A flexible island chain type vehicle body manufacturing system and method

Abstract

The application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nimble island chain type vehicle body manufacturing method and system, it is related to automobile production technical field.The present application discloses a kind of nim

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent manufacturing, and particularly relates to a flexible island chain type vehicle body manufacturing system and method. BACKGROUND

[0002] At present, the manufacturing mode of the vehicle body is rigidly connected between stations, in order to ensure the assembly positioning accuracy of each part, the positioning tooling in the station is various and complex in structure, the production line is large, and the production mode only has a certain flexibility but cannot be further improved to intelligentization.

[0003] Most of the existing production lines complete the conveying of station parts through a fixed base connection mode (roller bed, robot handling, etc.);

[0004] 1. These production lines are rigid and cannot flexibly change to meet the differentiated manufacturing needs of different vehicle models.

[0005] 2. The production line has many devices, many device actions, many overlapping areas of robot operation, and many non-value-added time occupancies, which affect the production efficiency of the whole line.

[0006] 3. The production line process is complex, the equipment development cost is high, and the project development cycle is long.

[0007] 4. The production mode has poor adaptability to future multi-variety, small-batch and customized production mode. SUMMARY

[0008] In view of the problems existing in the prior art, the present application is proposed.

[0009] Therefore, the present application provides a flexible island chain type vehicle body manufacturing method, which can solve the problems of rigidity, complex equipment, and many station equipment action times of the existing production mode, and effectively solve the problem of low effective operation time ratio, and realize an efficient, flexible and flexible production mode.

[0010] To solve the above technical problems, the present application provides the following technical scheme, a flexible island chain type vehicle body manufacturing system, comprising: a positioning module, which performs flexible positioning of a vehicle body product through a line-side robot and a vision system; and a vision measurement module, which adopts dynamic and static vision measurement technology, and is used for detecting the position, hole position and welding point of the vehicle body product, and guiding the robot to complete related process operations; a robot correction module, which corrects the dynamic trajectory error of the robot and compensates the positioning deviation, to ensure the high precision and stability of the robot; and an assembly control module, which provides the optimal assembly pose compensation amount for the robot based on the vision calibration and space coordinate conversion principle, in combination with feature reference plate data and algorithms.

[0011] In a second aspect, the present application provides a flexible island chain body manufacturing method, which comprises: a mobile tool carrying a non-powered visual servo positioning device unit to support and position a body-in-white product, and through a line-side robot to intelligently input calculated power and a line-side visual system to measure and feedback control the robot, to realize flexible positioning of the non-powered visual servo positioning device unit to different body-in-white products; the non-powered visual servo positioning device unit does not need to carry power and driving devices, and through line-side visual technology to guide an external robot to intelligently adjust and accurately detect the non-powered visual servo positioning device unit, and a qualified robot places the body on the mobile tool for support and positioning; a carrier in the functional island does not need to be accurately stopped, and the functional island uses dynamically installed visual and layered static visual measurement technology to measure the position of the body product, and guide the robot in the functional island to perform related process operations.

[0012] As a preferred scheme of the flexible island chain body manufacturing method, the mobile tool comprises an AGV or a sliding sled with a flexible tool capable of intelligent adjustment; the power calculated by the line-side robot comprises, after the robot and the non-powered visual servo positioning device are docked, the position of the current non-powered visual servo positioning device point is measured and calculated by the servo motor at the end of the robot, the position of the point moved is equal to the movement distance on the XYZ axis respectively, and the distance value is converted into the number of motor rotations.

[0013] As a preferred scheme of the flexible island chain body manufacturing method, the visual technology guidance comprises a conversion mode of the height values measured by the laser range finder and the laser spots falling on the isotropic gradient high-precision standardized machined parts on the X and Y axes, specifically: according to the relative relationship algorithm between the difference between the calculated laser range finder measurement values and the coordinates on the isotropic gradient high-precision standardized machined parts, the robot end is positioned on the deviation amount on the X and Y axes; the conversion mode of the height values measured by the three-point laser range finder and the laser spots falling on the isotropic gradient high-precision standardized machined parts on the X and Y axes is listed in a matrix manner respectively, and according to the relative relationship algorithm between the difference between the calculated laser range finder measurement values and the coordinates on the isotropic gradient high-precision standardized machined parts, the robot end is positioned on the deviation amount on the X and Y axes.

