Positioning method of flexible positioning device, flexible positioning device and automobile

Abstract

The invention relates to the technical field of intelligent manufacturing, in particular to a positioning method of a flexible positioning device, the flexible positioning device and an automobile, and is used for positioning a side wall preassembled to an automobile body. The flexible positioning device comprises a gripper device and a buckle punching device. The gripper device comprises a visual detection piece, a positioning pin mechanism, a clamping mechanism, a supporting mechanism and a stroke detection piece. The positioning method comprises the steps that a positioning hole, a first positioning part and a second positioning part are preset on the side wall, the first positioning part is arranged on a front window frame, and the second positioning part is arranged on a rear window frame; the visual detection part captures side wall information; the positioning pin mechanism extends into the positioning hole for locking; the clamping mechanism extends out and clamps the column B; the supporting mechanism abuts against the first positioning part and the second positioning part, and three-point supporting is formed on the side wall. The gripper device conveys the side wall to abut against the vehicle body, the stroke detection piece confirms the in-place information of the side wall, and the buckle punching device connects the side wall with the vehicle body. According to the positioning method, the clamping and preassembling precision of the side wall can be improved, and the positioning method is compatible with different vehicle types.

Description

[Technical field]

[0001] The present application relates to the field of intelligent manufacturing technology, and in particular to a positioning method for a flexible positioning device, a flexible positioning device and a car. [Background technology]

[0002] The pre-installation of the side panel of a car usually adopts a pre-installation robot, which is equipped with a gripper assembly and a clip-on buckle assembly. The gripper assembly is generally used to roughly position the side panel at the installation station, and then the clips on the side panel are flattened by the clip-on buckle assembly on the pre-installation robot, and the side panel is pre-installed with the car body.

[0003] However, during the above-mentioned pre-installation process, the gripping accuracy of the gripper assembly is insufficient. When the storage position of the side panel is adjusted, the gripper assembly needs to be debugged multiple times before it can accurately grip the side panel. During the transportation of the side panel, the gripper assembly cannot accurately identify whether the side panel is accurately delivered to the work station where the vehicle body is located. At the same time, the integration method of the gripper assembly and the clip-on buckle assembly and the rigid structure of the clip-on buckle assembly will reduce the flexibility of the pre-installation robot. Moreover, different gripper assemblies need to be replaced for the side panels of different models, and the pre-installation cost is high. [Summary of the invention]

[0004] In view of this, the present application provides a positioning method of a flexible positioning device, a flexible positioning device and a car. The positioning method can improve the clamping and pre-installation accuracy of the side panel and is compatible with different car models.

[0005] In a first aspect, the present application provides a positioning method of a flexible positioning device, which is used for positioning a side panel pre-installed on a vehicle body; the flexible positioning device comprises a gripper device and a buckle device, the gripper device comprises a visual detection member, a positioning pin mechanism, a clamping mechanism, a support mechanism and a stroke detection member, and the support mechanism is provided with grooves of different widths; the positioning method of the flexible positioning device comprises:

[0006] A positioning area is preset on the side panel, the positioning area includes a positioning hole, a first positioning portion and a second positioning portion; wherein the first positioning portion is arranged on the front window frame of the side panel, and the second positioning portion is arranged on the rear window frame of the side panel;

[0007] The gripper device moves to the storage position of the side panel, and the visual detection component grabs the side panel information;

[0008] The positioning pin mechanism extends into the positioning hole and is locked with the positioning hole after being deformed;

[0009] The clamping mechanism extends out and clamps the B-pillar of the side panel;

[0010] The support mechanism is respectively in contact with the first positioning portion and the second positioning portion, and grooves of different widths of the support mechanism support the front window frame and the rear window frame of the side panel, so that the support mechanism and the clamping mechanism form a three-point support for the side panel;

[0011] The gripper device transports the side panel to abut against the vehicle body, the travel detection component confirms the side panel is in place, and the buckle device fixes the side panel to the vehicle body.

