Cord control method, control device and cord system

Abstract

The application provides a rolling control method, a control device and a rolling system, and relates to the technical field of rolling. The method is used for a rolling system, the system comprises a rolling device and a pressure detection device, and the method comprises the following steps: obtaining rolling detection information of a pressure detection unit of the rolling device in a rolling operation process, so as to obtain a first rolling pressure of a rolling assembly; judging whether the first rolling pressure meets a rolling abnormal condition of a rolling abnormality according to the first rolling pressure and a first preset rolling pressure; when the first rolling pressure meets the rolling abnormal condition, controlling the rolling system to perform an abnormality determination step: controlling the rolling device to move so that the rolling assembly applies pressure to the pressure detection device, obtaining target detection information of a target device, and determining an abnormal type of the rolling abnormality according to the target detection information; wherein the target device comprises the pressure detection device, the abnormal type comprises an elastic abnormality of an elastic unit and other abnormalities, and the other abnormalities comprise an external component abnormality of a to-be-rolled component or a clamp abnormality.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of edge rolling, in particular to an edge rolling control method, a control device and an edge rolling system. BACKGROUND

[0002] Robot edge rolling and pressing technology has been widely applied in the edge covering manufacturing of key parts of car body-in-white, main parts including roof window, engine cover, luggage compartment cover, door, fender and wheel cover. The edge rolling system drives the edge rolling device to move by robot, so that the edge rolling head of the edge rolling assembly of the edge rolling device contacts and rolls with the part to be rolled. In the edge rolling process, applying reasonable edge rolling pressure to the edge rolling head is an important guarantee for edge rolling quality. Excessive edge rolling pressure will damage the sheet metal part and cause paint edge cracking defects, and may also form edge covering marks on the surface of the outer plate; insufficient edge rolling pressure may cause loose edge covering, edge rolling wrinkles and other defects.

[0003] At present, in some schemes, a pressure detection unit such as a pressure sensor is arranged in the edge rolling device, and the detection value of the pressure detection unit in the edge rolling operation process is recorded, so as to provide a data basis for the edge rolling pressure when subsequent maintenance, edge rolling quality judgment or edge rolling abnormality judgment is performed, thereby facilitating maintenance and the like. However, research has found that when the detection value of the pressure detection unit is abnormal, it may be caused by various reasons such as abnormal parts to be rolled, abnormal clamps, abnormal edge rolling devices, etc. At present, engineers need to check one by one manually, which consumes a lot of time of engineers, is low in efficiency and high in cost. SUMMARY

[0004] The present application aims to solve the problem of how to monitor edge rolling abnormalities and improve the processing efficiency of edge rolling abnormalities to some extent in the related art.

[0005] To at least partially solve at least one aspect of the above problem, in a first aspect, the present application provides an edge rolling control method for an edge rolling system, the edge rolling system comprising an edge rolling device and a pressure detection device, the edge rolling device comprising an edge rolling assembly, a pressure detection unit arranged corresponding to the edge rolling assembly, and an elastic unit for resetting the edge rolling assembly; the edge rolling control method comprising:

[0006] obtaining edge rolling detection information of the pressure detection unit in an edge rolling operation process, to obtain a first edge rolling pressure of the edge rolling assembly;

[0007] judging whether the first edge rolling pressure meets an edge rolling abnormality condition of edge rolling abnormality according to the first edge rolling pressure and a first preset edge rolling pressure;

[0008] When the first rolling-in pressure meets the rolling-in abnormality condition, the rolling-in system is controlled to perform an abnormality determining step; the abnormality determining step comprises: controlling the rolling-in device to move so that the rolling-in assembly applies pressure to the pressure detecting device, obtaining target detection information of a target device, and determining an abnormality type of the rolling-in abnormality according to the target detection information, wherein the target device comprises the pressure detecting device, the abnormality type comprises an elasticity abnormality of the elastic unit and other abnormality, and the other abnormality comprises an external component abnormality of a component to be rolled in or a jig.

[0009] Optionally, the controlling of the rolling-in device to move so that the rolling-in assembly applies pressure to the pressure detecting device comprises: controlling the rolling-in device to move so that the rolling-in assembly applies pressure to the pressure detecting device according to control information of a preset pressure applying posture;

[0010] The obtaining of the target detection information of the target device comprises: obtaining first detection information of the pressure detecting device, and obtaining a first pressure according to the first detection information.

