps to discover potential problems in a timely manner; the calculation and recording of these deviation values ​​not only improves the stability and safety of the fixture operation, but also provides a basis for further optimization of the system through data analysis, reduces the occurrence of failures, and improves production efficiency.

[0122] Example 5

[0123] See also Figure 1 , the data analysis module includes a first analysis unit, a second analysis unit and a third association analysis unit;

[0124] The first analysis unit includes an operating state subunit, a clamping force subunit and an environment subunit;

[0125] The operating state subunit extracts the pressure deviation value Ylpc, the temperature deviation value Wdpc and the operating state deviation value Yzpc, and obtains the operating state factor F1 of the fixture by calculating through the following formula:

[0126]

[0127] The clamping force subunit obtains the clamping force deviation value Jjpc by reading the difference between the measured value and the standard value, and obtains the clamping force change rate Jjbh by using the clamping force sensor to monitor the change of the clamping force over a period of time; finally, the clamping force deviation value Jjpc and the clamping force change rate Jjbh are extracted and dimensionlessly processed to calculate the clamping force factor F2, and the specific formula is as follows:

[0128]

[0129] Where, Jjpc i Indicates the i-th clamping force deviation value, Jjbh j represents the j-th clamping force change rate;

[0130] The environmental subunit collects and obtains temperature-related data, humidity-related data and pressure-related data through a digital temperature sensor, a resistive humidity sensor and an air pressure sensor, respectively, and extracts the temperature-related data, humidity-related data and pressure-related data and performs dimensionless processing to obtain the environmental temperature difference Hwc, the environmental humidity difference Hsc, the environmental pressure difference Hqc, the temperature change rate Heb, the humidity change rate Hsb and the air pressure change rate Hqb, and then calculates to obtain the environmental factor F3. The specific formula is as follows:

[0131]

[0132] The second analysis unit is used to extract the coordinate system data provided by the position identification module and the actual adjustment data of the fixture, perform dimensionless processing on the extracted data, and calculate the adjustment accuracy factor P1 of the fixture through the following formula:

[0133]

[0134] Wherein, Zwz represents the position error value, Zjd represents the angle error value, Zbc represents the adjustment step size, and Zt represents the time required for adjustment.

[0135] The third correlation analysis unit is used to correlate the fixture adjustment precision factor P1 with the comprehensive environmental factor E1 to generate a comprehensive abnormality index X1, and the specific formula is as follows:

[0136] X1=a1×P1+a2×E1+a3×P1×E1;

[0137] In the formula, a1 is the weight value of the fixture adjustment accuracy factor P1, a2 is the weight value of the comprehensive environmental factor E1, and a3 is the weight value of the influence of the interaction term of P1 and E1 on X1.

[0138] In this embodiment, through the coordinated work of the first analysis unit, the second analysis unit and the third correlation analysis unit, a comprehensive analysis of the fixture operation status, clamping force and environmental factors is achieved; the operation status subunit extracts and calculates the deviation values ​​of pressure, temperature and operation status to obtain the operation status factor F1, which provides a reliable basis for real-time monitoring of the overall operation of the fixture; the clamping force subunit calculates the clamping force factor F2 by analyzing the clamping force deviation value and change rate to ensure that the force applied by the fixture fluctuates within a reasonable range; the environment subunit collects temperature, humidity and air pressure data through a variety of sensors, and calculates the environmental factor F3, so that the system can adapt to changes under different environmental conditions; the second analysis unit calculates the adjustment accuracy factor P1 by analyzing data such as position error and angle error to ensure the accuracy of fixture adjustment; the third correlation analysis unit associates the adjustment accuracy factor P1 with the comprehensive environmental factor E1 to generate a comprehensive abnormality index X1, thereby comprehensively evaluating the status of the fixture and timely warning of potential abnormalities; this multi-level analysis method not only improves the accuracy and stability of fixture operation, but also provides strong data support for system fault prevention and optimization.

