Body-in-white nt door and door hinge automatic installation system and method

Abstract

The present application belongs to the technical field of automobile manufacturing, and particularly relates to a body-in-white NT door and door hinge automatic installation system and method. The body-in-white NT door and door hinge automatic installation system comprises: a body-in-white conveying line; a first station located at the side of the body-in-white conveying line, the first station being provided with a first robot with a visual measurement device; an NT door material box; a second station provided with a door hinge positioning tool, the door hinge positioning tool being provided with a correction mechanism, the driving end of the correction mechanism being connected with the visual measurement device; a second robot located between the NT door material box and the second station, the gripper of the second robot being provided with a bolt tightening mechanism; a third robot located between the body-in-white conveying line and the second robot, the third robot being provided with a visual guiding mechanism; and a fourth robot located at the side of the third robot, the gripper of the fourth robot being provided with a bolt tightening mechanism. The present application realizes automatic installation of the body-in-white and the NT door, and improves the overall automation rate of the NT door installation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automobile manufacturing, and particularly relates to a body-in-white NT door and door hinge automatic installation system and method. BACKGROUND

[0002] The NT swing door, referred to as NT door, is increasingly popular because of its novel door opening form and better driving experience for the purchaser.

[0003] In the automobile structure, the NT door and the body-in-white are connected by a door hinge, and the assembly method of the three has a great influence on the gap and surface difference between the NT door and the body-in-white.

[0004] The assembly tooling and positioning method of the NT door and the door hinge and the NT door and the body-in-white of the existing automobile have low automation rate and low precision, which greatly affects the size matching qualification rate of the NT door and the body-in-white. SUMMARY

[0005] The present application aims to provide a body-in-white NT door and door hinge automatic installation system and method to solve the technical problem of low automation rate and low precision of the existing NT door and body-in-white installation process, which directly affects the size matching qualification rate of the two.

[0006] To solve the foregoing technical problem, the first aspect of the present application provides a body-in-white NT door and door hinge automatic installation system, which comprises:

[0007] A body-in-white conveying line for clamping and conveying a body-in-white;

[0008] A first station located at the side of the body-in-white conveying line, the first station having a first robot with a visual measurement device;

[0009] An NT door magazine for placing an uninstalled NT door;

[0010] A second station having a door hinge positioning tooling, the door hinge positioning tooling having a correction mechanism for correcting the installation position of the door hinge, the driving end of the correction mechanism being connected to the visual measurement device;

[0011] A second robot located between the NT door magazine and the second station, the second robot being used to carry the NT door located at the NT door magazine to the second station, a bolt tightening mechanism being provided on the gripper of the second robot;

[0012] A third robot is located between the body-in-white conveying line and the second robot, and is used to carry the NT door assembly with installed door hinge to the body-in-white on the body-in-white conveying line, and the third robot is provided with a visual guiding mechanism for positioning the NT door assembly and the body-in-white.

[0013] A fourth robot is located at the side of the third robot, and a bolt tightening mechanism is arranged on the gripper of the fourth robot.

[0014] Optionally, in the body-in-white NT door and door hinge automatic installation system as described above, the bolt tightening mechanism is a torque gun.

[0015] Optionally, in the body-in-white NT door and door hinge automatic installation system as described above, the visual measurement device and the visual guiding mechanism each comprise a photographing device and a data processor, and the photographing device is connected to the data processor.

[0016] Optionally, in the body-in-white NT door and door hinge automatic installation system as described above, the door hinge positioning tool comprises:

[0017] A rack having a workbench;

[0018] A plurality of clamping mechanisms distributed on the workbench, and the clamping mechanisms can clamp the NT door;

[0019] The correction mechanism is two, two correction mechanisms are arranged side by side on the workbench, the correction mechanism has a placement part for placing the door hinge and a moving part for driving the placement part to move up and down, and the driving end of the moving part is connected to the visual measurement device.

[0020] Optionally, in the body-in-white NT door and door hinge automatic installation system as described above, the clamping mechanism comprises:

[0021] A clamping support fixed on the workbench;

[0022] A first clamping block fixed on the clamping support or fixed on the clamping support through a clamping connecting block;

[0023] A cylinder clamp, the movable part of the cylinder clamp is connected with a second clamping block, when the cylinder clamp drives the second clamping block to move in the direction close to the first clamping block, the second clamping block is arranged opposite to the first clamping block and can clamp the NT door.

[0024] Optionally, in the white body NT door and door hinge automatic installation system as described above, a plurality of spacers are arranged between the first clamping block and the clamping connecting block and between the second clamping block and the movable part.

[0025] Optionally, in the white body NT door and door hinge automatic installation system as described above, the two end faces of the first clamping block opposite to the second clamping block are clamping faces, and the planes where the clamping faces are located are parallel to or intersect with the tabletop of the workbench.

[0026] Optionally, in the white body NT door and door hinge automatic installation system as described above, after the second clamping block is driven by the cylinder clamp to move in the direction close to the first clamping block, the second clamping block is located directly above or below the first clamping block, or the second clamping block is arranged staggered opposite to the first clamping block.

[0027] Optionally, in the white body NT door and door hinge automatic installation system as described above, the clamping mechanism further comprises:

[0028] a first clamping limiting block arranged on the clamping support or the first clamping block;

[0029] a second clamping limiting block arranged on the movable part of the cylinder clamp or the second clamping block;

[0030] When the second clamping block is driven by the cylinder clamp to move in the direction close to the first clamping block, the second clamping limiting block abuts against the first clamping limiting block to achieve limiting.

[0031] Optionally, in the white body NT door and door hinge automatic installation system as described above, a protrusion or a groove is arranged on the first clamping limiting block, and a groove or a protrusion is arranged on the second clamping limiting block, when the second clamping block is driven by the cylinder clamp to move in the direction close to the first clamping block, the protrusion is inserted into the groove to achieve limiting.

[0032] Optionally, in the white body NT door and door hinge automatic installation system as described above, the door hinge positioning tool further comprises:

[0033] a plurality of positioning mechanisms distributed on the workbench, and the positioning mechanisms can position the NT door.

[0034] Optionally, in the white body NT door and door hinge automatic installation system as described above, the positioning mechanism comprises:

[0035] a positioning support fixed on the workbench;

[0036] Positioning cylinder, the positioning cylinder is fixed on the positioning support, the telescopic rod of the positioning cylinder is in the up and down direction;

[0037] Positioning pin, the positioning pin is arranged on the telescopic rod of the positioning cylinder, the positioning pin is driven by the positioning cylinder to make lifting movement to realize the insertion of the positioning pin into the positioning hole of the NT door or away from the NT door.

[0038] Optionally, in the white body NT door and door hinge automatic installation system as described above, the positioning mechanism further comprises:

[0039] Positioning proximity switch, the positioning proximity switch is fixed or fixed through the positioning connecting block on the positioning support, and the positioning proximity switch is located on the side of the positioning pin.

[0040] Optionally, in the white body NT door and door hinge automatic installation system as described above, the door hinge positioning tool further comprises:

[0041] A plurality of supporting mechanisms, a plurality of the supporting mechanisms are distributed on the workbench, and the supporting mechanisms can support the NT door.