[0011] The determining of the abnormality type of the rolling-in abnormality according to the target detection information comprises: determining whether the abnormality type is the elasticity abnormality according to the first pressure and a set pressure value, wherein the set pressure value corresponds to the preset pressure applying posture one by one.

[0012] Optionally, the determining of whether the abnormality type is the elasticity abnormality according to the first pressure and the set pressure value comprises:

[0013] When an absolute value of a difference between the first pressure and the set pressure value is greater than a first threshold value, it is determined that the abnormality type is the elasticity abnormality.

[0014] Optionally, the target device further comprises the pressure detecting unit, and the obtaining of the target detection information of the target device comprises: obtaining second detection information of the pressure detecting device and third detection information of the pressure detecting unit, obtaining a second pressure according to the second detection information, and obtaining a third pressure according to the third detection information.

[0015] The determining of the abnormality type of the rolling-in abnormality according to the target detection information comprises: when an absolute value of a difference between the second pressure and the third pressure is less than or equal to a second threshold value, it is determined that the abnormality type is the external component abnormality.

[0016] Optionally, the other abnormality further comprises a detection unit abnormality of the pressure detecting unit, and the abnormality determining step further comprises: when it is determined that the abnormality type is not the external component abnormality and not the elasticity abnormality, it is determined that the abnormality type is the detection unit abnormality.

[0017] Optionally, the hemming control method further includes:

[0018] Statistical analysis of cumulative hemming information for hemming operations;

[0019] When the accumulated hemming information meets the preset verification conditions, the hemming system is controlled to perform the abnormality determination step. When the abnormality type is determined to be an abnormality of the external component, the hemming operation continues; otherwise, the hemming operation is stopped and repairs are carried out according to the abnormality type.

[0020] The cumulative scrolling information includes the cumulative number of scrolling attempts and / or the cumulative scrolling duration. When the cumulative scrolling information includes the cumulative number of scrolling attempts, the preset verification condition includes the cumulative number of scrolling attempts reaching a preset number of scrolling attempts. When the cumulative scrolling information includes the cumulative scrolling duration, the preset verification condition includes the cumulative scrolling duration reaching a preset scrolling duration. When the cumulative scrolling information includes both the cumulative number of scrolling attempts and the cumulative scrolling duration, the preset verification condition includes the cumulative number of scrolling attempts reaching the preset number of scrolling attempts and / or the cumulative scrolling duration reaching the preset scrolling duration.

[0021] Optionally, the cumulative hemming information for the statistical hemming operation includes: each time the abnormality type is determined, the cumulative hemming information is reset to zero and recalculated.

[0022] Optionally, the abnormal hemming condition includes: the absolute value of the difference between the first hemming pressure and the first preset hemming pressure is greater than a third threshold.

[0023] And / or, before the step of controlling the hemming system to perform the anomaly determination step, the hemming control method further includes: completing the hemming operation of the current component to be hemmed.

[0024] In a second aspect, the present invention provides a hemming control device, which includes a memory and a processor; the memory is used to store a computer program; the processor is used to implement the hemming control method as described in the first aspect above when the computer program is executed.

[0025] Thirdly, the present invention provides a hemming system, characterized in that it includes the hemming control device as described in the second aspect above, and further includes a robot, a hemming device, and a pressure detection device. The hemming device includes a hemming assembly, a pressure detection unit, an elastic unit, and a base. The free end of the robot is connected to the base to adjust the spatial orientation of the base. The hemming assembly is slidably connected to the base. The elastic unit is disposed between the base and the hemming assembly for resetting the hemming assembly. The pressure detection unit is disposed between the base and the elastic unit or between the elastic unit and the hemming assembly. The hemming control device is communicatively connected to the robot, the pressure detection unit, and the pressure detection device.

[0026] Compared to existing technologies, in the hemming control method, control device, and hemming system of this invention, the hemming detection information from the pressure detection unit of the hemming device during the hemming operation is first obtained, thus obtaining the first hemming pressure of the hemming assembly. By comparing the first hemming pressure with a preset first hemming pressure, it can be determined whether the hemming operation fed back by the first hemming pressure meets the hemming abnormality conditions. When the hemming abnormality conditions are met, it indicates that the first hemming pressure detected by the pressure detection unit does not meet the expectations of the hemming operation. At this point, the cause of the hemming abnormality is found through an anomaly determination step. Specifically, by means of… The detection information from pressure detection devices other than the hemming device, or the detection information from pressure detection devices and pressure detection units, can be used to determine the type of hemming abnormality. This is beneficial for quickly troubleshooting the cause based on the determined abnormality type. For example, the abnormality type can be divided into elasticity abnormality and other abnormalities including abnormalities of external components. When the abnormality type is determined to be elasticity abnormality, the hemming device can be directly inspected to check whether the elastic unit is stuck or malfunctioning. When the abnormality type is determined to be other abnormalities, the parts to be hemmed or the fixtures can be checked first to see if there are any abnormalities. This can speed up the processing efficiency of hemming abnormalities and improve the controllability of hemming operations. Attached Figure Description