[0012] In some embodiments, the gripper device moves to the storage position of the side periphery, and the visual detection element grabs the side periphery information, specifically including:

[0013] The visual detection component captures the spatial position information and vehicle model configuration information of the side panel;

[0014] The gripper device adjusts the docking position with the side panel along the first direction, the second direction and the third direction according to the spatial position information.

[0015] In some embodiments, the positioning pin mechanism includes a movable jaw, the movable jaw can be deformed in the radial direction, and the movable jaw has a first sawtooth groove distributed in the axial direction; the positioning pin mechanism extends into the positioning hole and is locked with the positioning hole after deformation, specifically including:

[0016] The positioning pin mechanism adjusts the docking length between the movable clamping jaw and the positioning hole according to the depth of the positioning hole, so that different first serrated grooves are docked with the positioning hole;

[0017] The positioning pin mechanism adjusts the radial deformation of the movable clamping jaw according to the diameter of the positioning hole.

[0018] In some embodiments, the clamping mechanism includes a first clamping arm and a second clamping arm, and the first clamping arm and the second clamping arm can move relative to each other; the clamping mechanism extends out and clamps the B-pillar of the side panel, specifically including:

[0019] The first clamping arm and the second clamping arm automatically adjust the clamping position according to the spatial position and width of the B-pillar of the side enclosure.

[0020] In some embodiments, the support mechanism includes a first support component and a second support component, the first support component is provided with a plurality of second sawtooth grooves of different widths, and the second support component is provided with a plurality of third sawtooth grooves of different widths; the support mechanism abuts against the first positioning portion and the second positioning portion respectively, and the grooves of different widths of the support mechanism support the front window frame and the rear window frame of the side enclosure, so that the support mechanism and the clamping mechanism form a three-point support for the side enclosure, specifically including:

[0021] The first supporting assembly supports the front window frame using different second serrated grooves according to the width of the flange structure of the front window frame;

[0022] The second supporting assembly supports the rear window frame using different third serrated grooves according to the width of the flange structure of the front window frame.

[0023] In some embodiments, the buckle device fixes the side panel to the vehicle body, specifically comprising:

[0024] A plurality of buckle positions are preset on the side periphery, and buckles are arranged at the buckle positions;

[0025] The buckle punching device moves to the buckle position and applies force to the buckle so that the buckle connects the side panel and the vehicle body;

[0026] The buckle punching device withdraws and moves to the next buckle position until a plurality of buckles connect the side panel to the vehicle body.

[0027] In some embodiments, a rear wheel housing auxiliary positioning process is further included, specifically including:

[0028] A third positioning portion is preset at the rear wheel housing of the side enclosure;

[0029] The buckle device exits the buckle position and moves to the third positioning portion, abutting against and supporting the third positioning portion of the rear wheel cover.

[0030] In a second aspect, the present application provides a flexible positioning device, wherein the flexible positioning device adopts the positioning method of the flexible positioning device according to any one of the first aspects; the flexible positioning device comprises:

[0031] A gripper device, the gripper device comprising a visual detection member, a positioning pin mechanism, a clamping mechanism, a support mechanism and a stroke detection member; the positioning pin mechanism comprises a movable clamping jaw, the movable clamping jaw can be deformed in the radial direction, and the movable clamping jaw is provided with a first sawtooth groove along the axial direction; the clamping mechanism comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm can move relative to each other; the support mechanism is provided with grooves of different widths; and

[0032] A buckle punching device, the buckle punching device comprises a cylinder, and the cylinder is used to apply a force to the buckle.

[0033] In some embodiments, the positioning pin mechanism includes a servo control component and a detent cylinder, and the servo control component is used to adjust the spatial position of the detent cylinder along the second direction and the third direction.

[0034] In a third aspect, the present application provides a car, wherein the side panel of the car is pre-assembled with the car body by means of the flexible positioning device described in the second aspect.

