Shock absorber rod guide assembly mounting device and method for detecting and controlling the inclination of the rod

Abstract

The application discloses a shock absorber sliding column assembly mounting device, which comprises a device main frame (1), the upper end of the device main frame (1) is provided with a top moving mechanism (2), the moving end of the top moving mechanism (2) is provided with a top plate (3), the top plate (3) is provided with a plurality of pressing sliding rods (5), the lower end of the pressing sliding rod (5) is provided with a pressing base (6), and the extending end of the pressing cylinder (4) is connected with the upper part of the pressing base (6). The lower part of the pressing base (6) is provided with a clamping jaw base (7). The double-layer clamping mechanism is arranged, the stability of the combined assembly of the shock absorber main body and the sliding column assembly is improved, and the assembly precision is ensured.

Description

Technical Field

[0001] This invention relates to the field of shock absorber assembly equipment, and more specifically to shock absorber slide rod assembly installation equipment and its slide rod inclination detection and control method. Background Technology

[0002] Air spring shock absorbers, which utilize the nonlinear stiffness characteristics of air springs, can effectively optimize both comfort and handling, and are increasingly widely used in the automotive industry. When assembling shock absorbers, it is necessary to install the sliding column assembly into the shock absorber body. There is currently an installation device, such as an automatic assembly device for shock absorber assemblies disclosed in CN217254238U, which includes a frame, a lower pressure plate, an upper pressure plate, a pressure sensor, and a gear plate. A bracket is mounted on the frame, and the lower pressure plate is slidably mounted on the bracket. The lower pressure plate has through holes. An elastic component is installed at the bottom of the pressure plate; the upper pressure plate is slidably mounted on the support, and motor A is mounted on the upper pressure plate, with a screwdriver bit mounted at the output end of motor A; a linear module is mounted on the support, and the upper pressure plate is connected to the output end of the linear module; a pressure sensor is mounted on the frame and located below the elastic component; a placement groove is provided on the frame, and a sliding groove is provided in the placement groove, with a clamping plate slidably mounted in the sliding groove; a lead screw is rotatably mounted inside the frame, and each clamping plate is threadedly connected to the corresponding lead screw, with bevel gears mounted on the lead screw; a gear disc is rotatably mounted inside the frame, and each bevel gear is meshed with the gear disc. For the assembly of the shock absorber, the components need to be securely positioned and clamped. In this type of assembly device, the positioning of the components mainly relies on multiple clamping plates on the frame. The motor output end drives the lead screw to rotate through gear transmission, thereby driving the displacement of the clamping plates to achieve product clamping. However, the entire shock absorber has a certain length, requiring stable support for its main body; simply positioning the bottom of the shock absorber is insufficient to guarantee good stability. Summary of the Invention

[0003] The purpose of this invention is to provide a shock absorber slide block assembly installation device and a method for detecting and controlling the slide block tilt. This invention improves the stability of the shock absorber body and slide block assembly during assembly by setting up a double-layer clamping mechanism, ensuring assembly accuracy.

[0004] The technical solution of this invention: a shock absorber slide assembly installation device, including a main frame, a top moving mechanism at the upper end of the main frame, a top plate at the moving end of the top moving mechanism, a pressing cylinder on the top plate, multiple pressing slide rods on the top plate, a pressure seat at the end of each pressing slide rod, and the extended end of the pressing cylinder connected to the upper part of the pressure seat; gripper seats at both ends of the lower part of the pressure seat, pneumatic grippers at the upper and lower parts of the gripper seats, and a vision camera at the bottom of the lower pneumatic gripper; a turntable on the main frame, with multiple platforms for placing the slide assembly evenly arranged around the center of the turntable; multiple first auxiliary clamping mechanisms for clamping the slide assembly at the center of the turntable, and a second auxiliary clamping mechanism on the main frame near the platform;