[0014] As a preferred scheme of the island chain type vehicle body manufacturing method, the qualified robot refers to a simplified process judgment condition under high-speed production conditions to meet the production rhythm; the simplified process judgment condition includes that when the robot is docked with the unit of the non-powered visual servo positioning device, the position of the current non-powered visual servo positioning device point is measured and calculated by the servo motor output visual system at the robot end, the position of the point to be moved to, and the movement distance on the XYZ axis respectively, the distance value is converted into the number of rotations of the motor, the servo motor has high precision, and the system precision error of the visual + docking process is less than the simplified qualified condition; when high-precision production and stable production are used, the standard process judgment condition is used, the first half of the process is consistent with the simplified process, after the robot completes the docking and drives the non-powered visual servo positioning device, the visual system installed at the end of the robot is used for 2 times of photographing measurement comparison, if the position of the non-powered visual servo positioning device and the set position appear deviation Δx, Δy in the X, Y axis direction, and the deviation is less than or equal to the threshold value, then it is qualified.

[0015] As a preferred scheme of the island chain type vehicle body manufacturing method, the functional island includes a switching island, an assembly island, and a repair welding island; the switching island includes detecting the position of the hole to be positioned of the vehicle body product and the pose of the unit of the non-powered visual servo positioning device by using dynamic and static visual measurement, calculating the best matching process of the two by the background server, guiding the robot to complete the adjustment of the hook pin positioning device on the unit of the non-powered visual servo positioning device to the position suitable for positioning the vehicle body product; the assembly island includes detecting the pose of the vehicle body stop pose and the pose of the assembly part by using dynamic and static visual measurement, calculating the best matching pose of the two by the background server, and guiding the robot to complete the best pose assembly; the repair welding island includes detecting the stop pose of the vehicle body by using dynamic and static visual measurement, calculating the position of the welding point by the background server, and guiding the robot to complete the welding with the welding gun; according to the differentiated process requirements of different vehicle body products, the mobile tool carries the product to complete the corresponding work in different process islands through intelligent path planning, and realizes the function of differentiated manufacturing.

[0016] As a preferred scheme of the island chain type vehicle body manufacturing method, the dynamic installation visual and layered static visual measurement technology comprises the following steps: first, unify the coordinate system, and unify the coordinate systems of the dynamic high-precision structured light camera and the static structured light camera to the same robot coordinate system; the AGV trolley moves to the measurement position with the measured target, and the stop position of the measured target is not fixed; the static structured light camera takes a picture of the measured target in a large field of view, divides the picture into several parts, and preliminarily measures the position of the measured target; the position of the measured target is confirmed in the teaching partition; the robot is taught in a small area in the early stage, and the partition is based on the field of view of the dynamic high-precision measurement visual system, which is 1 / 2 of the size; the robot collects a large amount of trajectory correction data in the early stage by using the teaching and laser tracker measurement method, and uses the Kriging constraint algorithm to correct the dynamic trajectory error of the robot to improve the repeated positioning accuracy of the robot in the small area taught; the robot accurately moves to the teaching small area for measurement, and performs close-range high-precision measurement on the measured target by using the dynamic high-precision structured light visual system; during the continuous use of the robot, the positioning deviation of the robot is iteratively corrected according to the measured deviation value, so that the robot is not affected by the large system deviation caused by the service life and wear to affect the measurement accuracy, and real-time dynamic prediction compensation correction is achieved; specifically, after the robot completes 500 measurement operations and returns to the home point, the checkerboard calibration disc fixed on the ground is photographed in the preset home point posture, the current position is accurately calculated by using the eye-in-hand calibration method and the 4-element number solution AX=BX algorithm, the deviation range is obtained by comparing the data at the home point before, and the dynamic correction value of the robot positioning measurement is given.

[0017] As a preferred scheme of the island chain type vehicle body manufacturing method, the pose detection comprises the following steps: based on the visual calibration principle and the space coordinate conversion principle, two measurement characteristic reference plate data are used, and the least square method and the RanSCI algorithm are fused to obtain an accurate correction compensation; through the calibration process, the pose parameters of each device in the system are determined; the characteristic reference block and the robot flange disc center coordinate on the gripper are associated through the measurement of the three coordinates, and the fixed coordinates of each hole on the characteristic reference block and the robot flange disc center are calculated; the pose of each hole of the paired characteristic reference block measured by the two sets of static visual systems is calculated by using the least square method and the RanSCI, and the optimal compensation amount of the pose of the gripper during the assembly is given to the robot for compensation.

[0018] A computer device comprises a memory and a processor, and the memory stores a computer program, wherein the processor implements the steps of the method in any one of the island chain type vehicle body manufacturing method when executing the computer program.