[0035] By adopting the above technical solution, the present application has at least the following beneficial effects:

[0036] The positioning method of the flexible positioning device provided in the present application is as follows: first, the gripping device is separated from the punching buckle device, which reduces the influence of the rigid structure of the punching buckle device on the flexibility of the gripping process of the gripping device, and enhances the flexible positioning effect of the flexible positioning device on the side panel; secondly, the support mechanism, the clamping mechanism, the window frame, and the B-pillar cooperate to form a three-point support for the side panel, and then cooperate with the information grabbing process of the visual detection part to improve the stability and accuracy of the gripping device in gripping the side panel; and the deformation structure of the positioning pin mechanism can be connected to positioning holes of different depths and diameters, the opening and closing of the clamping mechanism can be connected to B-pillars of different widths and positions, and the grooves of different widths of the support mechanism can be connected to window frames of different widths, so that the gripping device can be compatible with the pre-installation of side panels of different models, thereby reducing the pre-installation cost of the side panel.

Brief Description of the Drawings

[0037] Figure 1 A schematic diagram of the structure of the side enclosure captured by the positioning method of the flexible positioning device provided in the present application;

[0038] Figure 2 A schematic diagram of the structure of a gripper device of a flexible positioning device provided in this application;

[0039] Figure 3 A schematic diagram of the structure of the positioning pin mechanism of the flexible positioning device provided in this application;

[0040] Figure 4 A schematic diagram of the structure of the clamping mechanism of the flexible positioning device provided in this application;

[0041] Figure 5 A schematic diagram of the structure of the support mechanism of the flexible positioning device provided in this application;

[0042] Figure 6 A schematic structural diagram of the clip-on device of the flexible positioning device provided in this application.

[0043] Figure ID:

[0044] 10, side panel; 101, positioning hole; 102, first positioning portion; 103, second positioning portion; 104, B-pillar; 105, third positioning portion;

[0045] 1. Positioning pin mechanism; 11. First serrated groove; 2. Clamping mechanism; 21. First clamping arm; 22. Second clamping arm; 3. Support mechanism; 31. First support assembly; 32. Second support assembly; 4. Clip buckle mechanism. [Specific implementation method]

[0046] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0047] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0048] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0049] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0050] It should be noted that the directional words such as "upper", "lower", "left", and "right" described in the embodiments of the present application are described at the angles shown in the accompanying drawings and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element.

[0051] The pre-installation of the side panel of a car usually adopts a pre-installation robot, which is equipped with a gripper assembly and a clip-on buckle assembly. The gripper assembly is generally used to roughly position the side panel at the installation station, and then the clips on the side panel are flattened by the clip-on buckle assembly on the pre-installation robot, and the side panel is pre-installed with the car body.

[0052] However, during the above-mentioned pre-installation process, the gripping accuracy of the gripper assembly is insufficient. When the storage position of the side panel is adjusted, the gripper assembly needs to be debugged multiple times before it can accurately grip the side panel. During the transportation of the side panel, the gripper assembly cannot accurately identify whether the side panel is accurately delivered to the work station where the vehicle body is located. At the same time, the integration method of the gripper assembly and the clip-on buckle assembly and the rigid structure of the clip-on buckle assembly will reduce the flexibility of the pre-installation robot. Moreover, different gripper assemblies need to be replaced for the side panels of different models, and the pre-installation cost is high.

[0053] In view of this, the present application provides a positioning method of a flexible positioning device for positioning the side panel 10 pre-installed on the vehicle body; please refer to Figure 1 to Figure 6 The flexible positioning device includes a gripper device and a buckle device. The gripper device includes a visual detection part, a positioning pin mechanism 1, a clamping mechanism 2, a support mechanism 3 and a stroke detection part. The support mechanism 3 is provided with grooves of different widths. The positioning method of the flexible positioning device includes:

[0054] A positioning area is preset on the side panel 10, and the positioning area includes a positioning hole 101, a first positioning portion 102 and a second positioning portion 103; wherein the first positioning portion 102 is arranged on the front window frame of the side panel 10, and the second positioning portion 103 is arranged on the rear window frame of the side panel 10;

[0055] The gripper device moves to the storage position of the side panel 10, and the visual detection unit grabs the information of the side panel 10;

[0056] The positioning pin mechanism 1 extends into the positioning hole 101 and is locked with the positioning hole 101 after being deformed;

[0057] The clamping mechanism 2 extends out and clamps the B-pillar 104 of the side panel 10;

[0058] The support mechanism 3 is respectively in contact with the first positioning portion 102 and the second positioning portion 103, and grooves of different widths of the support mechanism 3 support the front window frame and the rear window frame of the side panel 10, so that the support mechanism 3 and the clamping mechanism 2 form a three-point support for the side panel 10;

[0059] The gripping device transports the side panel 10 to abut against the vehicle body, the travel detection component confirms that the side panel 10 is in place, and the buckle device securely connects the side panel 10 to the vehicle body.