[0005] The slide column assembly is placed on the pedestal. The first auxiliary clamping mechanism on the turntable clamps the lower part of the slide column assembly. The second auxiliary clamping mechanism moves to the lower position of the slide column assembly, and the jaws of the second auxiliary clamping mechanism are in the released state. The top moving mechanism moves the top plate and the pressure seat at the top of the top plate to the top of the slide column assembly. At this time, the pneumatic jaws clamp the shock absorber body. After reaching the designated position, the downward pressing cylinder drives the pressure seat to move down, and the shock absorber body moves down accordingly. When the lower pneumatic jaws on the jaw seat approach the second auxiliary clamping mechanism at a certain distance, the downward pressing cylinder stops running, the lower pneumatic jaws are released, and the second auxiliary clamping mechanism moves up a certain distance and clamps the shock absorber body, and pulls down the bottom of the shock absorber body, so that the shock absorber body and the slide column assembly are combined. Then the upper pneumatic jaws on the jaw seat are released, the first auxiliary clamping mechanism and the second auxiliary clamping mechanism are reset, and the turntable transfers the assembled product to the next stage.

[0006] In the above-mentioned shock absorber slide assembly installation equipment, the upper two ends of the pressure seat are provided with side cylinders, the extended end of the side cylinder is provided with a horizontal plate, and the middle part of the horizontal plate is provided with a centering rod that extends into the shock absorber body.

[0007] In the aforementioned shock absorber slide assembly installation equipment, the pneumatic gripper includes a gripper cylinder disposed in a gripper seat, the extended end of the gripper cylinder is provided with an intermediate block, and the end of the intermediate block is provided with a V-shaped gripper.

[0008] In the aforementioned shock absorber slide assembly installation equipment, the first auxiliary clamping mechanism includes a stand located at the center of the turntable, a first cylinder at the top of the stand, a sliding component on the plate of the stand, an upper pawl at the moving end of the sliding component, and a lower pawl at the bottom of the stand.

[0009] In the aforementioned shock absorber slide assembly installation equipment, the second auxiliary clamping mechanism includes a mechanism base set on the main frame of the equipment, a lateral moving component on the mechanism base, a clamping main seat on the moving end of the lateral moving component, a longitudinal moving component on the main plate of the clamping main seat, and a pneumatic circumferential gripper on the moving end of the longitudinal moving component.

[0010] The specific steps for implementing the slide bar tilt detection and control method of the aforementioned shock absorber slide bar assembly mounting equipment are as follows:

[0011] Step 1: Obtain the initial image of the slide bar by using a binocular vision system consisting of vision cameras on both sides of the slide bar assembly;

[0012] Step 2: Use a deep learning-based image segmentation algorithm to segment the slider region, and improve the segmentation for cases with missing segments and unsatisfactory segmentation under lighting conditions;

[0013] Step 3: Based on the principle of 3D coordinate calculation of the binocular model, calculate the spatial straight line equation of the characteristic edge of the slide bar to obtain the tilt of the slide bar. After calculating the tilt, determine whether it is less than the normal value. If it is greater than the normal value, trigger the alarm system.

[0014] In the aforementioned method for detecting and controlling the tilt of the slide bar in the installation equipment of the shock absorber slide bar assembly, the initial image of the slide bar captured by the binocular vision system is shown as follows:

[0015] A(X,Y,Z) is a feature point on the slider. Image 1 and Image 2 are the imaging planes of the left and right cameras, respectively. O1 and O2 are the imaging planes of the left and right cameras, respectively. r These are the optical centers of the left and right cameras, respectively. The distance between the two parallel optical axes is b = 500 mm, a1(x1,y1), a r (x r ,y r Let A be the image point of A in image 1 and image 2, respectively. Based on this, the following formula is obtained:

[0016]

[0017] In the formula, x l y I Let x be the coordinates of the image point in image 1. r Let x be the x-axis coordinate of the point in image 2. l -x r Let f be the parallax and f be the focal point.