[0019] A computer readable storage medium, having stored thereon a computer program, wherein the computer program is executed by a processor to implement steps of the method in any one of the flexible island chain body manufacturing method.

[0020] The present application has the advantages that the AGV or sled with the flexible tooling can carry different products, and the mobile tooling can travel between different functional stations, i.e., functional islands, to complete production of different products under different production processes, thereby adapting to flexible and intelligent production for a multi-variety, small-batch and customized production mode. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0022] Figure 1 A flexible island chain body manufacturing method flowchart is provided for an embodiment of the present application.

[0023] Figure 2 A functional island flowchart of a flexible island chain body manufacturing method is provided for an embodiment of the present application.

[0024] Figure 3 A data environment diagram of a flexible island chain body manufacturing method is provided for an embodiment of the present application.

[0025] Figure 4 A flexible island chain body manufacturing system flowchart is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0027] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0028] Second, the "one embodiment" or "an embodiment" referred to herein means a specific feature, structure, or characteristic under at least one implementation of the application. The "in one embodiment" appearing in various places in the specification are not all directed to the same embodiment, nor are they mutually exclusive of other embodiments.

[0029] The application is described in detail in conjunction with the schematic diagram. In the detailed description of the embodiments of the application, the cross-sectional view of the device structure is partially enlarged without the general proportion for the convenience of illustration, and the schematic diagram is only an example, which should not limit the scope of protection of the application herein. In addition, the three-dimensional spatial dimensions of length, width and depth should be included in actual production.

[0030] Meanwhile, in the description of the application, it should be noted that the terms "upper, lower, inner and outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the 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 therefore cannot be understood as a limitation on the application. In addition, the terms "first, second or third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0031] Unless otherwise specifically defined and limited, the terms "mounting, connecting, connection" in the application should be broadly understood, for example: it can be fixed connection, detachable connection or integral connection; it can also be mechanical connection, electrical connection or direct connection, it can also be indirectly connected through intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0032] Embodiment 1

[0033] Reference Figures 1-3 For the first embodiment of the application, the embodiment provides a flexible island chain body manufacturing method, comprising:

[0034] The application is a mobile carrier such as AGV or skid with a flexible tool that can be intelligently adjusted, carrying different products (hereinafter referred to as "mobile tool") to travel between different functional stations (functional islands, such as assembly islands, composite assembly islands that assemble parts in different sequences and lap joints, welding islands that can adjust welding in real time through shared vision, switching islands that can switch different flexible tools through line-side robots to adapt to different products) to complete different product production under different production processes. To adapt to flexible intelligent production for multi-variety, small-batch and customized production mode.

[0035] S1: The mobile tool carries the unpowered visual servo positioning device unit to support and position the body-in-white product, and realizes flexible positioning of the unpowered visual servo positioning device unit on different body-in-white products by the intelligent input of the power of the line robot and the measurement feedback control of the line vision system.

[0036] It should be noted that the functional island includes a switching island, an assembly island, and a repair welding island.

[0037] The switching island includes detecting the position of the hole to be positioned on the body product and the pose of the unpowered visual servo positioning device unit by using dynamic and static visual measurement, calculating the best matching process of the two by the background server, and guiding the robot to adjust the hook pin positioning device on the unpowered visual servo positioning device unit to the position suitable for positioning the body product.

[0038] The assembly island includes detecting the pose of the body stop pose and the pose of the assembly part by using dynamic and static visual measurement, calculating the best matching pose of the two by the background server, and guiding the robot to complete the best pose assembly.

[0039] The repair welding island includes detecting the body stop pose by using dynamic and static visual measurement, calculating the position of the welding point by the background server, and guiding the robot with the welding gun to complete the welding.

[0040] According to the differentiated process requirements of different body products, the mobile tool carries the product to complete the corresponding work in different process islands through intelligent path planning, realizing the function of differentiated manufacturing.

[0041] It should be noted that the pose detection includes obtaining accurate correction compensation based on visual calibration principle and space coordinate conversion principle, cooperating with the data of two measurement feature reference plates, and fusing least square method and RanSCI algorithm.

[0042] Through the calibration process, the pose parameters of each device in the system are determined,

[0043] [u c ,v c ,1] T =A·[R,t]·[x w ,y w ,z w ,1] T .