[0139] Example 6

[0140] See also Figure 1 , the integrated control module includes a first comparison unit and a second comparison unit;

[0141] The first comparison unit is used to compare the operating state factor F1 with the adaptability threshold W, and the specific comparison content is as follows:

[0142] When the operating status factor F1 ≥ the adaptability threshold W, it means that the fixture has an adaptability problem;

[0143] When the operating status factor F1 < the adaptability threshold W, it means that the fixture does not have an adaptability problem;

[0144] The second comparison unit is used to compare the evaluation threshold E with the comprehensive abnormality index X1. The specific contents are as follows:

[0145] When the comprehensive abnormality index X1>evaluation threshold E, it means that the fixture is abnormal. At this time, the fixture needs to be suspended and detailed inspection, maintenance and adjustment should be carried out;

[0146] When the comprehensive abnormality index X1 ≤ the evaluation threshold E, it indicates that the fixture operates normally and no additional measures are required.

[0147] In this embodiment, through the synergistic effect of the first comparison unit and the second comparison unit, real-time monitoring and accurate evaluation of the operating status of the clamp are achieved; the first comparison unit can quickly determine whether the clamp has adaptability problems by comparing the operating status factor F1 with the adaptability threshold W, thereby adjusting the operating parameters of the clamp in time to avoid operational errors caused by adaptability problems; the second comparison unit compares the comprehensive abnormality index X1 with the evaluation threshold E to ensure that when an abnormality occurs in the clamp, the use is immediately suspended, and a comprehensive inspection and adjustment are carried out to prevent further failures or damage; through this rigorous comparison and evaluation mechanism, the present invention can ensure the normal operation of the clamp while timely discovering and resolving potential operational risks, thereby improving the safety, reliability and overall efficiency of the system.

[0148] Example 7

[0149] A method for intelligent adjustment of automobile fixtures, please refer to Figure 2 , including the following steps:

[0150] Step 1: Use sensors and imaging devices to automatically locate the automotive parts to be assembled, obtain the three-dimensional position data of the parts, and establish the coordinate system of the parts. Then, evaluate the adjustment path of the fixture according to the coordinate system information and furniture operation related data. Finally, select the adjustment path of the fixture according to the evaluation result of the adjustment path of the fixture.

[0151] Step 2: Automatically adjust various components of the fixture, including clamping force, fixture position and angle, according to the coordinate system data provided by the position recognition module;

[0152] Step 3: Monitor the working status of the fixture in real time, including the pressure, temperature and operating status of the fixture, and compare the monitoring data with the preset standard values. Based on the comparison results of the monitoring data with the preset standard values, evaluate the operating status of the fixture and the upcoming abnormalities;

[0153] Step 4: Analyze and calculate the fixture's operating state factor F1, clamping force factor F2, and environmental factor F3 based on the relevant data of the status monitoring module; analyze and calculate the fixture's adjustment accuracy factor P1 based on the position identification data; summarize and analyze the operating state factor F1, clamping force factor F2, and environmental factor F3 to generate a comprehensive environmental factor E1, and associate the fixture adjustment accuracy factor P1 with the comprehensive environmental factor E1 to generate a comprehensive abnormality index X1, where the comprehensive environmental factor E1 is obtained by the following formula:

[0154] E1=b1*F1+b2*F2+b3*F3+B;

[0155] Wherein, b1, b2 and b3 represent the preset proportional coefficients of the operating state factor F1, the clamping force factor F2 and the environmental factor F3 respectively, and B represents the second correction constant;

[0156] Step 5. Pre-set the adaptability threshold A and the evaluation threshold B. Compare the operating status factor F1 with the adaptability threshold A to determine whether the current fixture has an adaptability problem. Compare the evaluation threshold B with the comprehensive abnormality index X1 to obtain the evaluation level, and take corresponding adjustment and maintenance plans based on the evaluation level.

[0157] In this embodiment, the intelligent adjustment method for automobile fixtures systematically improves the accuracy, reliability and operational safety of fixtures through five steps. First, the method uses sensors and imaging devices to realize automatic positioning and three-dimensional data acquisition of automobile parts, ensuring the accuracy of the fixture adjustment path. Second, by automatically adjusting the position, angle and clamping force of the fixture assembly, the accurate alignment of the fixture and the parts is guaranteed, effectively reducing the error. The step of real-time monitoring of the working status of the fixture and comparing it with the standard value further enhances the stability of the system, so that the fixture can be adjusted in time before an abnormality occurs to prevent failures. By calculating and analyzing the operating status factor F1, the clamping force factor F2 and the environmental factor F3, as well as the adjustment accuracy factor P1, a comprehensive abnormality index X1 is generated. The method provides a comprehensive evaluation of the operating status of the fixture, ensuring the timely identification and handling of abnormal situations. Finally, by comparing the operating status factor with the adaptability threshold and the evaluation threshold, the adaptability problems and abnormal situations of the fixture are intelligently judged, so as to formulate corresponding maintenance plans, thereby improving the automation level and decision-making efficiency of the system. These improvements not only optimize the operating accuracy and stability of the fixture, but also significantly improve the safety and reliability of the production process.