[0018] In the aforementioned method for detecting and controlling the tilt of the slide bar in the installation equipment of the shock absorber slide bar assembly, in step 1, when establishing the binocular vision system, the world coordinate system is transformed into the camera coordinate system through rigid body transformation. The camera coordinate system can be transformed into the image coordinate system through projection perspective. The image coordinate system is translated to obtain the pixel coordinate system, thereby transforming the world coordinates A(X,Y,Z) into pixel coordinates (u). l ,v l ), thus obtaining the following formula:

[0019]

[0020]

[0021]

[0022]

[0023] In the formula, R is the rotation matrix of the left camera coordinate system relative to the world coordinate system; T is the translation vector of the left camera coordinate system relative to the world coordinate system; s is the scaling parameter; dx and dy represent the physical dimensions of each pixel on the horizontal axis x and vertical axis y, respectively; (u0, v0) represents the coordinates of the principal point of the image in the pixel coordinate system, f is the focus, u is the object distance, and v is the distance.

[0024] In the aforementioned method for detecting and controlling the tilt of the slide bar in the installation equipment of the shock absorber slide bar assembly, an image segmentation algorithm based on DeepLabV3 deep learning is used to segment the slide bar region. Improvements are made to address issues such as missing segmentation edges and suboptimal segmentation under lighting conditions. Specifically:

[0025] Given an input tensor, where N represents the number of images in the input batch, and H, W, and C represent the height, width, and number of feature channels of the tensor, respectively. BN represents standardizing each feature channel using the mean and standard deviation of a mini-batch of images.

[0026]

[0027] In the formula, γ and β are affine parameters learned from the training data, with the aim of recovering the feature distribution before BN, u c and σ c These are the mean and standard deviation calculated for each feature channel of the current batch of images.

[0028]

[0029]

[0030] Where N represents the number of image samples in a batch of input; H represents the height of the input tensor, W represents the width of the input tensor; ε is a very small constant; x nchw This represents the pixel value at the height h and width w of the c-th channel of the input tensor in the n-th sample. IN is the normalized feature channel of each image;

[0031]

[0032] Where u nc and σ nc Let represent the mean and standard deviation of each feature channel of the image, respectively. Their definitions are:

[0033]

[0034]

[0035] In the aforementioned method for detecting and controlling the tilt of the slide bar in the installation equipment of the shock absorber slide bar assembly, the spatial linear equation of the slide bar characteristic edge is calculated based on the principle of three-dimensional coordinate calculation using a binocular model to obtain the slide bar tilt.

[0036]

[0037]

[0038] Q = tan(|α-β|÷2) × 100%

[0039]

[0040] in, It is the normal vector perpendicular to the ground. α and β are the direction vectors of the straight lines on the left and right edges of the slider image, respectively, and Q is the tilt angle between the left and right edges of the slider and the horizontal plane, respectively.

[0041] Compared with the prior art, the present invention has the following advantages:

[0042] 1. In this invention, a sliding column assembly is placed on a platform. A first auxiliary clamping mechanism on a turntable clamps the lower part of the sliding column assembly. A second auxiliary clamping mechanism moves to the lower position of the sliding column assembly, and the jaws of the second auxiliary clamping mechanism are in a released state. A top moving mechanism moves the top plate and the pressure seat at the upper end of the top plate to above the sliding column assembly. At this time, the pneumatic jaws clamp the shock absorber body. After reaching the designated position, the downward pressing cylinder drives the pressure seat to move downward, and the shock absorber body moves downward accordingly. When the lower pneumatic jaws on the jaw seat approach the second auxiliary clamping mechanism... After a certain distance is reached, the downward-pressing cylinder stops operating, the pneumatic gripper on the lower side releases, and the second auxiliary clamping mechanism moves up a certain distance to clamp the shock absorber body and pulls down the bottom of the shock absorber body, so that the shock absorber body and the slide column assembly are combined. Then, the pneumatic gripper on the upper side of the gripper seat releases, the first auxiliary clamping mechanism and the second auxiliary clamping mechanism reset, and the turntable transfers the assembled product to the next stage. The clamping components stabilize and support the slide column assembly and the shock absorber body respectively, greatly improving the stability of the two during assembly and ensuring assembly accuracy.