[0042] Optionally, in the white body NT door and door hinge automatic installation system as described above, the supporting mechanism comprises:

[0043] Supporting support, the supporting support is fixed on the workbench;

[0044] Supporting block, the supporting block is fixed or fixed through the supporting connecting block on the supporting support, and the end of the supporting block is provided with a tangent plane for supporting the end face of the NT door.

[0045] Optionally, in the white body NT door and door hinge automatic installation system as described above, the supporting block and the supporting support or the supporting block and the supporting connecting block are connected by a plurality of spacers.

[0046] Optionally, in the white body NT door and door hinge automatic installation system as described above, the door hinge positioning tool further comprises:

[0047] Two door hinge sensing sensors, two the door hinge sensing sensors are respectively arranged on two the correction mechanisms or two the clamping mechanisms on the side of two the correction mechanisms, and the sensing surfaces of two the door hinge sensing sensors respectively face the door hinge installed on the correction mechanism.

[0048] Optionally, in the white body NT door and door hinge automatic installation system as described above, the correction mechanism comprises:

[0049] Correction support, the correction support is fixed on the workbench;

[0050] A motor linear module is fixed on the correction support, and a slider of the motor linear module serves as the moving part;

[0051] A correction cylinder is fixed on the moving part through a correction fixing plate, and an axial direction of a telescopic rod of the correction cylinder is horizontal;

[0052] The placing part is fixed on the telescopic rod of the correction cylinder or fixed on a correction connecting block, and the placing part is driven by the correction cylinder to move horizontally, the placing part comprises a first placing part and a second placing part, the first placing part is provided with a placing surface for placing a door hinge, and a plurality of limiting pins are arranged on the placing surface, and the second placing part is provided with a supporting surface for supporting a door hinge.

[0053] Optionally, in the white body NT door and door hinge automatic installation system as described above, the correction mechanism further comprises:

[0054] A first clamp is a cylinder clamp, and a movable part of the first clamp is connected with a first pressing block, when the first clamp drives the first pressing block to move in a direction close to the placing surface of the first placing part, the first pressing block is arranged opposite to the placing surface and can clamp the door hinge;

[0055] A second clamp is a cylinder clamp, and a movable part of the second clamp is connected with a second pressing block, when the second clamp drives the second pressing block to move in a direction close to the supporting surface of the second placing part, the second pressing block is arranged opposite to the supporting surface and can clamp the door hinge.

[0056] Optionally, in the white body NT door and door hinge automatic installation system as described above, the limiting pins are two, and the two limiting pins are arranged side by side;

[0057] When the first clamp drives the first pressing block to move in a direction close to the placing surface of the first placing part, the first pressing block is located between the two limiting pins.

[0058] Optionally, in the white body NT door and door hinge automatic installation system as described above, the supporting surface is a L-shaped surface, and the horizontal section and the vertical section of the supporting surface are smoothly connected through an arc surface.

[0059] In order to solve the above technical problems, the second aspect of the present application provides a white body NT door and door hinge automatic installation method, which comprises:

[0060] Measuring a plurality of preset measurement points on the white body, and calculating a correction amount of the door hinge according to the plurality of measurement points;

[0061] According to the correction amount, the position of the door hinge is corrected, the door hinge is installed on the NT door to obtain an NT door assembly;

[0062] The NT door assembly is positioned at a preset position of the body-in-white, and the NT door assembly is installed on the body-in-white.

[0063] Optionally, in the method for automatically installing the body-in-white NT door and the door hinge as described above, the measuring of the plurality of preset measuring points on the body-in-white and the calculation of the correction amount of the door hinge based on the plurality of measuring points comprise:

[0064] The four preset measuring points on the body-in-white are measured and marked as Z1, Z2, Z3 and Z4 respectively, Z1 is defined as the Z-direction main positioning reference, and the fluctuation value of Z1 is determined according to the difference between Z1 and Z2.

[0065] A correction coordinate system is established based on Z1, Z2 and Z4, a Z-direction plane is fitted, and the adjustment amount of Z3 is calculated according to the fluctuation value of Z1, which is the correction amount of the door hinge.

[0066] Optionally, in the method for automatically installing the body-in-white NT door and the door hinge as described above, the positioning of the NT door assembly at the preset position of the body-in-white comprises:

[0067] The NT door is moved to the preset installation position of the body-in-white, a plurality of preset positions on the body-in-white and the NT door are measured simultaneously, and a positioning coordinate system is established through 3-2-1, and the NT door assembly is positioned at the preset position of the body-in-white by using point cloud registration.

[0068] Optionally, in the method for automatically installing the body-in-white NT door and the door hinge as described above, the measuring of the plurality of preset positions on the body-in-white and the NT door simultaneously and the establishment of the positioning coordinate system through 3-2-1 comprise:

[0069] A plurality of measuring points of the four preset positions on the body-in-white and the NT door are measured simultaneously, respectively, the measuring points on the body-in-white are marked as C1-X of the first preset position, C2-X of the second preset position, C3-Y of the third preset position, C4-Y of the fourth preset position, C5-Z of the fourth preset position and C6-Z of the third preset position, and the measuring points on the NT door are marked as D1-X of the first preset position, D2-X of the second preset position, D3-Y of the third preset position, D4-Y of the fourth preset position, D5-Z of the fourth preset position and D6-Z of the third preset position.

[0070] The X-direction plane position is determined by the X-direction mean value of the plurality of measuring points of the first preset position or the second preset position.

[0071] The Y-direction plane position and Rz freedom are determined by the Y-direction average value of the measuring points of the third preset position or the fourth preset position;

[0072] The Z-direction plane position is determined by the Z-direction average value of the measuring points of the third preset position or the fourth preset position.

[0073] Optionally, in the white body NT door and door hinge automatic installation method as described above, the positioning of the NT door assembly to the preset position of the white body by using the point cloud registration method comprises:

[0074] The first deviation value of the measuring points on the white body and the NT door in the preset position is calculated according to the coordinate system for positioning, and the position of the NT door relative to the white body is adjusted according to the first deviation value.

[0075] The gap surface difference matching surfaces of the NT door and the white body at the preset positions are measured, the second deviation value is calculated, the position of the NT door relative to the white body is adjusted according to the second deviation value, and the positioning is considered to be completed through several iterations until the second deviation value is within a preset range.

[0076] Optionally, in the white body NT door and door hinge automatic installation method as described above, the virtual outer panel position is calculated by the hole positions of the outer panel installed on the NT door and the white body, and the second deviation value is obtained.

[0077] Optionally, in the white body NT door and door hinge automatic installation method as described above, after the NT door assembly is installed on the white body, the method further comprises:

[0078] The gap surface difference matching surfaces of the NT door and the white body at the preset positions are measured again after the installation is completed, the third deviation value is calculated, and data uploading is performed.