[0044] The feature reference block and the robot flange center coordinates on the gripper are associated through the measurement of the three coordinates, and the fixed coordinate expression of each hole on the feature reference block and the robot flange center is calculated,

[0045]

[0046] wherein Rw represents a rotation matrix, T w represent displacement matrices; these matrices are used to transform the holes of the feature reference block from their original coordinate system into the coordinate system of the robot flange.

[0047] The respective pose of each paired feature reference block hole measured by the two sets of static vision systems, through the least squares method and RanSCI algorithm, the optimal compensation amount of the gripper pose during assembly is given to the robot compensation,

[0048]

[0049] wherein Rw represents a rotation matrix, T k represents the optimal compensation amount of the gripper pose during assembly; M k,i and M k,i represent the pose of each hole of the feature reference block measured by the static vision system; Rw wk′ and T wk′ represent the rotation matrix and displacement matrix used to calculate the compensation amount.

[0050] Further, the power calculated by the line-side robot intelligent input includes that after the robot and the non-powered vision servo positioning device complete the docking, the current position of the non-powered vision servo positioning device point measured and calculated by the servo motor output of the robot end is equal to the position of the point to be moved, i.e. the movement distance on the XYZ axis respectively, and the distance value is converted into the number of motor rotations.

[0051] S2: The non-powered vision servo positioning device unit does not need to carry power and driving devices, and guides the external robot to intelligently adjust and detect the accuracy of the non-powered vision servo positioning device unit through line-side vision technology, and places the qualified robot body on the moving tool for supporting and positioning.

[0052] Further, the vision technology guidance includes calculating the conversion method of the height value measured by the laser range finder and the laser spot falling on the isotropic gradient high-precision standardized machined part on the X and Y axes,

[0053]

[0054] The conversion method of the height value measured by the 3-point laser range finder and the laser spot falling on the isotropic gradient high-precision standardized machined part on the X and Y axes is listed in matrix form,

[0055]

[0056] wherein T represents tan30°, t A , t B , t Crespectively, are the distances from the laser range finder to the circular table, which can be directly read from the laser range finder, A' x y z x y z x y z respectively represent the x, y, z coordinates of the A', B', C' points.

[0057] According to the relative relationship between the calculated difference between the measurement values of the laser range finder and the corresponding isotropic gradient on the high-precision standardized machined part, the robot end is positioned on the X, Y axis deviation, specifically:

[0058] Suppose the angle of the laser at the A' point can be decomposed into the inclination angle α A and the azimuth angle β A , then the point A" irradiated by the laser emitter A on the circular table has a deviation of t A sinα A cosβ A and t A sinα A sinβ A on the X and Y axes respectively, and its coordinates can be represented by the following matrix:

[0059]

[0060] It should be noted that a qualified robot refers to a simplified process judgment condition under high-speed production conditions to meet the production rhythm. After the robot and the non-powered visual servo positioning device are docked, the current position of the non-powered visual servo positioning device is measured and calculated by the servo motor output of the visual system at the robot end. The position of the point moved to is moved on the XYZ axis respectively. The distance value is converted into the number of revolutions of the motor. The servo motor has high precision, and the system accuracy error of the visual + docking process is less than the visual + docking process. Therefore, it is a simplified qualified condition.

[0061] If high-precision production and stable production are used to judge the qualified condition, the first half of the process is consistent with the simplified process. After the robot completes the docking and drives the non-powered visual servo positioning device, the visual system installed on the robot end is used to take two photos for measurement comparison. If the position of the non-powered visual servo positioning device and the set position appear deviation Δx, Δy in the X, Y axis direction, both ≤ threshold value, it is qualified. In this embodiment, the threshold value is 0.3 mm.

[0062] ​​​​​​​​S3: The carrier in the functional island does not need to stop at a precise position, and the position of the vehicle body product is measured by using the dynamically installed vision and layered static vision measurement technology in the functional island, so as to guide the robot in the functional island to perform the related process operation.

[0063] It should be noted that the dynamically installed vision and layered static vision measurement technology comprises the following steps: first, unify the coordinate system, and unify the coordinate systems of the dynamic high-precision structured light camera and the static structured light camera to the same robot coordinate system.

[0064] The AGV carries the measured target to the measurement position, and the stop position of the measured target is not fixed.

[0065] The static structured light camera performs large field of view shooting partition and preliminary measurement on the measured target, and the position of the measured target is confirmed in the teaching partition. In the early stage of measurement, the robot is taught in a small area partition, and the partition is based on the field of view of the dynamic high-precision measurement vision system, which is 1 / 2 of the size.