[0043] 2. The side cylinder drives the centering rod to insert into the shock absorber body to position the entire body. When the pneumatic gripper holds the shock absorber body, it may shake. Inserting the centering rod can ensure the center accuracy when the two parts are aligned.

[0044] 3. The pneumatic gripper adopts a V-shaped structure to ensure stable clamping of the shock absorber body. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the structure of the present invention;

[0046] Figure 2 This is a schematic diagram of the turntable;

[0047] Figure 3 This is a schematic diagram of the gripper seat;

[0048] Figure 4 A schematic diagram of a V-shaped gripper;

[0049] Figure 5 This is a schematic diagram of the first auxiliary clamping mechanism;

[0050] Figure 6 This is a schematic diagram of the second auxiliary clamping mechanism;

[0051] Figure 7 Here is a flowchart of the slide bar tilt detection and control process;

[0052] Figure 8 This is a schematic diagram of a binocular vision system;

[0053] Figure 9 Flowchart for improving deep learning networks.

[0054] Explanation of markings in the attached diagram: 1-Main frame of equipment, 2-Top moving mechanism, 3-Top plate, 4-Pressing cylinder, 5-Pressing slide bar, 6-Pressure seat, 7-Gripper seat, 8-Pneumatic gripper, 9-Vision camera, 10-Turntable, 11-Platform, 12-First auxiliary clamping mechanism, 13-Second auxiliary clamping mechanism, 14-Side cylinder, 15-Horizontal plate, 16-Centering rod, 17-Gripper cylinder, 18-Intermediate block, 19-V-shaped gripper, 20-Standing seat, 21-First cylinder, 22-Sliding assembly, 23-Upper gripper, 24-Lower gripper, 25-Mechanism base, 26-Horizontal moving assembly, 27-Gripper main seat, 28-Longitudinal moving assembly, 29-Pneumatic circumferential gripper. Detailed Implementation

[0055] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0056] Example: Shock absorber slide block assembly installation equipment, including the main frame 1, as shown in the attached diagram. Figure 1 and 2 As shown, the upper end of the main frame 1 of the equipment is provided with a top moving mechanism 2, and the moving end of the top moving mechanism 2 is provided with a top plate 3. The top moving mechanism is mainly used to move the shock absorber body to the assembly point of the slide column assembly. The top plate 3 is provided with a pressing cylinder 4, and multiple pressing slide rods 5 are provided on the top plate 3. The end of the pressing slide rod 5 is provided with a pressure seat 6. The extended end of the pressing cylinder 4 is connected to the upper part of the pressure seat 6. The upper two ends of the pressure seat 6 are provided with side cylinders 14. The extended end of the side cylinders 14 is provided with a horizontal plate 15. The middle part of the horizontal plate 15 is provided with a centering rod 16 that extends into the shock absorber body. The side cylinder drives the centering rod to insert into the shock absorber body to position the entire body. When the pneumatic gripper holds the shock absorber body, it may shake. By inserting the centering rod, the centering accuracy can be ensured when the two parts are aligned. The lower two ends of the pressure seat 6 are provided with gripper seats 7, as shown in the attached figure. Figure 3 As shown, the gripper base 7 is provided with pneumatic grippers 8 at the top and bottom. The pneumatic grippers 8 include gripper cylinders 17 disposed within the gripper base 7. The extended end of the gripper cylinder 17 is provided with an intermediate block 18, and the end of the intermediate block 18 is provided with a V-shaped gripper 19, as shown in the attached figure. Figure 4 As shown, the pneumatic gripper adopts a V-shaped structure to ensure stable clamping of the shock absorber body; a vision camera 9 is provided at the bottom of the pneumatic gripper 8 on the lower side; a turntable 10 is provided on the main frame 1 of the equipment, and multiple pedestals 11 for placing the sliding column assembly are evenly arranged around the center of the turntable 10. The pedestal is mainly composed of a base and a column base. The column base has a hollow cylindrical structure in which the sliding column assembly is placed; multiple first auxiliary clamping mechanisms 12 for clamping the sliding column assembly are provided at the center of the turntable 10, and a second auxiliary clamping mechanism 13 is provided on the main frame 1 of the equipment and on the side closer to the pedestal 11.