[0079] The positive progress effect of the present application is that the present application realizes the automatic installation of the white body NT door hinge and the NT door, improves the overall automation rate of the NT door installation, and improves the size matching qualification rate of the NT door and the white body through automatic correction of the size of the door hinge. BRIEF DESCRIPTION OF DRAWINGS

[0080] The disclosure of the present application will be more apparent with reference to the accompanying drawings. It should be understood that these drawings are only for illustrative purposes, and are not intended to limit the scope of protection of the present application. In the drawings:

[0081] Figure 1 is a schematic diagram of a system structure of the present application;

[0082] Fig. 2(a) is a schematic diagram of the overall structure of a door hinge positioning tool of the present application;

[0083] Fig. 2(b) is another angle schematic diagram of Fig. 2(a).

[0084] Fig. 2(c) is a top view of Fig. 2(a);

[0085] Fig. 3(a) is a schematic view of an overall structure of a positioning jig of the present application when positioning a door and a door hinge;

[0086] Fig. 3(b) is another schematic view of Fig. 3(a);

[0087] Fig. 3(c) is a top view of Fig. 3(a);

[0088] Fig. 4(a) is a schematic view of a structure of a clamping mechanism of the present application;

[0089] Fig. 4(b) is another schematic view of Fig. 4(a);

[0090] Fig. 5(a) is another schematic view of a structure of a clamping mechanism of the present application;

[0091] Fig. 5(b) is another schematic view of Fig. 5(a);

[0092] Fig. 6(a) is another schematic view of a structure of a clamping mechanism of the present application;

[0093] Fig. 6(b) is another schematic view of Fig. 6(a);

[0094] Fig. 7(a) is a schematic view of a structure of a positioning mechanism of the present application;

[0095] Fig. 7(b) is another schematic view of Fig. 7(a);

[0096] Fig. 8(a) is a schematic view of a structure of a supporting mechanism of the present application;

[0097] Fig. 8(b) is a front view of Fig. 8(a);

[0098] Fig. 9(a) is a schematic view of a structure of a correcting mechanism of the present application;

[0099] Fig. 9(b) and Fig. 9(c) are another schematic views of Fig. 9(a);

[0100] Fig. 10(a) is a schematic view of a structure of the correcting mechanism of the present application when a door hinge is installed thereon;

[0101] Fig. 10(b) and Fig. 10(c) are another schematic views of Fig. 10(a);

[0102] Figure 11 Fig. 11 is a 3D numerical model of a vehicle body of the present application;

[0103] Figure 12 Fig. 12 is an embodiment 3D numerical model of the present application when measuring points are measured at a plurality of preset positions;

[0104] Figure 13 Figure 3D is a 3D model diagram of a gap surface difference matching surface measurement of several preset positions according to an embodiment of the present application. DETAILED DESCRIPTION

[0105] The present application is described in greater detail by the specific examples below, and other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure. The present application can also be implemented or applied by other different specific embodiments, and various modifications or changes can be made to the details in the specification based on different views and applications without departing from the spirit of the present application.

[0106] It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0107] In the description of the present application, it should be noted that for orientation words, such as the terms "outer side", "middle section", "inner", "outer", etc. indicate the orientation and positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and cannot be understood as limiting the specific protection scope of the present application.

[0108] In addition, if the terms "first", "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. Therefore, the "first", "second" features defined can explicitly or implicitly include one or more features, and in the description of the present application, the meaning of "several", "several" is two or more, unless otherwise explicitly specified.

[0109] Reference Figure 1 Referring to FIG. 3(c), the embodiment of the present application provides a white body NT door and door hinge automatic installation system, which comprises a white body conveying line 1, a first station 2, a first robot 3, an NT door material box 4, a second station 5, a door hinge positioning tool 6, a second robot 7, a third robot 8 and a fourth robot 9.

[0110] The white body conveying line 1 is used to clamp and convey the white body. As shown in FIG. 3(a), the white body conveying line 1 is provided with a plurality of clamping devices 10, and the clamping devices 10 are arranged at intervals along the conveying direction of the white body conveying line 1. The clamping devices 10 are used to clamp and fix the white body during conveying. Figure 1 As shown in FIG. 3(b), the white body conveying line 1 carries the white body along the RL100 position to the RL120 position during conveying, and the white body conveying line 1 keeps clamping and fixing the white body during conveying, so that the white body is in a fixed state relative to the white body conveying line 1.

[0111] The first station 2 is located at the side of the white body conveying line 1, and the first station 2 is provided with a first robot 2 with a vision measurement device. As shown in FIG. 3(c), the first robot 2 is provided with a vision measurement device 11, and the vision measurement device 11 is used to measure the position of the white body. Figure 1As shown in the figure, the first station 2 can be located at the RL100 position. Since the body-in-white has a pair of NT doors, the first station 2 and a plurality of first robots 2 can be arranged on both sides of the body-in-white conveying line 1. The number of first robots 2 can be determined according to the number of measurement points to be measured to ensure that all measurement points are measured. Since there can be certain deviations in the manufacturing process of the body-in-white, the current body-in-white at the first station 2 is detected by the vision measurement device to correct the position of the door hinge 10 to be installed on the body-in-white.

[0112] The NT door magazine 4 is used to place the NT door 11 without installing the door hinge 10. As shown in the figure, Figure 1 As shown in the figure, the NT door magazine 4 can be located at the RL120 position. The number of NT door magazines 4 can be determined according to the number of NT doors 11 to be installed, for example, two NT door magazines 4 are arranged side by side. Since the body-in-white has a pair of NT doors, the NT door magazine 4 and the second station 5, the second robot 7, the third robot 8, and the fourth robot 9, etc. can be arranged on both sides of the body-in-white conveying line 1 to realize the symmetrical arrangement of each mechanism on both sides of the body-in-white conveying line 1.

[0113] The second station 5 has a door hinge positioning tool 6, which has a correction mechanism 61 for correcting the installation position of the door hinge 10, and the driving end of the correction mechanism 61 is connected to the vision measurement device. The data collected by the vision measurement device drives the action of the correction mechanism 61, that is, the correction of the installation position of the door hinge 10 is performed by calculating the correction amount based on the measurement points detected by the vision measurement device.

[0114] The second robot 7 is located between the NT door magazine 4 and the second station 5, and the second robot 7 is used to carry the NT door 11 located at the NT door magazine 4 to the second station 5. A bolt tightening mechanism is arranged on the gripper of the second robot 7. When the NT door 11 is carried to the second station 5, the NT door 11 is clamped and fixed by the door hinge positioning tool 6 at the second station 5. The door hinge 10 is placed on the door hinge positioning tool 6 by manual operation, and the door hinge 10 is clamped and fixed by the door hinge positioning tool 6. After the position of the door hinge is corrected by the correction mechanism 61 of the door hinge positioning tool 6, the bolt tightening mechanism arranged on the gripper of the second robot 7 is used to tighten the bolts of the door hinge 10, thereby realizing the installation between the door hinge 10 and the NT door 11.

[0115] The third robot 8 is located between the body-in-white conveying line 1 and the second robot 7, and is used to carry the NT door assembly with the door hinge 10 to the body-in-white on the body-in-white conveying line 1. The third robot 8 is provided with a visual guiding mechanism for positioning the NT door assembly and the body-in-white. The body-in-white frame is provided with a target position for installing the NT door assembly. The NT door needs to be accurately placed on the target position to be connected with the body-in-white through the door hinge 10. The visual guiding mechanism is used to guide the third robot 8 to place the NT door assembly on the target position.