[0027] Fig. 1 This is a flowchart illustrating the hemming control method in an embodiment of the present invention;

[0028] Fig. 2 This is a schematic diagram of the hemming system in an embodiment of the present invention;

[0029] Fig. 3 This is a schematic diagram of the hemming device of the hemming system in an embodiment of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1-Rolling device; 11-Rolling assembly; 111-Mounting base; 112-Rolling head; 12-Pressure detection unit; 13-Elastic unit; 14-Base; 2-Pressure detection device; 3-Display device. Detailed Implementation

[0032] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] In the description of this specification, the references to terms such as "embodiment," "one embodiment," "some implementations," "exemplary," and "one implementation," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or implementation of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0035] The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0036] In the attached diagram, the Z-axis represents the vertical direction, that is, the up and down position. The positive direction of the Z-axis (that is, the direction the arrow on the Z-axis points) indicates up, and the negative direction of the Z-axis (that is, the direction opposite to the positive direction of the Z-axis) indicates down. It should be noted that the aforementioned representation of the Z-axis is only for the convenience of describing the present invention and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention.

[0037] like Figs. 1 to 3 As shown, this embodiment of the invention provides a hemming control method for a hemming system. The hemming system includes a hemming device 1 and a pressure detection device 2. The hemming device 1 includes a hemming assembly 11, a pressure detection unit 12 corresponding to the hemming assembly 11, and an elastic unit 13 for resetting the hemming assembly 11. The hemming control method includes:

[0038] Step S1: Obtain the rolling detection information of the pressure detection unit 12 during the rolling operation to obtain the first rolling pressure of the rolling assembly 11.

[0039] Step S2: Determine whether the first rolling pressure meets the rolling abnormality conditions based on the first rolling pressure and the first preset rolling pressure.

[0040] Step S3: When the first hemming pressure meets the hemming abnormality condition, control the hemming system to perform an abnormality determination step; the abnormality determination step includes: controlling the hemming device 1 to move so that the hemming assembly 11 applies pressure to the pressure detection device 2, obtaining the target detection information of the target device, and determining the abnormality type of the hemming abnormality based on the target detection information, wherein the target device includes the pressure detection device 2, the abnormality type includes the elasticity abnormality of the elastic unit 13 and other abnormalities, and other abnormalities include the external component abnormality of the component to be hemmed or the fixture abnormality.

[0041] Specifically, the pressure detection unit 12 can detect the real-time rolling pressure of the rolling assembly 11, while the pressure detection device 2 is only used for pressure detection under specific conditions and generally does not need to move with the rolling device 1.

[0042] The hemming assembly 11 may include one or more hemming heads 112 and a mounting base 111. The mounting base 111 is slidably connected to the base 14. The hemming head 112 is mounted on the mounting base 111. During the hemming operation, the hemming head 112 contacts the part to be hemmed. The mounting base 111 slides or floats according to the magnitude of the contact force and is reset by the elastic unit 13. During this process, when the pressure detection unit 12 does not malfunction, the pressure detection unit 12 has detection information at any position of the hemming assembly 11 and obtains a corresponding pressure value.

[0043] It should be noted that the pressure detection unit 12 is only used to detect and obtain rolling detection information during the rolling operation, thereby obtaining the first rolling pressure of the rolling assembly 11. It is generally not used for closed-loop feedback of the movement position of the rolling device 1. For example, during the rolling operation, the preset control information of the robot (described later) is determined according to the rolling requirements. The robot is controlled to drive the rolling device 1 to perform the rolling operation according to the preset control information. During this process, the pressure detection unit 12 generates rolling detection information. However, the robot will not adjust the control information based on this rolling detection information. Thus, the rolling detection information can actually reflect the change of rolling pressure during the rolling operation. That is, in step S1, the rolling detection information obtained by the pressure detection unit 12 at a certain moment all have a corresponding first rolling pressure. Other situations described later, such as the first detection information and the first pressure, are similar to this situation and will not be described in detail later.