[0057] The first auxiliary clamping mechanism 12 includes a stand 20 disposed at the center of the turntable 10, as shown in the attached figure. Figure 5 As shown, a first cylinder 21 is provided at the top of the support 20, a sliding assembly 22 is provided on the plate of the support 20, an upper claw 23 is provided on the moving end of the sliding assembly 22, and a lower claw 24 is provided at the bottom of the support 20. The sliding column assembly is stably supported by the upper and lower claws.

[0058] The second auxiliary clamping mechanism 13 includes a mechanism base 25 mounted on the main frame 1 of the equipment, as shown in the attached figure. Figure 6 As shown, a transverse moving component 26 is provided on the base 25 of the mechanism. A clamping main seat 27 is provided on the moving end of the transverse moving component 26. A longitudinal moving component 28 is provided on the main plate of the clamping main seat 27. A pneumatic gripper 29 is provided on the moving end of the longitudinal moving component 28. The transverse moving component moves the pneumatic gripper to the working position. The longitudinal moving component moves the pneumatic gripper to the lower end of the slide column assembly, but does not clamp the slide column assembly. The pneumatic gripper mainly pulls the lower end of the shock absorber down and puts it on the slide rod.

[0059] The specific steps for implementing the aforementioned method for detecting and controlling the tilt of the slide bar in the damper slide bar assembly mounting equipment are as follows:

[0060] Step 1: Obtain initial images of the slide bar using vision cameras on both sides of the slide bar assembly. Based on actual measurement requirements and the structural characteristics of the slide bar, design a binocular vision system and determine the system's structure and key parameters; see attached. Figure 8 As shown, this figure is a stereo model diagram for slider detection. A(X,Y,Z) is a feature point on the slider. Image 1 and Image 2 are the imaging planes of the left and right cameras, respectively. O1 and O2 are the imaging planes of the left and right cameras, respectively. r These are the optical centers of the left and right cameras, respectively. The distance between the two parallel optical axes is b = 500 mm, a1(x1,y1), a r (x r ,y r Let A be the image point of A in image 1 and image 2, respectively. Based on this, the following formula is obtained:

[0061]

[0062] In the formula, x l y I Let x be the coordinates of the image point in image 1. r Let x be the x-axis coordinate of the point in image 2. l -x r Let f be the parallax and f be the focal point.

[0063] When establishing a binocular vision system, the world coordinate system is transformed into the camera coordinate system through rigid body transformation. The camera coordinate system can then be transformed into the image coordinate system using projection perspective rules. The image coordinate system is then translated to obtain the pixel coordinate system, thus transforming the world coordinates A(X,Y,Z) into pixel coordinates (u). l ,v l ), thus obtaining the following formula:

[0064]

[0065]

[0066]

[0067]

[0068] In the formula, R is the rotation matrix of the left camera coordinate system relative to the world coordinate system; T is the translation vector of the left camera coordinate system relative to the world coordinate system; s is the scaling parameter; dx and dy represent the physical dimensions of each pixel on the horizontal axis x and vertical axis y, respectively; (u0, v0) represents the coordinates of the principal point of the image in the pixel coordinate system, f is the focus, u is the object distance, and v is the distance.