[0158] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent adjustment system for automobile fixtures, characterized in that: It includes a position identification module, an automatic adjustment module, a status monitoring module, a data analysis module and a comprehensive control module; The position recognition module is used to automatically locate the automobile parts to be assembled by using sensors and imaging devices, obtain the three-dimensional position data of the parts, and establish the coordinate system of the parts, then evaluate the adjustment path of the fixture according to the coordinate system information and furniture operation related data, and finally select the adjustment path of the fixture according to the evaluation result of the adjustment path of the fixture; The automatic adjustment module is used to automatically adjust various components of the fixture, including clamping force, fixture position and angle, according to the coordinate system data provided by the position recognition module; The state monitoring module is used to monitor the working state of the fixture in real time, including the pressure, temperature and operating state of the fixture, and compare the monitoring data with the preset standard value, and evaluate the operating state of the fixture and the upcoming abnormality based on the comparison result of the monitoring data with the preset standard value; The data analysis module includes a first analysis unit, a second analysis unit and a third correlation analysis unit; the first analysis unit is used to analyze and calculate the running state factor F1, the clamping force factor F2 and the environmental factor F3 of the fixture according to the relevant data of the state monitoring module, and the second analysis unit is used to analyze and calculate the adjustment accuracy factor P1 of the fixture according to the position identification data; the third correlation analysis unit is used to summarize and analyze the running state factor F1, the clamping force factor F2 and the environmental factor F3 to generate a comprehensive environmental factor E1, and to correlate the fixture adjustment accuracy factor P1 with the comprehensive environmental factor E1 to generate a comprehensive abnormality index X1, wherein the comprehensive environmental factor E1 is obtained by the following formula: E1=b1*F1+b2*F2+b3*F3+B; Wherein, b1, b2 and b3 represent the preset proportional coefficients of the operating state factor F1, the clamping force factor F2 and the environmental factor F3 respectively, and B represents the second correction constant; The comprehensive control module is used to pre-set the adaptability threshold A and the evaluation threshold B, and compare the operating status factor F1 with the adaptability threshold A to determine whether the current fixture has an adaptability problem, and compare the evaluation threshold B with the comprehensive abnormality index X1 to obtain the evaluation level, and take corresponding adjustment and maintenance plans according to the evaluation level.

2. The intelligent adjustment system for automobile fixtures according to claim 1 is characterized in that: The position identification module includes a three-dimensional positioning unit, a coordinate system establishment unit and a calibration unit; The three-dimensional positioning unit is used to perform an all-round scan of the automobile parts to be assembled using sensors and imaging equipment to obtain the three-dimensional position data of the parts and capture the posture information of the parts in real time; Determine the position and angle of parts in space through the three-dimensional positioning unit and generate preliminary position-related data; The coordinate system establishment unit is used to establish a coordinate system in the space where the component is located according to the three-dimensional position data obtained by the three-dimensional positioning unit, and mark the key points of the component as Cp (x, y, z); and use the coordinate system Cp (x, y, z) as a reference for subsequent confirmation that the adjustment of the fixture matches the actual position of the component.