[0066] The robot collects a large amount of trajectory correction data in the early stage by using the teaching + laser tracker measurement method, and uses the Kriging constraint algorithm to correct the dynamic trajectory error of the robot, so as to improve the repeatability of the robot in the small area of teaching.

[0067] The robot accurately moves to the teaching small area for measurement, and performs close-range high-precision measurement on the measured target by using the dynamic high-precision structured light vision system.

[0068] In the process of continuous use of the robot, the positioning deviation of the robot is iteratively corrected according to the measured deviation value, so that the robot is not affected by the large system deviation caused by the service life and wear, and the measurement accuracy is not affected. Real-time dynamic prediction compensation correction is achieved. The specific method is that when the robot completes 500 measurement operations and returns to the home point, the fixed chessboard calibration disc on the ground is shot in the preset home point posture. Through the eye-in-hand calibration method and the 4-parameter AX=BX algorithm, the current position is accurately calculated, the data at the home point before is compared, the deviation range is obtained, and the dynamic correction value of the robot positioning measurement is given.

[0069] In summary, the AGV or sledge with a flexible tool that can be intelligently adjusted can carry different products, that is, the mobile tool travels in different functional stations, that is, functional islands, to complete the production of different products under different production processes, so as to adapt to the flexible intelligent production of multi-variety, small-batch and customized production mode.

[0070] Example 2

[0071] For the second embodiment of the present application, which is different from the first two embodiments, the function, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application, in essence or the part that contributes to the prior art, or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0072] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered a list of executable instructions for implementing logic functions, and can be specifically embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions, or in conjunction with these instructions execution systems, apparatuses, or devices. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport programs for use by an instruction execution system, apparatus, or device, or in conjunction with these instruction execution systems, apparatuses, or devices.

[0073] More specific examples (non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electrical devices), a portable computer diskette (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be electronically obtained, for example, by optical scanning of the paper or other medium, followed by editing, interpreting, or otherwise processing, if necessary, in other suitable ways to be electronically obtained, and then stored in the computer memory.

[0074] It should be understood that various parts of the present application can be realized in hardware, software, firmware, or a combination thereof. In the above-described embodiments, a plurality of steps or methods can be realized with software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if realized in hardware, and as in another embodiment, it can be realized with any one or a combination of the following technologies known in the art: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0075] Embodiment 3

[0076] Reference Figure 4 For a third embodiment of the present application, the embodiment provides a system for a flexible island chain body manufacturing method, characterized by comprising a positioning module, a visual measurement module, a robot correction module, and an assembly control module. The positioning module performs a flexible positioning process on a body product through a line-side robot and a vision system. The visual measurement module uses dynamic and static visual measurement technology to detect the position, hole position, and welding point of the body product and guide the robot to complete related process operations. The robot correction module corrects the dynamic trajectory error of the robot and compensates for the positioning deviation to ensure the high precision and stability of the robot. The assembly control module provides the robot with the optimal assembly pose compensation amount based on the visual calibration and spatial coordinate conversion principle in combination with feature reference plate data and algorithms.

[0077] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A method for manufacturing a flexible island chain-type car body, characterized in that: include, The mobile tooling carries the unpowered visual servo positioning device unit to support and position the body-in-white product. The robot is controlled by the intelligent input calculation of the line-side robot and the measurement feedback of the line-side vision system, so as to realize the flexible positioning of different body-in-white products by the unpowered visual servo positioning device unit. The unpowered visual servo positioning unit does not require a power source or drive unit. It uses line-side vision technology to guide an external robot to intelligently adjust and perform accuracy testing on the unpowered visual servo positioning unit. For qualified robots, the robot body is placed on a mobile tooling for support and positioning. The vehicles within the functional island do not require precise stopping positions. The position of the vehicle body is measured using dynamically installed vision and layered static vision measurement technologies within the functional island, guiding the robots within the functional island to perform related process operations. Visual technology guidance includes calculating the conversion between the height value measured by the laser rangefinder and the X and Y axes of the laser spot falling on a high-precision standardized machined part with an isotropic gradient; Use a matrix to list the conversion methods between the height values ​​measured by the three-point laser rangefinder and the X and Y axes of the laser spot falling on a high-precision standardized machined part with an isotropic gradient. Where T represents , , , These are the distances from the laser rangefinder to the truncated cone, which can be read directly from the laser rangefinder. , , , , , , , , These represent the x, y, and z coordinates of points A', B', and C', respectively. Based on the difference between the measured values ​​of the laser rangefinder and the relative relationship between the coordinates on the high-precision standardized machined part with the corresponding isotropic gradient, the deviation of the robot end-effector positioning on the X and Y axes is calculated.