[0069] Step 2: Establish a slider image sample database as the sample set required for network training, label the images in the sample set to prepare for image training, and use the image segmentation algorithm based on DeepLab V3 deep learning to segment the slider region, and improve the segmentation in cases of missing segmentation edges and unsatisfactory segmentation under lighting conditions.

[0070] The improvements mainly focus on two aspects of the deep learning network: one is adding a network structure after low-order feature fusion, and the other is incorporating an improved IBN-ResNet algorithm. The process is shown in the attached figure. Figure 9 As shown; given an input tensor, N represents the number of images in the input batch, and H, W, and C represent the height, width, and number of feature channels of the tensor, respectively. BN represents standardizing each feature channel using the mean and standard deviation of a mini-batch of images, i.e.

[0071]

[0072] In the formula, γ and β are affine parameters learned from the training data, with the aim of recovering the feature distribution before BN, u c and σ c These are the mean and standard deviation calculated for each feature channel of the current batch of images.

[0073]

[0074]

[0075] Where N represents the number of image samples in a batch of input; H represents the height of the input tensor, W represents the width of the input tensor; ε is a very small constant; x nchw This represents the pixel value at the height h and width w of the c-th channel of the input tensor in the n-th sample. IN is the normalized feature channel of each image;

[0076]

[0077] Where u nc and σ nc Let represent the mean and standard deviation of each feature channel of the image, respectively. Their definitions are:

[0078]

[0079]

[0080] This led to the proposal of IBN-Net, a standardized structure that integrates IN and BN. IN and BN are used simultaneously in shallow layers, while BN is mainly used in deep layers. This allows for better feature learning and better generalization performance.

[0081] Step 3: Based on the principle of 3D coordinate calculation in the binocular model, calculate the spatial straight line equation of the characteristic edge of the slide bar to obtain the tilt angle of the slide bar.

[0082]

[0083]

[0084] Q = tan(|α-β|÷2) × 100%

[0085]

[0086] in, It is the normal vector perpendicular to the ground. Let α and β be the direction vectors of the straight lines at the left and right edges of the slider image, respectively; let α and β be the angles between the left and right edges of the slider and the horizontal plane, respectively; and let Q be the tilt angle. After calculating the tilt angle, determine if it is less than the normal value. If it is greater than the normal value, trigger the alarm system. The slider tilt angle detection and control process is shown in the attached figure. Figure 7 As shown.

[0087] The working principle of this invention is as follows: A sliding column assembly is placed on the base 11. The first auxiliary clamping mechanism 12 on the turntable 10 clamps the lower part of the sliding column assembly. The second auxiliary clamping mechanism 13 moves to the lower position of the sliding column assembly, and the jaws of the second auxiliary clamping mechanism 13 are in the released state. The top moving mechanism 2 moves the top plate 3 and the pressure seat 6 at the upper end of the top plate to the top of the sliding column assembly. At this time, the pneumatic jaws 8 clamp the shock absorber body. After reaching the designated position, the downward pressing cylinder 4 drives the pressure seat to move down, and the shock absorber body moves down accordingly. When the lower pneumatic jaws 8 on the jaw seat 7 approach the second auxiliary clamping mechanism 12, the shock absorber body moves down. After a certain distance, the downward cylinder 4 stops operating, the pneumatic gripper 8 on the lower side releases, and the second auxiliary clamping mechanism 13 moves up a certain distance to clamp the shock absorber body and pulls down the bottom of the shock absorber body, so that the shock absorber body and the slide column assembly are combined. Then, the pneumatic gripper 8 on the upper side of the gripper seat 7 releases, the first auxiliary clamping mechanism 12 and the second auxiliary clamping mechanism 13 reset, and the turntable 10 transfers the assembled product to the next stage. The clamping components stabilize the slide column assembly and the shock absorber body respectively, greatly improving the stability of the two during assembly and ensuring assembly accuracy.