[0044] It should be noted that abnormal conditions in the hemming process can be addressed using relevant technologies, which are not intended as limitations, and will be illustrated with examples later.

[0045] Thus, the present invention first obtains the rolling detection information from the pressure detection unit 12 of the rolling device 1 during the rolling operation, and can obtain the first rolling pressure of the rolling assembly 11. By comparing the first rolling pressure with a preset first rolling pressure, it can be determined whether the rolling operation fed back by the first rolling pressure meets the rolling abnormality conditions. When the rolling abnormality conditions are met, it indicates that the first rolling pressure detected by the pressure detection unit 12 does not meet the expectations of the rolling operation. At this time, the cause of the rolling abnormality is found through the abnormality determination step. Specifically, this is achieved by using a pressure detection device outside the rolling device 1. The detection information from device 2 (and the detection information from pressure detection device 2 and pressure detection unit 12, as described below) can be used to determine the type of abnormality in the hemming. This is helpful for quickly identifying the cause based on the determined abnormality type. For example, the abnormality type can be divided into elasticity abnormality and other abnormalities including abnormalities of external components. When the abnormality type is determined to be elasticity abnormality, the hemming device 1 can be directly inspected to check whether the elastic unit 13 is stuck or malfunctioning. When the abnormality type is determined to be other abnormalities, the component to be hemmed or the fixture can be checked first to see if there are any abnormalities, thereby speeding up the processing efficiency of the hemming abnormality.

[0046] In step S2, optionally, the abnormal rolling condition includes: the absolute value of the difference between the first rolling pressure and the first preset rolling pressure is greater than the third threshold.

[0047] That is, when the absolute value of the difference between the first hemming pressure and the first preset hemming pressure is greater than the third threshold, it is initially determined that there is an hemming abnormality in the hemming operation. At this time, an abnormality determination step is required. When the absolute value of the difference between the first hemming pressure and the first preset hemming pressure is less than or equal to the third threshold, it is determined that there is no abnormality in the hemming operation, and the hemming operation can continue.

[0048] In step S3, optionally, controlling the movement of the hemming device 1 to apply pressure to the pressure detection device 2 by the hemming assembly 11 includes: controlling the movement of the hemming device 1 to apply pressure to the pressure detection device 2 according to the control information of the pre-set pressure posture;

[0049] Obtaining target detection information of the target device includes: obtaining first detection information of pressure detection device 2, and obtaining first pressure based on the first detection information;

[0050] The abnormality type of the rolling edge abnormality is determined based on the target detection information, including: determining whether the abnormality type is an elastic abnormality based on the first pressure and the set pressure value, wherein the set pressure value corresponds one-to-one with the pre-set pressure posture.

[0051] Specifically, the anomaly determination steps at this time include:

[0052] According to the control information of the pre-pressurized posture, the hemming device 1 is controlled to move so that the hemming assembly 11 applies pressure to the pressure detection device 2;

[0053] Obtain the first detection information from the pressure detection device 2, and obtain the first pressure based on the first detection information;

[0054] The anomaly type is determined based on the first pressure and the set pressure value. The set pressure value corresponds one-to-one with the pre-pressurized posture (hereinafter referred to as the elastic anomaly judgment sub-step).

[0055] Specifically, the set pressure value and pre-set pressure posture are calibrated beforehand. For example, several calibration arrays (Xn, Yn, Zn, Gn) are obtained beforehand, where Xn, Yn, and Zn can be understood as the theoretical three-dimensional coordinate information of the hemming head 112 of the hemming assembly 11 at the nth test point. In essence, they correspond to the control information of a set of moving devices. Gn represents the pressure applied by the hemming head 112 to the pressure detection device 2 under the theoretical three-dimensional coordinate information, and the detected pressure value of the pressure detection device 2. This detected pressure value is the set pressure value corresponding to the test point.

[0056] The method for determining whether an anomaly is an elastic anomaly is not a limitation; relevant judgment methods can be used.

[0057] In this embodiment, optionally, determining whether the abnormality type is an elastic abnormality based on the first pressure and the set pressure value includes:

[0058] When the absolute value of the difference between the first pressure and the set pressure value is greater than the first threshold, the abnormality type is determined to be elasticity abnormality.