[0060] In the above scheme, the positioning method of the flexible positioning device provided by the present application, first, the gripping device is separated from the punching buckle device, which reduces the influence of the rigid structure of the punching buckle device on the flexibility of the gripping process of the gripping device, and enhances the flexible positioning effect of the flexible positioning device on the side panel 10; secondly, the support mechanism 3, the clamping mechanism 2 and the window frame and the B-pillar 104 cooperate to form a three-point support for the side panel 10, and then cooperate with the information grabbing process of the visual detection part to improve the stability and accuracy of the gripping device in gripping the side panel 10; and, the deformation structure of the positioning pin mechanism 1 can be connected to the positioning holes 101 of different depths and diameters, the opening and closing of the clamping mechanism 2 can be connected to the B-pillars 104 of different widths and positions, and the grooves of different widths of the support mechanism 3 can be connected to window frames of different widths, so that the gripping device can be compatible with the pre-installation of side panels 10 of different vehicle models, thereby reducing the pre-installation cost of the side panel 10.

[0061] In some embodiments, the side wall 10 of the automobile is installed on the side of the vehicle body, covers the area of ​​the side of the vehicle body from the bottom of the door to the roof, and is located between the front and rear wheels. It has the following functions: first, the side wall 10 can enhance the lateral rigidity and strength of the automobile, and improve the overall structural stability and safety of the vehicle body; second, the side wall 10 can protect the side of the vehicle body from external impact and scratches, and when the side of the automobile collides, the side wall 10 can absorb and disperse the impact force from the side, protecting the passengers in the vehicle and the internal structure of the vehicle; at the same time, the side wall 10 can provide an installation position for external accessories such as rearview mirrors, door handles, and decorative strips of the automobile.

[0062] A positioning area is preset on the side panel 10 using the positioning method of the present application, and the positioning area includes a positioning hole 101, a first positioning portion 102, a second positioning portion 103 and a third positioning portion 105, wherein the positioning hole 101 is arranged at the part of the side panel 10 close to the front side of the vehicle body, the first positioning portion 102 is arranged on the front window frame of the side panel 10, the second positioning portion 103 is arranged on the rear window frame of the side panel 10, and the third positioning portion 105 is arranged at the rear wheel cover of the side panel 10, and the first positioning portion 102, the second positioning portion 103 and the grabbing point of the B-pillar 104 form a triangular structure.

[0063] In some embodiments, the flexible positioning device is used to grab the side wall 10 and pre-assemble the side wall 10 with the vehicle body. The flexible positioning device of the present application includes a gripper device and a buckle device. The gripper device is used to grab the side wall 10 and process the side wall 10 and transport it to the work station where the vehicle body is located. The buckle device is used to connect the side wall 10 with the vehicle body. The gripper device includes a visual detection part, a positioning pin mechanism 1, a clamping mechanism 2, a support mechanism 3 and a travel detection part.

[0064] The visual detection part is used to capture the spatial position information and vehicle type matching information of the side panel 10 to ensure that the side panel 10 can be accurately installed on the corresponding vehicle body; the positioning pin mechanism 1 is used to dock the positioning hole 101, including a servo module and a hook pin module; the clamping mechanism 2 is used to clamp the B-pillar 104. The supporting mechanism 3 is used to support the window frame of the side panel 10, including the front window frame and the rear window frame; the travel detection part is used to detect whether the side panel 10 is accurately transported to the work station where the vehicle body is located.

[0065] The positioning method of the flexible positioning device of the present application is described below in conjunction with specific embodiments:

[0066] Step S10 , presetting a positioning area on the side panel 10 , the positioning area includes a positioning hole 101 , a first positioning portion 102 and a second positioning portion 103 ; wherein the first positioning portion 102 is arranged on the front window frame of the side panel 10 , and the second positioning portion 103 is arranged on the rear window frame of the side panel 10 .