2. The method for manufacturing a flexible island chain-type car body as described in claim 1, characterized in that: The mobile tooling includes AGVs or skids equipped with intelligently adjustable flexible tooling.

3. The method for manufacturing a flexible island chain-type car body as described in claim 2, characterized in that: The term "qualified robot" refers to a robot that uses a simplified process to determine qualification criteria in order to meet production cycle time under high-speed production conditions. The simplified process for determining the qualification criteria includes: after the robot and the non-powered visual servo positioning device unit have completed docking, the servo motor on the robot end outputs the vision system to measure and calculate the current position of the non-powered visual servo positioning device point, the target position to be moved to, and the distance moved by both on the XYZ axes. The distance value is converted into the number of rotations of the motor, which is the simplified qualification criterion. When high-precision and stable production is carried out, the standard process is used to determine the qualification conditions. The first half of the process is consistent with the simplified process. After the robot completes docking and drives the non-powered visual servo positioning device, the vision system installed on the robot end effector is used to take two photos for measurement and comparison. If the deviations Δx and Δy between the position of the non-powered visual servo positioning device and the set position in the X and Y axis directions are both less than or equal to the threshold, then it is qualified.

4. The method for manufacturing a flexible island chain-type car body as described in claim 3, characterized in that: The functional islands include a switching island, an assembly island, and a welding repair island; The switching island includes a process of using dynamic and static visual measurements to detect the position of the holes to be positioned on the vehicle body and the pose of the non-powered visual servo positioning device unit, and then using a back-end server to calculate the best matching process between the two, guiding the robot to adjust the hook pin positioning device on the non-powered visual servo positioning device unit to a position suitable for positioning the vehicle body. The assembly island includes the use of dynamic and static visual measurements to detect the vehicle body's stationary pose and the pose of the assembled parts. The back-end server calculates the optimal matching pose between the two and guides the robot to complete the assembly in the optimal pose. The welding island includes a robot guided by a welding gun to complete the welding process by using dynamic and static visual measurements to detect the vehicle body's stationary pose and calculating the position of the welding point using a back-end server. Based on the differentiated process requirements of different vehicle body products, the mobile tooling carries the products to different process islands through intelligent path planning to complete the corresponding operations, thereby realizing the function of differentiated manufacturing.

5. The method for manufacturing a flexible island chain-type car body as described in claim 4, characterized in that: The dynamically installed vision and layered static vision measurement technology includes first unifying the coordinate system and bringing the coordinate systems of the dynamic high-precision structured light camera and the static structured light camera to the same robot coordinate system. The AGV (Automated Guided Vehicle) moves the target to the measurement position, and the stopping position of the target is not fixed. The static structured light camera performs large-field-of-view imaging and preliminary measurement of the target under test. The teaching zone is determined based on the location of the target under test. In the early stage of measurement, the robot is taught to divide a small area in advance. The division is based on half the field of view of the dynamic high-precision measurement vision system. In the early stages, the robot collected a large amount of trajectory correction data using a teaching method combined with laser tracking measurement, and employed a Kriging constraint algorithm to correct the robot's dynamic trajectory error in order to improve the robot's repeatability accuracy within the small area being taught. The robot moves precisely to the small teaching area for measurement and performs close-range, high-precision measurement of the target using a dynamic, high-precision structured light vision system. As the robot is used continuously, the positioning deviation is iteratively corrected based on the measured deviation value, so that the measurement accuracy is not affected by excessive system deviation caused by the age of use and wear, and real-time dynamic prediction and compensation correction is achieved.

6. The method for manufacturing a flexible island chain-type car body as described in claim 5, characterized in that: The pose detection includes obtaining accurate correction compensation amount by combining visual calibration principle and spatial coordinate transformation principle with data from two measurement feature reference plates and integrating least multiplication. The calibration process determines the pose parameters of each device in the system. By using coordinate measuring machines, the coordinates of the feature reference block are correlated with the center coordinates of the robot flange on the gripper, and the fixed coordinates of each hole on the feature reference block and the center of the robot flange are calculated. The poses of each hole in the paired feature reference block are measured by two sets of static vision systems. The optimal compensation amount for the gripper's pose during the assembly of the upper part is calculated by the least squares method and then given to the robot for compensation.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the flexible island chain body manufacturing method according to any one of claims 1 to 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method for manufacturing a flexible island chain body according to any one of claims 1 to 6.

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