[0059] Determining whether an anomaly is an elastic anomaly based on the first pressure and the set pressure value may also include:

[0060] When the absolute value of the difference between the first pressure and the set pressure value is less than or equal to the first threshold, the abnormality type is determined to be other abnormalities.

[0061] It should be understood that this step can involve multiple tests. Specifically, the hemming device 1 is moved according to multiple pre-set pressure posture control information to apply pressure to the pressure detection device 2, and corresponding test steps are performed, that is, tests are conducted according to multiple pre-set test points. For example, up to five tests can be performed. After each test point is completed, the hemming system can indicate the current error value through a display component, etc. The engineer can manually or according to the pre-set options to retest or continue to the next test point. When the absolute value of the difference between the first pressure and the set pressure value at at least one of the five test points is greater than the first threshold, the abnormality type is determined to be an elastic abnormality. The target pressures at the five test points are different. To speed up the testing process, the next test point can be tested only when the absolute value of the difference between the first pressure and the set pressure value at the previous test point is less than or equal to the first threshold.

[0062] Thus, by comparing the first pressure detected by the pressure detection device 2 with the set pressure value, it is possible to verify whether there is an abnormality in the elastic unit 13. At this time, the verification is not based on the detection data of the pressure detection unit 12, and the abnormality of the pressure detection unit 12 can be filtered out, ensuring the accuracy of the judgment on the elasticity abnormality of the elastic unit 13.

[0063] Optionally, the target device further includes a pressure detection unit 12, and the acquisition of target detection information of the target device includes: acquiring second detection information of the pressure detection device 2 and third detection information of the pressure detection unit 12, obtaining a second pressure based on the second detection information, and obtaining a third pressure based on the third detection information;

[0064] The abnormality type of the rolling edge abnormality is determined based on the target detection information, including: determining whether the abnormality type is an external component abnormality based on the second pressure and the third pressure.

[0065] Specifically, the anomaly determination steps at this time include:

[0066] When the hemming assembly 11 applies pressure to the pressure detection device 2, the second detection information of the pressure detection device 2 and the third detection information of the pressure detection unit 12 are obtained to obtain the second pressure and the third pressure respectively;

[0067] Determine whether the anomaly type is an external component anomaly based on the second and third pressures (hereinafter referred to as the external component anomaly judgment sub-step).

[0068] It should be understood that if the abnormality of the hemming determined by the first hemming pressure in step S2 is caused by an abnormality of an external component, such as an abnormality of the part to be hemmed or an abnormality of the fixture, then when pressure is applied to the pressure detection device 2, the influence of the part to be hemmed and the fixture is eliminated. If the pressure detection unit 12 has no abnormality, then the second pressure and the third pressure obtained therefrom should conform to the corresponding rules, for example, the two should theoretically be equal.

[0069] In this way, the second and third pressures can be used to verify whether the abnormality type is an external component abnormality, thereby improving the accuracy of the external component abnormality judgment.

[0070] For example, determining whether the anomaly type is an external component anomaly based on the second pressure and the third pressure includes:

[0071] When the absolute value of the difference between the second pressure and the third pressure is less than or equal to the second threshold, the abnormality type is determined to be an external component abnormality.

[0072] When the absolute value of the difference between the second pressure and the third pressure is greater than the second threshold, the abnormality type is determined to be not an external component abnormality.

[0073] Optionally, other anomalies include an anomaly in the pressure detection unit 12. The anomaly determination step further includes: when it is determined that the anomaly type is neither an external component anomaly nor an elasticity anomaly, the anomaly type is determined to be a detection unit anomaly.

[0074] Specifically, when the anomaly determination step includes both the elasticity anomaly judgment sub-step and the external component anomaly judgment sub-step, if the anomaly type is determined to be neither an external component anomaly nor an elasticity anomaly, the anomaly type is determined to be a detection unit anomaly.

[0075] It should be understood here that when the anomaly determination step includes an elastic anomaly judgment sub-step and an external component anomaly judgment sub-step, there is no necessary restriction on the order of these two sub-steps. Specifically, when these two judgment sub-steps are required, at one or more detection points, the second detection information is the same as the first detection information, and the second pressure is the same as the first pressure, which can reduce the total number of pressure applications required to the pressure detection device 2.

[0076] In one implementation, the external component anomaly detection sub-step can be prioritized. Specifically, since elasticity anomalies and detection unit anomalies are generally considered to be relatively unlikely, prioritizing the external component anomaly detection sub-step helps to quickly determine whether it is the most likely anomaly type, reducing computational workload.