[0116] The fourth robot 9 is located on the side of the third robot 8, and the gripper of the fourth robot 9 is provided with a bolt tightening mechanism. After the NT door assembly is placed on the target position, the bolt tightening mechanism on the gripper of the fourth robot 9 is used to tighten the bolts of the door hinge 10, so as to realize the installation between the door hinge 10 and the body-in-white, and finally realize the automatic installation between the NT door and the body-in-white.

[0117] In some embodiments, each bolt tightening mechanism adopts a torque gun. The torque gun is a structure that can automatically tighten the bolts in the prior art.

[0118] In some embodiments, the visual measurement device and the visual guiding mechanism each include a photographing device and a data processor, and the photographing device is connected to the data processor. The photographing device is used to take pictures to obtain image data as measurement data. The visual measurement device and the visual guiding mechanism can select the photographing device of ISV product model InlineCalibre_Flex.

[0119] The data processor can be used for data processing, component control, data uploading to a remote server and the like. For example, the data processor is used to calculate the correction amount of a plurality of measurement points collected by the visual measurement device to drive the correction mechanism 61 of the door hinge positioning tool 6 to correct the installation position of the door hinge 10. For another example, the data processor is used to calculate the data collected by the visual guiding mechanism to drive the third robot 8 to place the NT door assembly on the target position.

[0120] The data processor can be a microcontroller or a PLC controller, for example.

[0121] In some embodiments, referring to FIGS. 2(a) to 3(c), the door hinge positioning tool 6 includes two correction mechanisms 61, a rack, a workbench 62 and a plurality of clamping mechanisms 63.

[0122] The rack has a workbench 62. A plurality of clamping mechanisms 63 are detachably arranged on the workbench 62, and the clamping mechanisms 63 can clamp the NT door 11. The positions of the plurality of clamping mechanisms 63 on the workbench 62 can be determined according to the structure of the NT door 11 to be clamped, and the clamping mechanisms 63 jointly clamp and fix the NT door 11 on the workbench 62 to automatically install the door hinge 10 on the NT door 11. Two correction mechanisms 61 are arranged side by side on the workbench 62, and the correction mechanism 61 has a placement part for placing the door hinge 10 and a moving part for driving the placement part to move up and down, and the driving end of the moving part is connected to the visual measuring device. That is, the correction mechanism 61 of the present application is used to correct the position of the door hinge 10 in the Z direction (up-down direction or vertical direction).

[0123] The positions of the clamping mechanisms 63 and the correction mechanisms 61 do not affect each other, for example, as shown in FIG. 2(c) and FIG. 3(c), when the upper position in the figure is the front and the lower position is the rear, since the door hinge installation position is on both sides of the front of the NT door 11, the correction mechanisms 61 are located on both sides of the front. A plurality of clamping mechanisms 63 are distributed on both sides, the middle and the rear. As shown in FIG. 2(c), two clamping mechanisms 63 are arranged on the left and right sides respectively, and the two clamping mechanisms 63 are arranged at a predetermined distance in the front-rear direction. Two clamping mechanisms 63 are arranged at the middle position, and the two clamping mechanisms 63 are arranged at staggered positions in the front-rear direction. One clamping mechanism 63 is arranged at the left side of the rear position, and one clamping mechanism 63 is arranged at the right side of the rear position.

[0124] Each clamping mechanism 63 can adopt different structures and directions according to the different end faces of the NT door 11 to be clamped. Each clamping mechanism 63 can adopt a clamp in the prior art. Alternatively, each clamping mechanism 63 can adopt the following different structures.

[0125] In some embodiments, referring to FIG. 4(a) to FIG. 6(b), the clamping mechanism 63 includes a clamping support 631, a first clamping block 632, a cylinder clamp 633 and a second clamping block 634.

[0126] The clamping support 631 is fixed on the workbench 62, and the two can be detachably fixed, for example, a fastener such as a screw can be used for detachable fixing. The first clamping block 632 is directly fixed or fixed on the clamping support 631 through one or more clamping connecting blocks 6321 connected in sequence. The clamping connecting block 6321 is arranged to enable the first clamping block 632 to be fixed at a desired position and direction. The movable part 6331 of the cylinder clamp 633 is connected with the second clamping block 634, and when the cylinder clamp 633 drives the second clamping block 634 to move in the direction close to the first clamping block 632, the second clamping block 634 is arranged opposite to the first clamping block 632 and can clamp the NT door 11.

[0127] In some embodiments, a plurality of spacers are used to connect the first clamp block 632 and the clamping connecting block 6321, and the second clamp block 634 and the movable part 6331, respectively. The spacers are used to adjust the clamping force according to the NT door 11 of different specifications or thicknesses.

[0128] In some embodiments, referring to FIGS. 6(a) and 6(b), the second clamp block 634 and the movable part 6331 can also be connected according to one or more clamping connecting blocks 6341 connected in sequence, so that when the cylinder clamp 633 drives the second clamp block 634 to move in the direction of approaching the first clamp block 632, the second clamp block 634 can be in the required position and direction to jointly act with the first clamp block 632 to clamp the NT door 11.

[0129] At this time, a plurality of spacers can be used to connect the clamping connecting block 6341 and the movable part 6331, and / or the second clamp block 634 and the clamping connecting block 6341.

[0130] In some embodiments, referring to FIGS. 4(a) and 4(b), the two end faces of the first clamp block 632 and the second clamp block 634 opposite to each other are clamping faces, and the planes where the clamping faces are located are parallel to the tabletop of the workbench 62. That is, the clamping faces are horizontally arranged to clamp some horizontal end faces of the NT door 11.

[0131] In some embodiments, referring to FIGS. 5(a) and 5(b), the two end faces of the first clamp block 632 and the second clamp block 634 opposite to each other are clamping faces, and the planes where the clamping faces are located intersect the tabletop of the workbench 62. That is, the clamping faces are arranged obliquely relative to the workbench 62 to clamp some oblique end faces of the NT door 11.

[0132] In some embodiments, referring to FIGS. 4(a) to 5(b), after the cylinder clamp 633 drives the second clamp block 634 to move in the direction of approaching the first clamp block 632, the second clamp block 634 is located directly above or below the first clamp block 632. That is, the second clamp block 634 and the first clamp block 632 jointly clamp the same end face of the NT door 11 at the upper and lower positions to achieve the clamping purpose.

[0133] In some embodiments, referring to FIGS. 6(a) and 6(b), after the cylinder clamp 633 drives the second clamp block 634 to move in the direction of approaching the first clamp block 632, the second clamp block 634 and the first clamp block 632 are arranged staggered opposite to each other. That is, the second clamp block 634 and the first clamp block 632 jointly clamp different end faces of the NT door 11 at the upper and lower positions to achieve the clamping purpose.

[0134] In some embodiments, referring to FIG. 6(a) and FIG. 6(b), when the second clamp block 634 is moved by the cylinder clamp 633 in the direction of approaching the first clamp block 632, the clamping mechanism 63 further comprises a first clamping limiting block 635 and a second clamping limiting block 636.