[0088] The above embodiments merely illustrate implementation methods of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. Furthermore, in these embodiments, "up," "down," "left," "right," "front," and "back" represent relative positions only, not absolute positions. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A shock absorber slide block assembly installation device, comprising a main frame (1), a top moving mechanism (2) at the upper end of the main frame (1), and a top plate (3) at the moving end of the top moving mechanism (2), characterized in that: The top plate (3) is provided with a pressing cylinder (4), and the top plate (3) is provided with multiple pressing slide rods (5). The end of the pressing slide rod (5) is provided with a pressure seat (6). The extended end of the pressing cylinder (4) is connected to the upper part of the pressure seat (6). The pressure seat (6) is provided with gripper seats (7) at both ends of the lower part. The gripper seats (7) are provided with pneumatic grippers (8) at the upper and lower parts. The bottom of the pneumatic grippers (8) on the lower side is provided with a vision camera (9). The main frame (1) of the equipment is provided with a turntable (10). Multiple platforms (11) for placing the slide column assembly are evenly arranged around the center of the turntable (10). The center of the turntable (10) is provided with multiple first auxiliary clamping mechanisms (12) for clamping the slide column assembly. The main frame (1) of the equipment is provided with a second auxiliary clamping mechanism (13) on the side of the platform (11). The slide column assembly is placed on the base (11). The first auxiliary clamping mechanism (12) on the turntable (10) clamps the lower part of the slide column assembly. The second auxiliary clamping mechanism (13) moves to the lower position of the slide column assembly, and the jaws of the second auxiliary clamping mechanism (13) are in the released state. The top moving mechanism (2) moves the top plate (3) and the pressure seat (6) at the top of the top plate to the top of the slide column assembly. At this time, the pneumatic jaws (8) clamp the damper body. After reaching the designated position, the downward pressing cylinder (4) drives the pressure seat to move down, and the damper body moves down accordingly. When the jaws are in the lower position... (7) After the lower pneumatic gripper (8) on the upper side approaches the second auxiliary clamping mechanism (13) at a certain distance, the lower cylinder (4) stops running, the lower pneumatic gripper (8) is released, the second auxiliary clamping mechanism (13) moves up a certain distance and clamps the damper body, and pulls down the bottom of the damper body so that the damper body is combined with the slide column assembly. Then the upper pneumatic gripper (8) on the gripper seat (7) is released, the first auxiliary clamping mechanism (12) and the second auxiliary clamping mechanism (13) are reset, and the turntable (10) transfers the assembled product to the next stage. The upper two ends of the pressure seat (6) are provided with side cylinders (14), the protruding end of the side cylinder (14) is provided with a horizontal plate (15), and the middle part of the horizontal plate (15) is provided with a centering rod (16) that extends into the body of the shock absorber; the first auxiliary clamping mechanism (12) includes a stand (20) set in the center of the turntable (10), the top of the stand (20) is provided with a first cylinder (21), the plate of the stand (20) is provided with a sliding assembly (22), and the moving end of the sliding assembly (22) is provided with an upper The bottom of the stand (20) is provided with a lower gripper (24); the second auxiliary clamping mechanism (13) includes a mechanism base (25) set on the main frame (1) of the equipment, a transverse moving component (26) is provided on the mechanism base (25), a clamping main seat (27) is provided on the moving end of the transverse moving component (26), a longitudinal moving component (28) is provided on the main plate of the clamping main seat (27), and a pneumatic circumferential gripper (29) is provided on the moving end of the longitudinal moving component (28).

2. The damper slide block assembly installation device according to claim 1, characterized in that: The pneumatic gripper (8) includes a gripper cylinder (17) disposed in a gripper seat (7), and the extended end of the gripper cylinder (17) is provided with an intermediate block (18), and the end of the intermediate block (18) is provided with a V-shaped gripper (19).