[0067] In step S10, the depth and diameter of the positioning hole 101 of the side panel 10 of different vehicle models are different, and the widths of the front window frame where the first positioning portion 102 is located and the rear window frame where the second positioning portion 103 is located are also different, which can be selected according to actual needs and are not limited here.

[0068] In step S20 , the gripper device moves to the storage position of the side panel 10 , and the visual detection component grabs the information of the side panel 10 .

[0069] In step S20, the specific process includes:

[0070] Step S201 : The visual detection component captures the spatial position information and vehicle type configuration information of the side panel 10 .

[0071] Specifically, the recognition of spatial position information includes: image acquisition, the visual inspection system uses a high-resolution camera to capture images of the side panel 10 from multiple angles, and these images contain the geometric shape, size and surface features of the side panel 10; feature recognition, through image processing algorithms, the visual inspection system can identify key feature points on the side panel 10, such as edges, contours, holes and marks, etc.; three-dimensional modeling, based on the collected two-dimensional images, the visual inspection system constructs a three-dimensional model of the side panel 10 to obtain its precise position and posture in space.

[0072] The identification of vehicle type matching information is specifically as follows: by comparing the characteristics of the side panel 10 with the information in the vehicle type database, the system can determine the specific vehicle type to which the side panel 10 belongs.

[0073] It can be understood that by grasping the spatial position information and vehicle model matching information of the side panel 10 through the visual detection part, it is possible to realize automated and intelligent assembly of the side panel 10, facilitate the gripper device to match the side panel 10 of different vehicle models, improve production efficiency, and ensure assembly quality and consistency.

[0074] Step S202: The gripper device adjusts the docking position with the side panel 10 along the first direction, the second direction and the third direction according to the spatial position information. It is understandable that the spatial positions of the side panels 10 of different vehicle models may differ to a certain extent in the first direction, the second direction and the third direction. The gripper device can be adjusted in advance according to the position of the side panel 10 to speed up the gripping process.

[0075] Step S30 , the positioning pin mechanism 1 extends into the positioning hole 101 , and is locked with the positioning hole 101 after being deformed.

[0076] In step S30, the specific process includes:

[0077] Step S301: the positioning pin mechanism 1 adjusts the docking length between the movable clamping jaw and the positioning hole 101 according to the depth of the positioning hole 101, so that different first serrations 11 are docked with the positioning hole 101.

[0078] Specifically, the positioning pin mechanism 1 includes a servo module and a latch module, the latch module includes a latch cylinder and a movable clamp, and the movable clamp has a plurality of first sawtooth grooves 11 distributed along the circumferential direction. The servo module is used to adjust the movement of the latch module along the second direction and the third direction, ensure that the latch module can be accurately docked with the positioning hole 101 of the side panel 10 in the second direction and the third direction, and adjust the length of the latch module extending into the positioning hole 101 to match the positioning holes 101 of different depths.

[0079] Step S302: the positioning pin mechanism 1 adjusts the radial deformation of the movable clamping jaw according to the diameter of the positioning hole 101.

[0080] Specifically, the detent cylinder of the detent module can drive the movable jaw to move along the first direction, and control the movable jaw to expand or contract along its radial direction, thereby adjusting its expanded diameter to match the positioning holes 101 of different diameters.

[0081] In step S40 , the clamping mechanism 2 extends out and clamps the B-pillar 104 of the side panel 10 .

[0082] In step S40, the clamping mechanism 2 includes a first clamping arm 21 and a second clamping arm 22, and the first clamping arm 21 and the second clamping arm 22 can move relative to each other. It can be understood that by changing the relative movement distance between the first clamping arm 21 and the second clamping arm 22, B-pillars 104 of different widths can be matched.

[0083] In step S50 , the support mechanism 3 abuts against the first positioning portion 102 and the second positioning portion 103 respectively, and grooves of different widths of the support mechanism 3 support the front window frame and the rear window frame of the side panel 10 , so that the support mechanism 3 and the clamping mechanism 2 form a three-point support for the side panel 10 .