3. The intelligent adjustment system for automobile fixtures according to claim 2 is characterized in that: The calibration unit is used to compare the key point Cp (x, y, z) of the component in the coordinate system with the current position information of the fixture, and calculate the translation parameter Pcs and rotation parameter Xcs required for the fixture through the following formula: Pcs=(Δx,Δy,Δz)=(C px -C gx ,C py -C gy ,C pz -C gz ); Xcs=(Δα,Δβ,Δγ)=(α p -a g ,b p -b g ,c p -c g ); In the formula, Δx, Δy, Δz represent the displacement of the fixture on the x, y, and z axes respectively, and Cp(x, y, z) represents the coordinates of the key points. Cg(x,y,z) represents the current position coordinates of the fixture; Δα, Δβ, Δγ represent the rotation angle of the fixture around the x, y, and z axes respectively. α p ,β p ,γ p Euler angle representing the target posture, α g ,β g ,γ g Indicates the current Euler angle of the fixture; After adjusting the position and angle of the fixture to be completely aligned with the parts through the translation parameter Pcs and the rotation parameter Xcs, the fixture path-related data is collected in real time. The fixture movement speed Jsd, fixture load value Jfz, assembly tolerance value Jcz, and displacement Wyl are collected through the linear velocity sensor, force sensor, laser rangefinder, and linear displacement sensor. At the same time, the collected data is dimensionlessly processed and fitted with the translation parameter Pcs and the rotation parameter Xcs. The fixture movement path index Jjzs is calculated by the following formula: By presetting the first adjustment threshold Q1 and the second adjustment threshold Q2, the fixture motion path index Jjzs is evaluated, and the first adjustment threshold Q1> the second adjustment threshold Q2, and the specific evaluation content is as follows: When the fixture motion path index Jjzs ≥ the first adjustment threshold Q1, it indicates that the current fixture adjustment path meets the ideal optimization state; at this time, the first path result is generated to make the fixture run according to the current path; When the second adjustment threshold Q2≤the fixture motion path index Jjzs<the first adjustment threshold Q1, it indicates that the current fixture adjustment path does not meet the ideal optimization state; at this time, the second path result is generated, and some parameters of the fixture adjustment path are adjusted, including the fixture motion speed, and the fixture adjustment path is used as; When the fixture motion path index Jjzs<the second adjustment threshold Q2, it indicates that the current fixture adjustment path does not meet the ideal optimization state; At this time, the third path result is generated, and the translation parameter Pcs and the rotation parameter Xcs are recalculated and adjusted.

4. The intelligent adjustment system for automobile fixtures according to claim 1 is characterized in that: The automatic adjustment module includes a position adjustment unit and a clamping force control unit; The position adjustment unit is used to analyze the coordinate system data, convert the target position data into specific adjustment instructions, and adjust the position of the fixture through the drive system; The clamping force control unit is used to automatically adjust the clamping force according to the target position data provided by the position adjustment unit and the position feedback of the clamp, and to monitor the clamping state of the clamp in real time, and to adjust the clamping force as needed.

5. The intelligent adjustment system for automobile fixtures according to claim 1 is characterized in that: The state monitoring module includes a pressure monitoring unit, a temperature monitoring unit and an operation state monitoring unit; The pressure monitoring unit is used to measure and record the pressure value Ylz of the fixture in real time; the real-time pressure value Ylz is calculated with the preset standard pressure value Ylb to obtain the pressure deviation value Ylpc, and the specific method is as follows: Ylpc=Ylb-Ylz; The temperature monitoring unit is used to read the temperature value Wdz of the temperature sensor in real time and record the data in real time; finally, the temperature value obtained in real time is calculated with the preset standard temperature value Wdb to obtain the temperature deviation value Wdpc, and the specific method is as follows: Wdpc = Wdb - Wdz; The operation status monitoring unit monitors and reads the operation status value Yzt of the fixture in real time through the operation status sensor, including the operation speed, operation time and other state parameters; finally, the operation status value Yzt is calculated with the preset standard operation status value Yzb to generate the operation status deviation value Yzpc, and the specific method is as follows: Yzpc=Yzb-Yzt; Finally, the pressure deviation value Ylpc, temperature deviation value Wdpc and operating status deviation value Yzpc are recorded and analyzed.

6. The intelligent adjustment system for automobile fixtures according to claim 1, characterized in that: The data analysis module includes a first analysis unit, a second analysis unit and a third correlation analysis unit; The first analysis unit includes an operating state subunit, a clamping force subunit and an environment subunit; The operating state subunit extracts the pressure deviation value Ylpc, the temperature deviation value Wdpc and the operating state deviation value Yzpc, and obtains the operating state factor F1 of the fixture by calculating through the following formula: The clamping force subunit obtains the clamping force deviation value Jjpc by reading the difference between the measured value and the standard value, and obtains the clamping force change rate Jjbh by using the clamping force sensor to monitor the change of the clamping force over a period of time; finally, the clamping force deviation value Jjpc and the clamping force change rate Jjbh are extracted and dimensionlessly processed to calculate the clamping force factor F2, and the specific formula is as follows: Where, Jjpc i Indicates the i-th clamping force deviation value, Jjbh j represents the j-th clamping force change rate; The environmental subunit collects and obtains temperature-related data, humidity-related data and pressure-related data through a digital temperature sensor, a resistive humidity sensor and an air pressure sensor, respectively, and extracts the temperature-related data, humidity-related data and pressure-related data and performs dimensionless processing to obtain the environmental temperature difference Hwc, the environmental humidity difference Hsc, the environmental pressure difference Hqc, the temperature change rate Heb, the humidity change rate Hsb and the air pressure change rate Hqb, and then calculates to obtain the environmental factor F3. The specific formula is as follows:

7. The intelligent adjustment system for automobile fixtures according to claim 1 is characterized in that: The second analysis unit is used to extract the coordinate system data provided by the position identification module and the actual adjustment data of the fixture, perform dimensionless processing on the extracted data, and calculate the adjustment accuracy factor P1 of the fixture through the following formula: Wherein, Zwz represents the position error value, Zjd represents the angle error value, Zbc represents the adjustment step size, and Zt represents the time required for adjustment.

8. The intelligent adjustment system for automobile fixtures according to claim 6 is characterized in that: The third correlation analysis unit is used to correlate the fixture adjustment precision factor P1 with the comprehensive environmental factor E1 to generate a comprehensive abnormality index X1, and the specific formula is as follows: X1=a1×P1+a2×E1+a3×P1×E1; In the formula, a1 is the weight value of the fixture adjustment accuracy factor P1, a2 is the weight value of the comprehensive environmental factor E1, and a3 is the weight value of the influence of the interaction term of P1 and E1 on X1.

9. The intelligent adjustment system for automobile fixtures according to claim 1, characterized in that: The integrated control module includes a first comparison unit and a second comparison unit; The first comparison unit is used to compare the operating state factor F1 with the adaptability threshold W, and the specific comparison content is as follows: When the operating status factor F1 ≥ the adaptability threshold W, it means that the fixture has an adaptability problem; When the operating status factor F1 < the adaptability threshold W, it means that the fixture does not have an adaptability problem; The second comparison unit is used to compare the evaluation threshold E with the comprehensive abnormality index X1. The specific contents are as follows: When the comprehensive abnormality index X1>evaluation threshold E, it means that the fixture is abnormal. At this time, the use of the fixture needs to be suspended and detailed inspection, maintenance and adjustment should be carried out; When the comprehensive abnormality index X1 ≤ the evaluation threshold E, it indicates that the fixture operates normally and no additional measures are required.

10. An intelligent adjustment method for automobile fixtures, applied to an intelligent adjustment system for automobile fixtures according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Use sensors and imaging devices to automatically locate the automotive parts to be assembled, obtain the three-dimensional position data of the parts, and establish the coordinate system of the parts. Then, evaluate the adjustment path of the fixture according to the coordinate system information and furniture operation related data. Finally, select the adjustment path of the fixture according to the evaluation result of the adjustment path of the fixture. Step 2: Automatically adjust various components of the fixture, including clamping force, fixture position and angle, according to the coordinate system data provided by the position recognition module; Step 3: Monitor the working status of the fixture in real time, including the pressure, temperature and operating status of the fixture, and compare the monitoring data with the preset standard values. Based on the comparison results of the monitoring data with the preset standard values, evaluate the operating status of the fixture and the upcoming abnormalities; Step 4: Analyze and calculate the fixture's operating state factor F1, clamping force factor F2, and environmental factor F3 based on the relevant data of the status monitoring module; analyze and calculate the fixture's adjustment accuracy factor P1 based on the position identification data; summarize and analyze the operating state factor F1, clamping force factor F2, and environmental factor F3 to generate a comprehensive environmental factor E1, and associate the fixture adjustment accuracy factor P1 with the comprehensive environmental factor E1 to generate a comprehensive abnormality index X1, where the comprehensive environmental factor E1 is obtained by the following formula: E1=b1*F1+b2*F2+b3*F3+B; Wherein, b1, b2 and b3 represent the preset proportional coefficients of the operating state factor F1, the clamping force factor F2 and the environmental factor F3 respectively, and B represents the second correction constant; Step 5. Pre-set the adaptability threshold A and the evaluation threshold B. Compare the operating status factor F1 with the adaptability threshold A to determine whether the current fixture has an adaptability problem. Compare the evaluation threshold B with the comprehensive abnormality index X1 to obtain the evaluation level, and take corresponding adjustment and maintenance plans based on the evaluation level.

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