[0135] The first clamping limiting block 635 is arranged on the clamping support 631, the first clamp block 632 or the clamping connecting block 6321. The second clamping limiting block 636 is arranged on the movable part 6331, the second clamp block 634 or the clamping connecting block 6341. When the second clamp block 634 is moved by the cylinder clamp 633 in the direction of approaching the first clamp block 632, the second clamping limiting block 636 abuts against the first clamping limiting block 635 to achieve limiting.

[0136] In some embodiments, the first clamping limiting block 635 is provided with a protrusion or a groove, and the second clamping limiting block 636 is provided with a groove or a protrusion. When the second clamp block 634 is moved by the cylinder clamp 633 in the direction of approaching the first clamp block 632, the protrusion is inserted into the groove to achieve limiting.

[0137] In some embodiments, referring to FIG. 2(a) to FIG. 3(c), the door hinge positioning tool 6 further comprises a plurality of positioning mechanisms 64, which are detachably arranged on the workbench 62. The positioning mechanisms 64 can position the NT door 11. The positions of the positioning mechanisms 64 on the workbench 62 can be determined according to the structure of the NT door 11 to be positioned. The positioning mechanisms 64 collectively position the NT door 11 on the workbench 62 at a preset position, so as to more accurately automatically install the door hinge 10 on the NT door 11.

[0138] The positioning mechanisms 64 are preferably arranged at positions not affecting the correcting mechanism 61 and the clamping mechanism 63. For example, as shown in FIG. 2(c) and FIG. 3(c), when the upper position in the figure is the front and the lower position is the rear, two positioning mechanisms 64 are respectively located on the left and right sides of the middle part, and each positioning mechanism 64 has one clamping mechanism 63 in front and one clamping mechanism 63 behind.

[0139] In some embodiments, referring to FIG. 7(a) and FIG. 7(b), the positioning mechanism 64 comprises a positioning support 641, a positioning cylinder 642 and a positioning pin 643.

[0140] The positioning support 641 is fixed on the workbench 62, and the two can be detachably fixed, for example, by using screws or other fasteners. The positioning cylinder 642 is fixed on the positioning support 641, and the telescopic rod of the positioning cylinder 642 is in the up-down direction. The positioning pin 643 is arranged on the telescopic rod of the positioning cylinder 642 and is driven by the positioning cylinder 642 to make lifting movement to realize insertion of the positioning pin 643 into the positioning hole of the NT door 11 or away from the NT door 11.

[0141] In some embodiments, referring to FIGS. 7(a) and 7(b), the positioning mechanism 64 further comprises a positioning proximity switch 644, which is directly fixed or fixed through a positioning connecting block on the positioning support 641 and located at the side of the positioning pin 643. The positioning proximity switch 644 is linked with the positioning cylinder 642. The positioning proximity switch 644 is used to detect whether the NT door 11 is close to the positioning mechanism 64, and if the NT door 11 is detected to be close to the positioning mechanism 64, the positioning cylinder 642 can be driven to drive the positioning pin 643 to make upward movement to realize insertion of the positioning pin 643 into the positioning hole of the NT door 11, thereby completing the positioning function.

[0142] In some embodiments, referring to FIGS. 2(a) to 3(c), the door hinge positioning tool 6 further comprises a plurality of supporting mechanisms 65, which are distributed on the workbench 62 and can support the NT door 11. The positions of the plurality of supporting mechanisms 65 on the workbench 62 can be determined according to the structure of the NT door 11 to be supported, and the plurality of supporting mechanisms 65 collectively support the NT door 11 at a preset position on the workbench 62 to more accurately automatically install the door hinge 10 on the NT door 11.

[0143] The positions of the supporting mechanisms 65 are preferably not affected by the correcting mechanism 61, the clamping mechanism 63 or the positioning mechanism 64, for example, as shown in FIGS. 2(c) and 3(c), when the upper position in the figure is the front and the lower position is the rear. Since the right rear position of the NT door 11 shown in FIG. 3(a) also has an extended plate, the two supporting mechanisms 65 are arranged at the right rear position respectively.

[0144] In some embodiments, referring to FIGS. 8(a) and 8(b), the supporting mechanism 65 comprises a supporting support 651 and a supporting block 652.

[0145] The supporting support 651 is fixed on the workbench 62, and the two can be detachably fixed, for example, by using screws or other fasteners. The supporting block 652 is directly fixed or fixed through a supporting connecting block 6521 on the supporting support 651, and the end of the supporting block 652 is provided with a cutting surface 6522 for supporting the end face of the NT door 11.

[0146] In some embodiments, the support block 652 is connected with the support base 651 or the support connecting block 6521 by several gaskets.

[0147] In some embodiments, the door hinge positioning tool 6 further comprises two door hinge induction sensors 66, which are respectively arranged on the two correction mechanisms 61 or the two clamping mechanisms 63 at the sides of the two correction mechanisms 61, and the induction surfaces of the two door hinge induction sensors 66 respectively face the door hinges 10 mounted on the correction mechanisms 61. The door hinge induction sensors 66 can be used to sense whether the door hinges 10 are mounted on the correction mechanisms 61.

[0148] The door hinge induction sensor 66 can be an infrared reflection sensor.

[0149] In some embodiments, referring to FIGS. 9(a) to 10(c), the correction mechanism 61 comprises a correction base 611, a motor linear module 612, a correction cylinder 613, a first placement part 614, a second placement part 615 and several limiting pins 616.

[0150] The correction base 611 is fixed on the workbench 62, and the two can be fixed in a detachable manner, for example, by using fasteners such as screws. The motor linear module 612 is fixed on the correction base 611, the slider of the motor linear module 612 serves as a moving part, and the moving direction of the slider of the motor linear module 612 is Z direction. The correction cylinder 613 is fixed on the moving part through a correction fixing plate, and the axis of the extension rod of the correction cylinder 613 is horizontal direction. The correction cylinder 613 is driven by the motor linear module 612 to move up and down in Z direction.

[0151] The placement part is directly fixed or fixed through one or more correction connecting blocks on the extension rod of the correction cylinder 613, and the placement part is driven by the correction cylinder 613 to move horizontally. The placement part comprises the first placement part 614 and the second placement part 615. The first placement part 614 has a placement surface 6141 for pasting the door hinge 10, and one or more limiting pins 616 are arranged on the side of the placement surface 6141. The second placement part 615 has a support surface 6151 for supporting the door hinge 10.

[0152] The door hinge 10 usually has several fixed connection holes for connecting the NT door 11 and the body-in-white, and the number and position of the limiting pins 616 can be determined according to the number and position of the fixed connection holes. In addition, the door hinge 10 is usually not straight, and has a certain bending between the fixed connection hole connected with the NT door 11 to the fixed connection hole connected with the body-in-white. Therefore, when the correction mechanism 61 is used, the door hinge 10 can be placed on the placement part, wherein the fixed connection hole connected with the body-in-white is inserted into the limiting pin 616, the door hinge 10 can be placed against the placement surface 6141, and the bending of the door hinge 10 is placed on the support surface 6151, thereby achieving the placement of the door hinge 10.