[0077] Specifically, the hemming device 1 is moved according to the control information of the pre-pressurized posture so that the hemming assembly 11 applies pressure to the pressure detection device 2;

[0078] The first detection information of the pressure detection device 2 and the third detection information of the pressure detection unit 12 are obtained to obtain the first pressure and the third pressure, respectively;

[0079] When the absolute value of the difference between the third pressure and the first pressure is less than or equal to the second threshold, the abnormality type is determined to be an external component abnormality; otherwise, the abnormality type is determined to be an elastic abnormality based on the first pressure and the set pressure value. When the absolute value of the difference between the first pressure and the set pressure value is greater than the first threshold, the abnormality type is determined to be an elastic abnormality; otherwise, the abnormality type is determined to be a detection unit abnormality.

[0080] At this point, the overall judgment can be made according to the order of the probability of the abnormal type.

[0081] In another implementation, both the elasticity anomaly detection sub-step and the external component anomaly detection sub-step are performed simultaneously. Taking one detection point as an example, the anomaly determination step specifically includes:

[0082] According to the control information of the pre-pressurized posture, the hemming device 1 is controlled to move so that the hemming assembly 11 applies pressure to the pressure detection device 2;

[0083] The first detection information of the pressure detection device 2 and the third detection information of the pressure detection unit 12 are obtained to obtain the first pressure and the third pressure, respectively;

[0084] When the absolute value of the difference between the first pressure and the set pressure value is greater than the first threshold, the abnormality type is determined to be elasticity abnormality;

[0085] When the absolute value of the difference between the third pressure and the first pressure is less than or equal to the second threshold, the abnormality type is determined to be an external component abnormality.

[0086] When the absolute value of the difference between the first pressure and the set pressure value is less than or equal to the first threshold, and the absolute value of the difference between the third pressure and the first pressure is greater than the second threshold, the abnormality type is determined to be a detection unit abnormality.

[0087] This method can also determine the type of exception, which will not be explained in detail here.

[0088] Optionally, in the above embodiments, the hemming control method further includes:

[0089] Statistical analysis of cumulative hemming information for hemming operations;

[0090] When the accumulated hemming information meets the preset verification conditions, the hemming system is controlled to perform an anomaly determination step. If the anomaly type is determined to be an external component anomaly, the hemming operation continues; otherwise, the hemming operation is stopped and repairs are carried out according to the anomaly type.

[0091] Specifically, since step S2 relies on the first rolling pressure and the first preset rolling pressure to determine whether a rolling abnormality has occurred, if the pressure detection unit 12, for example, malfunctions, but its first rolling pressure is the same as the first preset rolling pressure, it will not be judged as a rolling abnormality. Therefore, when the accumulated rolling information meets the preset verification conditions, an abnormality determination step is performed. That is, assuming that a rolling abnormality exists, the corresponding abnormality type is judged. When the abnormality type is determined to be an external component abnormality, we consider that this external component abnormality is not valid, the rolling device 1 is not abnormal, that is, there is no elasticity abnormality and no detection unit abnormality, and the rolling operation continues. Otherwise, the rolling operation should be stopped and the abnormality type should be inspected. For example, when the abnormality type is a detection unit abnormality, the pressure detection unit 12 should be inspected, and when the abnormality type is an elasticity abnormality, the elastic unit 13 should be inspected.

[0092] In this way, it is possible to verify the situation where the pressure detection unit 12 is abnormal but manifests as a non-rolling edge abnormality, thus avoiding the situation where the rolling edge abnormality is not detected, and improving the reliability of the rolling edge control method to a certain extent.

[0093] Furthermore, the cumulative scrolling information includes the cumulative number of scrolling attempts and / or the cumulative scrolling duration. When the cumulative scrolling information includes the cumulative number of scrolling attempts, the preset verification condition includes the cumulative number of scrolling attempts reaching a preset number of scrolling attempts; when the cumulative scrolling information includes the cumulative scrolling duration, the preset verification condition includes the cumulative scrolling duration reaching a preset scrolling duration; when the cumulative scrolling information includes both the cumulative number of scrolling attempts and the cumulative scrolling duration, the preset verification condition includes the cumulative number of scrolling attempts reaching a preset number of scrolling attempts and / or the cumulative scrolling duration reaching a preset scrolling duration.