3. A method for detecting and controlling the tilt of the slide bar in the damper slide bar assembly mounting device as described in claim 1 or 2, characterized in that: The specific steps are as follows: Step 1: Obtain the initial image of the slide bar by using a binocular vision system consisting of vision cameras on both sides of the slide bar assembly; Step 2: Use a deep learning-based image segmentation algorithm to segment the slider region, and improve the segmentation for cases with missing segments and unsatisfactory segmentation under lighting conditions; Step 3: Based on the principle of 3D coordinate calculation of the binocular model, calculate the spatial straight line equation of the characteristic edge of the slide bar to obtain the tilt of the slide bar. After calculating the tilt, determine whether it is less than the normal value. If it is greater than the normal value, trigger the alarm system.

4. The method for detecting and controlling the tilt of the slide bar in the damper slide bar assembly mounting equipment according to claim 3, characterized in that: The initial image of the slider captured by the binocular vision system is shown below: This is a feature point on the slider. Image 1 and Image 2 are the imaging planes of the left and right cameras, respectively. These are the optical centers of the left and right cameras, respectively, and the distance between their two parallel optical axes is... , Let A be the image points of A in image 1 and image 2, respectively. Based on this, the following formula is obtained: ； In the formula, , Here are the coordinates of the image points in image 1. Let x be the x-coordinate of the point in image 2. For parallax, It is the focus.

5. The method for detecting and controlling the tilt of the slide bar in the damper slide bar assembly mounting device according to claim 4, characterized in that: In step 1, when establishing the binocular vision system, the world coordinate system is transformed into the camera coordinate system through rigid body transformation. The camera coordinate system can be transformed into the image coordinate system through projection perspective laws. The image coordinate system is then translated to obtain the pixel coordinate system, thereby transforming the world coordinate system... Convert to pixel coordinates The following formula is obtained: In the formula, This is the rotation matrix of the left camera coordinate system relative to the world coordinate system; This is the translation vector of the left camera coordinate system relative to the world coordinate system; This is a proportional parameter; and These represent the physical dimensions of each pixel on the horizontal axis (x) and the vertical axis (y), respectively. This represents the coordinates of the principal point of the image in the pixel coordinate system. It is the focus. It is the object distance. It's distance.

6. The method for detecting and controlling the tilt of the slide bar in the damper slide bar assembly mounting device according to claim 4, characterized in that: An image segmentation algorithm based on DeepLab V3 deep learning is used to segment the slider region, and improvements are made to address issues such as missing segmentation edges and suboptimal segmentation under lighting conditions. Specifically: Given an input tensor, N represents the number of images in the input batch, and H, W, and C represent the height, width, and number of feature channels of the tensor, respectively; BN represents standardizing each feature channel using the mean and standard deviation of a mini-batch of images, i.e. ； In the formula, and These are affine parameters learned from the training data, with the aim of recovering the feature distribution prior to Batch Normalization (BN). and These are the mean and standard deviation calculated for each feature channel of the current batch of images; ； Where N represents the number of image samples in a batch of input; H represents the height of the input tensor; and W represents the width of the input tensor. It is a very small constant; This represents the pixel value at the height h and width w of the c-th channel of the input tensor in the n-th sample; IN is the normalized feature channel of each image. ； in and Let represent the mean and standard deviation of each feature channel of the image, respectively. Their definitions are: 。 7. The method for detecting and controlling the tilt of the slide bar in the damper slide bar assembly mounting device according to claim 4, characterized in that: Based on the principle of three-dimensional coordinate calculation using a binocular model, the spatial linear equation of the characteristic edge of the slide bar is calculated to obtain the slide bar's inclination. ； in, It is the normal vector perpendicular to the ground. , These are the direction vectors of the left and right edge lines of the slider image, respectively. , These are the included angles between the left and right edges of the slide bar and the horizontal plane, respectively. The angle of inclination.

Images