[0153] The driving end of the motor linear module 612 is connected with the visual measurement device. The motor linear module 612 drives the correction cylinder 613 and the placement part with the door hinge 10 placed thereon to rise or fall by a corresponding stroke according to the correction amount, thereby achieving the position correction of the door hinge 10.

[0154] In some embodiments, the driving mechanism of the motor linear module 612 is a servo cylinder.

[0155] In some embodiments, the correction mechanism 61 further comprises a first clamp 617 and a second clamp 618. The first clamp 617 and the second clamp 618 can adopt clamps that can clamp or fix the door hinge 10 in the prior art. The first clamp 617 and the second clamp 618 can also adopt the following specific structure:

[0156] Referring to FIGS. 9(a) to 10(c), the first clamp 617 adopts a cylinder clamp, and the movable part of the first clamp 617 is connected with a first pressing block 6171. When the first clamp 617 drives the first pressing block 6171 to move in the direction close to the placement surface 6141 of the first placement part 614, the first pressing block 6171 is arranged opposite to the placement surface 6141 and can clamp the door hinge 10. The second clamp 618 adopts a cylinder clamp, and the movable part of the second clamp 618 is connected with a second pressing block 6181. When the second clamp 618 drives the second pressing block 6181 to move in the direction close to the support surface 6151 of the second placement part 615, the second pressing block 6181 is arranged opposite to the support surface 6151 and can clamp the door hinge 10.

[0157] In some embodiments, referring to FIGS. 9(c) and 10(c), the limiting pins 616 are two, and the two limiting pins 616 are arranged side by side. When the first clamp 617 drives the first pressing block 6171 to move in the direction close to the placement surface 6141 of the first placement part 614, the first pressing block 6171 is located between the two limiting pins 616.

[0158] In some embodiments, referring to FIG. 10(a), the support surface 6151 is a L-shaped surface, and the horizontal section and the vertical section of the support surface 6151 are connected by an arc-shaped surface, so as to better match the curved section of the door hinge 10.

[0159] The embodiment of the present application provides a white vehicle body NT door 11 and a door hinge 10 automatic installation method, which comprises the following steps:

[0160] S1, measuring a plurality of preset measuring points on the white vehicle body, and calculating a correction amount of the door hinge 10 according to the plurality of measuring points.

[0161] In this step, the visual measurement device in the white vehicle body NT door and door hinge automatic installation system can be used to collect data of the plurality of preset measuring points. The process of calculating the correction amount of the door hinge 10 according to the plurality of measuring points can be realized by a data processor.

[0162] In some embodiments, referring to Figure 11 , the step S1 comprises: measuring four preset measuring points on the white vehicle body, which are respectively marked as Z1, Z2, Z3 and Z4, defining Z1 as a Z-direction main positioning reference, determining a fluctuation value of Z1 according to a difference between Z1 and Z2; establishing a correction coordinate system with Z1, Z2 and Z4, fitting a Z-direction plane, and calculating an adjustment amount of Z3 according to the fluctuation value of Z1, that is, the correction amount of the door hinge 10.

[0163] The fluctuation value is equivalent to the dimensional fluctuation of the Z1 plane relative to the whole vehicle coordinate. The correction amount is the adjustment of the Z-direction height of the door hinge 10 to compensate for the dimensional fluctuation of the vehicle body after calculation. Since the deviation of each white vehicle body is slightly different, Z1 is selected as the main positioning reference, which is the reference of the current white vehicle body. The up-and-down fluctuation of Z1 will directly affect the matching of Z2 and the process surface of the NT door 11, so the final adjustment amount refers to the Z-direction adjustment amount of the door hinge 10.

[0164] As shown in Figure 11 , the four measuring points Z1, Z2, Z3 and Z4 on the white vehicle body are selected as the measuring points to be detected. When selecting, Z1 and Z3 are located in the two door hinge 10 installation areas as much as possible, and Z2 and Z4 are located in the matching surface area where the white vehicle body and the process surface of the NT door 11 have a curved matching.

[0165] S2, correcting the position of the door hinge 10 according to the correction amount, and installing the door hinge 10 on the NT door 11 to obtain an NT door assembly.

[0166] In this step, the correction mechanism 61 can be used to correct the position of the door hinge 10, and the door hinge 10 is installed on the NT door 11 at the second station 5 to obtain the NT door assembly.

[0167] S3, positioning the NT door assembly to the preset position of the body-in-white, and installing the NT door assembly to the body-in-white.

[0168] This step is performed before the installation of the NT door assembly to the body-in-white, and the positioning of the NT door assembly to the body-in-white is performed to meet the final dimensional matching requirements of the NT door installation.

[0169] In this step, the third robot 8 with a visual guidance mechanism can be used to position the NT door assembly to the preset position of the body-in-white. The fourth robot 9 can be used to install the NT door assembly to the body-in-white.

[0170] In some embodiments, in step S3, the positioning process includes: moving the NT door 11 to the preset installation position side of the body-in-white, and measuring a plurality of preset positions on the body-in-white and the NT door 11, and establishing a positioning coordinate system by 3-2-1, and positioning the NT door assembly to the preset position of the body-in-white by point cloud registration. The point cloud registration realizes the purposes of rough guidance positioning and final fine positioning.

[0171] In some embodiments, referring to Figure 12 , the process of establishing a positioning coordinate system includes: simultaneously measuring a plurality of measurement points of four preset positions on the body-in-white and the NT door 11 respectively, the measurement points on the body-in-white are marked as C1-X of the first preset position, C2-X of the second preset position, C3-Y of the third preset position, C4-Y of the fourth preset position, C5-Z of the fourth preset position and C6-Z of the third preset position, and the measurement points on the NT door 11 are marked as D1-X of the first preset position, D2-X of the second preset position, D3-Y of the third preset position, D4-Y of the fourth preset position, D5-Z of the fourth preset position and D6-Z of the third preset position.

[0172] The X, Y and Z in the above marks respectively refer to the monitoring direction, as shown in the following table:

[0173] Sensor number White body monitoring direction NT door monitoring direction Visual guidance mechanism 1 X X Visual guidance mechanism 2 X X Visual guidance mechanism 3 Y, Z Y, Z Visual guidance mechanism 4 Y, Z Y, Z

[0174] The X-direction plane position is determined by the X-direction mean value of a plurality of measurement points of the first preset position or the second preset position. The Y-direction plane position and the Rz degree of freedom are determined by the Y-direction mean value of a plurality of measurement points of the third preset position or the fourth preset position. The Z-direction plane position is determined by the Z-direction mean value of a plurality of measurement points of the third preset position or the fourth preset position.

[0175] Since the position of the door hinge 10 is determined relative to the body-in-white, the coordinate system for positioning only outputs four degrees of freedom of X, Y, Z and Rz.

[0176] Specifically, as Figure 12As shown, the first and second preset positions of the four preset positions are located in the two door hinge 10 installation areas, and the third and fourth preset positions are located in the matching surface area where the body-in-white and the NT door 11 process surface have a curved matching. Preferably, these areas are consistent with the areas where the preset measurement points to be measured in step S1 are located.