[0094] Further, in an optional embodiment, the cumulative hemming information for the hemming operation includes: resetting the cumulative hemming information to zero and recalculating it each time an abnormality type is determined.

[0095] For example, in step S2, the cumulative rolling information during the rolling operation process is calculated when the absolute value of the difference between the first rolling pressure and the first preset rolling pressure is less than or equal to the third threshold. The cumulative rolling information is recalculated each time a rolling abnormality occurs or the verification condition is met.

[0096] For example, this anomaly detection step is performed whenever the cumulative number of rolls reaches 10,000.

[0097] Optionally, before controlling the hemming system to perform the anomaly determination step, the hemming control method further includes: completing the hemming operation of the current component to be hemmed.

[0098] In other words, regardless of whether there is an edge rolling abnormality in step S2, the edge rolling operation of the current part to be edged is completed, and then the corresponding abnormality determination step is performed. This is to avoid stopping the edge rolling operation and affecting the final edge rolling quality when the edge rolling abnormality is one that will not cause edge rolling quality defects, such as when the detection unit of the pressure detection unit 12 malfunctions.

[0099] Optionally, in the external component anomaly judgment sub-step, when the anomaly type is determined to be an external component anomaly, the engineer needs to check whether the consistency of the component to be rolled is good, whether there are any dimensional changes, or whether there are any foreign objects in the middle of the component to be rolled; check whether the fixture is poorly positioned, causing a change in the relative position of the rolling head 112 relative to the component to be rolled. The engineer also needs to perform a quality inspection on the component to be rolled after the rolling is completed. When the inspection confirms that the rolling quality of the component to be rolled is qualified, the judgment conditions for judging external component anomalies can be adjusted as needed. For example, the third threshold and / or the second threshold can be increased to avoid frequent false alarms of rolling anomalies and / or frequent false alarms of external component anomalies.

[0100] Another embodiment of the present invention provides a hemming control device, which includes a memory and a processor; the memory is used to store a computer program; the processor is used to implement the hemming control method of the above embodiment when the computer program is executed.

[0101] like Fig. 2 and Fig. 3 As shown, another embodiment of the present invention provides a hemming system, which includes the hemming control device as described in the above embodiment, and also includes a robot, a hemming device 1, and a pressure detection device 2. The hemming device 1 includes a hemming assembly 11, a pressure detection unit 12, an elastic unit 13, and a base 14. The free end of the robot is connected to the base 14 to adjust the spatial pose of the base 14. The hemming assembly 11 is slidably connected to the base 14. The elastic unit 13 is disposed between the base 14 and the hemming assembly 11 for resetting the hemming assembly 11. The pressure detection unit 12 is disposed between the base 14 and the elastic unit 13 or between the elastic unit 13 and the hemming assembly 11. The hemming control device is communicatively connected to the robot, the pressure detection unit 12, and the pressure detection device 2.

[0102] Optionally, the edging system also includes a display device 3, and the edging control device is communicatively connected to the display device 3.

[0103] The pressure detection unit 12 and the pressure detection device 2 may each include a pressure sensor. The display device 3 can display relevant information such as pressure information as needed, and can also be configured to interact with engineers as needed. This will not be explained further here.

[0104] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A method for controlling hemming, characterized in that, For a hemming system, the hemming system includes a hemming device (1) and a pressure detection device (2), the hemming device (1) including a hemming assembly (11), a pressure detection unit (12) corresponding to the hemming assembly (11), and an elastic unit (13) for resetting the hemming assembly (11); the hemming control method includes: Obtain the rolling detection information of the pressure detection unit (12) during the rolling operation, and obtain the first rolling pressure of the rolling assembly (11); Determine whether the first rolling pressure meets the rolling abnormality conditions based on the first rolling pressure and the first preset rolling pressure. When the first hemming pressure meets the hemming abnormality condition, the hemming system is controlled to perform an abnormality determination step; the abnormality determination step includes: controlling the hemming device (1) to move so that the hemming assembly (11) applies pressure to the pressure detection device (2), obtaining the target detection information of the target device, and determining the abnormality type of the hemming abnormality according to the target detection information, wherein the target device includes the pressure detection device (2), the abnormality type includes the elasticity abnormality of the elastic unit (13) and other abnormalities, and the other abnormalities include the external component abnormality of the component to be hemmed or the fixture abnormality; The target device further includes the pressure detection unit (12), and the acquisition of target detection information of the target device includes: acquiring the second detection information of the pressure detection device (2) and the third detection information of the pressure detection unit (12), obtaining the second pressure based on the second detection information, and obtaining the third pressure based on the third detection information; The step of determining the abnormality type of the hemming abnormality based on the target detection information includes: determining whether the abnormality type is an abnormality of the external component based on the second pressure and the third pressure; The other abnormalities also include the detection unit abnormality of the pressure detection unit (12). The abnormality determination step further includes: when it is determined that the abnormality type is not the external component abnormality and not the elasticity abnormality, the abnormality type is determined to be the detection unit abnormality.