[0177] In some embodiments, the specific process of the coarse guiding positioning and the final fine positioning includes: calculating the first deviation value of the measurement points on the body-in-white and the NT door 11 in the preset positions according to the positioning coordinate system, and adjusting the position of the NT door 11 relative to the body-in-white according to the first deviation value.

[0178] The gap surface difference matching surfaces of the several preset positions on the NT door 11 and the body-in-white are measured, the second deviation value is calculated, the position of the NT door 11 relative to the body-in-white is adjusted according to the second deviation value, and the positioning is considered to be completed through several iterations until the second deviation value is within the preset range.

[0179] Referring to Figure 13 , the several preset positions are consistent with the preset positions corresponding to the establishment of the positioning coordinate system. The gap surface difference of two matching surfaces is measured at each preset position, and only when all the gap surface differences are within the preset range, the positioning is considered to be completed.

[0180] In some embodiments, the virtual outer panel position is calculated by the several hole positions of the outer panel installed on the NT door 11 and the body-in-white, and the second deviation value is obtained. Since the hole positions are fixed positions relative to the NT door 11 or the body-in-white, the smaller the distance between the hole positions of the two is, the smaller the deviation is.

[0181] In some embodiments, after the NT door assembly is installed on the body-in-white, it further includes: measuring the gap surface difference matching surfaces of the several preset positions again after the installation is completed, calculating the third deviation value and uploading the data.

[0182] In some embodiments, referring to Figure 13 , the matching result in the Z direction can take the surface difference at 4.2 and 3.2 as the measurement target, and the other 1.2 and 2.2 are the same.

[0183] Embodiment 1:

[0184] The body-in-white is conveyed to the first station 2 by the body-in-white conveying line 1, the vision measurement device of the first robot 2 measures several preset measurement points on the body-in-white, obtains measurement data, calculates the plane fluctuation value and the correction amount, and if a PLC controller is provided at each station, the correction amount is sent to the PLC controller, and if no PLC controller is provided at each station, the correction amount can be directly sent to the component for controlling the motor linear module 612. The door hinge 10 is shifted in the Z direction by the motor linear module 612.

[0185] The first robot 2 automatically takes the material from the NT door bin 4, and after taking the material, places it on the door hinge positioning tool 6 of the second station 5, and the clamping mechanism 63 of the door hinge positioning tool 6 clamps the NT door 11. At the same time, the door hinge 10 of the second station 5 is manually fed and placed on the correction mechanism 61 for positioning. The process of the Z-direction position offset of the door hinge 10 by the motor linear module 612 can be performed before or after the feeding of the door hinge 10 in this section. After the offset, the bolt tightening mechanism on the gripper of the second robot 7 tightens the bolts of the door hinge 10, realizing the installation between the door hinge 10 and the NT door 11.

[0186] The third robot 8 is used to carry the NT door assembly with the installed door hinge 10 to the body-in-white on the body-in-white conveying line 1. Before the installation of the NT door assembly and the body-in-white, the visual guiding mechanism of the third robot 8 is used to position the two, so that the position of the NT door installation meets the final size matching requirements.

[0187] After the positioning of the NT door assembly and the body-in-white is completed, the bolt tightening mechanism on the gripper of the fourth robot 9 tightens the bolts of the door hinge 10, realizing the installation between the door hinge 10 and the body-in-white, and finally realizing the automatic installation between the NT door and the body-in-white.

[0188] After the installation is completed, the visual guiding mechanism of the third robot 8 measures the important matching surface again and uploads the data. This measurement is the same as the first measurement element, only that the gap surface difference of the NT door 11 after the bolts are tightened is re-measured and recorded.

[0189] The above embodiments of the application are described in detail in combination with the drawings, and those of ordinary skill in the art can make various changes to the application according to the above description. Therefore, some details in the embodiments should not constitute a limitation on the application, and the scope of protection of the application will be defined by the appended claims.

Claims

1. An automatic installation system for a body-in-white NT door and door hinge, characterized in that, The automatic installation system for the body-in-white NT doors and door hinges includes: Body-in-white conveyor line; The first workstation is located on the side of the body-in-white conveyor line and has a first robot equipped with a vision measurement device. NT door material box; The second workstation has a door hinge positioning fixture, which has a correction mechanism for correcting the installation position of the door hinge, and the drive end of the correction mechanism is connected to the vision measurement device. The second robot is located between the NT door material box and the second workstation, and the gripper of the second robot is equipped with a bolt tightening mechanism; The third robot is located between the body-in-white conveyor line and the second robot. The third robot is equipped with a vision guidance mechanism for positioning the NT door assembly and the body-in-white. The fourth robot is located to the side of the third robot, and the gripper of the fourth robot is equipped with a bolt tightening mechanism.

2. The automatic installation system for the body-in-white NT door and door hinge as described in claim 1, characterized in that, The bolt tightening mechanism is a torque gun; And / or, the visual measurement device and the visual guidance mechanism both include a camera and a data processor, with the camera connected to the data processor.

3. The automatic installation system for the body-in-white NT door and door hinge as described in claim 1, characterized in that, The door hinge positioning fixture includes: A frame having a worktable; A plurality of clamping mechanisms are distributed on the worktable, and the clamping mechanisms can clamp NT doors; There are two correction mechanisms, which are arranged side by side on the worktable. Each correction mechanism has a placement part for placing a door hinge and a moving part for driving the placement part to move up and down. The drive end of the moving part is connected to the vision measurement device.

4. The automatic installation system for the body-in-white NT door and door hinge as described in claim 3, characterized in that, The clamping mechanism includes: A clamping support is fixed to the worktable; The first clamping block is fixed or fixed to the clamping support via a clamping connecting block; A cylinder clamp, wherein the movable part of the cylinder clamp is connected to a second clamping block, and when the cylinder clamp drives the second clamping block to move in a direction close to the first clamping block, the second clamping block is positioned opposite to the first clamping block and can clamp the NT door.

5. The automatic installation system for the body-in-white NT door and door hinge as described in claim 4, characterized in that, The first clamping block and the clamping connecting block, and the second clamping block and the movable part are respectively connected by several gaskets; And / or, the two end faces of the first clamping block and the second clamping block opposite each other are clamping surfaces, and the plane in which the clamping surfaces are located is parallel to or intersects the table surface of the worktable; And / or, after the cylinder clamp drives the second clamping block to move in a direction close to the first clamping block, the second clamping block is located directly above or directly below the first clamping block, or the second clamping block and the first clamping block are staggered and opposite to each other; And / or, the clamping mechanism further includes: a first clamping limiting block, the first clamping limiting block being disposed on the clamping support or the first clamping block; The second clamping limiting block is disposed on the movable part of the cylinder clamp or the second clamping block; when the cylinder clamp drives the second clamping block to move in a direction close to the first clamping block, the second clamping limiting block abuts against the first clamping limiting block to achieve limiting; And / or, the first clamping limiting block is provided with a protrusion or a groove, and the second clamping limiting block is provided with a groove or a protrusion. When the cylinder clamp drives the second clamping block to move in a direction close to the first clamping block, the protrusion is inserted into the groove to achieve limiting.