2. The hemming control method as described in claim 1, characterized in that, The control of the hemming device (1) to move so that the hemming assembly (11) applies pressure to the pressure detection device (2) includes: controlling the hemming device (1) to move according to the control information of the pre-set pressure posture so that the hemming assembly (11) applies pressure to the pressure detection device (2); The acquisition of target detection information of the target device includes: acquiring the first detection information of the pressure detection device (2), and obtaining the first pressure based on the first detection information; The step of determining the abnormality type of the hemming abnormality based on the target detection information includes: determining whether the abnormality type is the elastic abnormality based on the first pressure and the set pressure value, wherein the set pressure value corresponds one-to-one with the pre-set pressure posture.

3. The hemming control method as described in claim 2, characterized in that, The step of determining whether the abnormality type is the elastic abnormality based on the first pressure and the set pressure value includes: When the absolute value of the difference between the first pressure and the set pressure value is greater than the first threshold, the abnormality type is determined to be the elasticity abnormality.

4. The hemming control method according to any one of claims 1 to 3, characterized in that, The step of determining whether the abnormality type is an external component abnormality based on the second pressure and the third pressure includes: determining the abnormality type as an external component abnormality when the absolute value of the difference between the second pressure and the third pressure is less than or equal to a second threshold.

5. The hemming control method according to claim 4, characterized in that, The hemming control method further includes: Statistical analysis of cumulative hemming information for hemming operations; When the accumulated hemming information meets the preset verification conditions, the hemming system is controlled to perform the abnormality determination step. When the abnormality type is determined to be an abnormality of the external component, the hemming operation continues; otherwise, the hemming operation is stopped and repairs are carried out according to the abnormality type. The cumulative scrolling information includes the cumulative number of scrolling attempts and / or the cumulative scrolling duration. When the cumulative scrolling information includes the cumulative number of scrolling attempts, the preset verification condition includes the cumulative number of scrolling attempts reaching a preset number of scrolling attempts. When the cumulative scrolling information includes the cumulative scrolling duration, the preset verification condition includes the cumulative scrolling duration reaching a preset scrolling duration. When the cumulative scrolling information includes both the cumulative number of scrolling attempts and the cumulative scrolling duration, the preset verification condition includes the cumulative number of scrolling attempts reaching the preset number of scrolling attempts and / or the cumulative scrolling duration reaching the preset scrolling duration.

6. The hemming control method according to claim 5, characterized in that, The cumulative hemming information for the statistical hemming operation includes: each time the abnormality type is determined, the cumulative hemming information is reset to zero and recalculated.

7. The hemming control method according to any one of claims 1 to 3, characterized in that, The abnormal rolling conditions include: the absolute value of the difference between the first rolling pressure and the first preset rolling pressure is greater than a third threshold. And / or, before the step of controlling the hemming system to perform anomaly determination, the hemming control method further includes: completing the hemming operation of the current component to be hemmed.

8. A hemming control device, characterized in that, It includes a memory and a processor; the memory is used to store a computer program; the processor is used to implement the hemming control method as described in any one of claims 1 to 7 when the computer program is executed.

9. A hemming system, characterized in that, The device includes the hemming control device as described in claim 8, and further includes a robot, a hemming device (1), and a pressure detection device (2). The hemming device (1) includes a hemming assembly (11), a pressure detection unit (12), an elastic unit (13), and a base (14). The free end of the robot is connected to the base (14) to adjust the spatial pose of the base (14). The hemming assembly (11) is slidably connected to the base (14). The elastic unit (13) is disposed between the base (14) and the hemming assembly (11) for resetting the hemming assembly (11). The pressure detection unit (12) is disposed between the base (14) and the elastic unit (13) or between the elastic unit (13) and the hemming assembly (11). The hemming control device is communicatively connected to the robot, the pressure detection unit (12), and the pressure detection device (2).

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