6. The automatic installation system for the body-in-white NT door and door hinge as described in claim 3, characterized in that, The door hinge positioning fixture also includes: A plurality of positioning mechanisms are distributed on the worktable, and the positioning mechanisms can position NT doors; And / or, a plurality of support mechanisms, wherein the plurality of said support mechanisms are distributed on said worktable, said support mechanisms being capable of supporting NT doors; And / or, two door hinge sensing sensors, the two door hinge sensing sensors being respectively disposed on the two corrective mechanisms or on the two clamping mechanisms on the sides of the two corrective mechanisms, the sensing surfaces of the two door hinge sensing sensors respectively facing the door hinges mounted on the corrective mechanisms.

7. The automatic installation system for the body-in-white NT door and door hinge as described in claim 6, characterized in that, The positioning mechanism includes: A positioning support, which is fixed to the workbench; A positioning cylinder, which is fixed on the positioning support, wherein the telescopic rod of the positioning cylinder is in the up-down direction; The positioning pin is mounted on the telescopic rod of the positioning cylinder. The positioning cylinder drives the positioning pin to move up and down, so that the positioning pin can be inserted into the positioning hole of the NT door or away from the NT door. And / or, The positioning mechanism also includes: A positioning proximity switch is fixed or fixed to the positioning support via a positioning connecting block, and the positioning proximity switch is located on the side of the positioning pin.

8. The automatic installation system for the body-in-white NT door and door hinge as described in claim 6, characterized in that, The supporting structure includes: A support bracket, which is fixed to the workbench; A support block, which is fixed or fixed to the support bracket via a support connecting block, and the end of the support block is provided with a cut surface for supporting the end face of the NT door; And / or, The support block and the support base, or the support block and the support connecting block, are connected by several gaskets.

9. The automatic installation system for the body-in-white NT door and door hinge as described in any one of claims 3 to 8, characterized in that, The correction mechanism includes: Correction support, which is fixed to the workbench; A linear motor module, wherein the linear motor module is fixed on the correction support, and the slider of the linear motor module serves as the moving part; A corrective cylinder is fixed to the movable part by a corrective fixing plate, and the axial direction of the telescopic rod of the corrective cylinder is horizontal. The placement part is fixed or fixed to the telescopic rod of the correction cylinder via a correction connecting block. The correction cylinder drives the placement part to move horizontally. The placement part includes a first placement part and a second placement part. The first placement part has a placement surface for attaching the door hinge, and a plurality of limiting pins are provided on the side of the placement surface. The second placement part has a support surface for supporting the door hinge.

10. The automatic installation system for the body-in-white NT door and door hinge as described in claim 9, characterized in that, The correction mechanism also includes: The first clamp is a cylinder clamp. The movable part of the first clamp is connected to a first pressing block. When the first clamp drives the first pressing block to move along the placement surface near the first placement part, the first pressing block is positioned opposite to the placement surface and can clamp the door hinge. The second clamp is a cylinder clamp. The movable part of the second clamp is connected to a second pressing block. When the second clamp drives the second pressing block to move along the support surface near the second placement part, the second pressing block is positioned opposite to the support surface and can clamp the door hinge. And / or, There are two limiting pins, which are arranged side by side. When the first clamp drives the first pressing block to move along the placement surface near the first placement part, the first pressing block is located between the two limiting pins. And / or, The supporting surface is L-shaped, and the horizontal and vertical segments of the supporting surface are smoothly transitioned by an arc surface.

11. An automatic installation method for a body-in-white NT door and door hinge, characterized in that, The automatic installation system for the NT door and door hinge of the body-in-white is used for installation according to any one of claims 1 to 10, and the automatic installation method for the NT door and door hinge of the body-in-white includes: Measure several preset measurement points on the body-in-white, and calculate the correction amount of the door hinge based on the several measurement points; The position of the door hinge is corrected according to the correction amount, and the door hinge is installed on the NT door to obtain the NT door assembly; Position the NT door assembly to the preset position on the body-in-white, and install the NT door assembly onto the body-in-white.

12. The automatic installation method for the NT door and door hinge of the body-in-white as described in claim 11, characterized in that, The measurement of several preset measurement points on the body-in-white, and the calculation of the door hinge correction amount based on these measurement points, includes: Four preset measurement points on the body-in-white are measured and marked as Z1, Z2, Z3 and Z4 respectively. Z1 is defined as the Z-direction main positioning reference, and the fluctuation value of Z1 is determined based on the difference between Z1 and Z2. Establish a correction coordinate system using Z1, Z2, and Z4, fit the Z-axis plane, and calculate the adjustment amount of Z3 based on the fluctuation value of Z1, which is the correction amount of the door hinge.

13. The automatic installation method for the NT door and door hinge of the body-in-white as described in claim 11, characterized in that, Positioning the NT door assembly to a preset location on the body-in-white includes: The NT door is moved to the preset installation position on the body-in-white. At the same time, several preset positions on the body-in-white and the NT door are measured and a positioning coordinate system is established using a 3-2-1 method. The NT door assembly is positioned to the preset position on the body-in-white using point cloud registration.

14. The automatic installation method for the NT door and door hinge of the body-in-white as described in claim 13, characterized in that, The simultaneous measurement of several preset positions on the body-in-white and NT doors, and the establishment of a positioning coordinate system using 3-2-1, includes: Several measurement points at four preset positions on the body-in-white and the NT door are measured simultaneously. The measurement points on the body-in-white are marked as C1-X at the first preset position, C2-X at the second preset position, C3-Y at the third preset position, C4-Y at the fourth preset position, C5-Z at the fourth preset position, and C6-Z at the third preset position. The measurement points on the NT door are marked as D1-X at the first preset position, D2-X at the second preset position, D3-Y at the third preset position, D4-Y at the fourth preset position, D5-Z at the fourth preset position, and D6-Z at the third preset position. The X-axis plane position is determined by the average X-axis value of several measurement points at the first or second preset position. The Y-axis plane position and Rz degree of freedom are determined by the average Y-axis value of several measurement points at the third or fourth preset position. The Z-axis plane position is determined by the average Z-axis value of several measurement points at the third or fourth preset position. And / or, The method of positioning the NT door assembly to a preset position on the body-in-white using point cloud registration includes: Calculate the first deviation value of the measurement points on the body-in-white and NT door in the preset position according to the positioning coordinate system, and adjust the position of the NT door relative to the body-in-white according to the first deviation value. The gap surface difference matching surfaces at several preset positions on the NT door and the body of the white car are measured, the second deviation value is calculated, and the position of the NT door relative to the body of the white car is adjusted according to the second deviation value. After several iterations, the positioning is considered to be completed when the second deviation value is within the preset range.

15. The automatic installation method for the NT door and door hinge of the body-in-white as described in claim 14, characterized in that, The virtual exterior trim panel position is calculated by using several holes installed on the NT door and the exterior trim panel on the white body, and the second deviation value is obtained.

16. The automatic installation method for the NT door and door hinge of the body-in-white as described in claim 11, characterized in that, The process of installing the NT door assembly onto the vehicle body also includes: After installation, the gap difference matching surfaces at several preset positions are measured again, the third deviation value is calculated, and the data is uploaded.

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