[0084] The support mechanism 3 includes a first support component 31 and a second support component 32. The first support component 31 is provided with a plurality of second sawtooth grooves of different widths, and the second support component 32 is provided with a plurality of third sawtooth grooves of different widths. The widths of the second sawtooth grooves and the third sawtooth grooves can be selected according to actual needs and are not limited here. Step S50 specifically includes:

[0085] Step S501, the first supporting assembly 31 adopts different second sawtooth grooves to support and abut against the first positioning portion 102 to support the front window frame according to the width of the flange structure of the front window frame;

[0086] In step S502 , the second supporting assembly 32 uses different third serrations to abut against the second positioning portion 103 and support the rear window frame according to the width of the flange structure of the front window frame.

[0087] It can be understood that the second serrated grooves and the third serrated grooves of different widths can be used to connect the front window frames and the rear window frames of different widths, and form a three-point stable support for the side panel 10 with the clamping mechanism 2, while being compatible with the pre-installation of the side panel 10 of different vehicle models.

[0088] In step S60 , the gripping device transports the side panel 10 to abut against the vehicle body, the travel detection component confirms that the side panel 10 is in place, and the buckle device securely connects the side panel 10 to the vehicle body.

[0089] In step S60, it specifically includes:

[0090] Step S601, presetting a plurality of buckle positions on the side panel 10, wherein buckles are provided at the buckle positions;

[0091] Step S602, the buckle punching device moves to the buckle position and applies force to the buckle so that the buckle connects the side panel 10 and the vehicle body. Specifically, the buckle punching device includes a cylinder, and the cylinder is used to apply force to the buckle;

[0092] Step S603, the buckle punching device exits and moves to the next buckle position until multiple buckles connect the side panel 10 to the vehicle body.

[0093] It can be understood that, through the fixing effect of the clip buckle device, the side panel 10 can be stably connected to the vehicle body, which facilitates the subsequent pre-installation process of other parts.

[0094] After step S60, the method further includes step S70, a rear wheel housing auxiliary positioning process, which specifically includes:

[0095] Step S701, presetting a third positioning portion 105 at the rear wheel housing of the side panel 10;

[0096] Step S702: the buckling device exits the buckling position and moves to the third positioning portion 105 to abut against and support the third positioning portion 105 of the rear wheel cover.

[0097] It is understandable that after the side panel 10 is connected to the vehicle body by means of buckles, there are still other parts that need to be pre-installed. The auxiliary support can improve the accuracy of subsequent pre-installation of other parts and speed up assembly efficiency.

[0098] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings. The above is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the drawings. Any changes made according to the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which still do not exceed the spirit covered by the description and drawings, should be within the protection scope of the present invention.

Claims

1. A positioning method of a flexible positioning device, used for positioning a side panel pre-installed on a vehicle body; characterized in that: The flexible positioning device includes a gripper device and a buckle device, the gripper device includes a visual detection part, a positioning pin mechanism, a clamping mechanism, a support mechanism and a stroke detection part, and the support mechanism is provided with grooves of different widths; the positioning method of the flexible positioning device includes: A positioning area is preset on the side panel, the positioning area includes a positioning hole, a first positioning portion and a second positioning portion; wherein the first positioning portion is arranged on the front window frame of the side panel, and the second positioning portion is arranged on the rear window frame of the side panel; The gripper device moves to the storage position of the side panel, and the visual detection component grabs the side panel information; The positioning pin mechanism extends into the positioning hole and is locked with the positioning hole after being deformed; The clamping mechanism extends out and clamps the B-pillar of the side panel; The support mechanism is respectively in contact with the first positioning portion and the second positioning portion, and grooves of different widths of the support mechanism support the front window frame and the rear window frame of the side panel, so that the support mechanism and the clamping mechanism form a three-point support for the side panel; The gripper device transports the side panel to abut against the vehicle body, the travel detection component confirms the side panel is in place, and the buckle device fixes the side panel to the vehicle body.

2. The positioning method of the flexible positioning device according to claim 1, characterized in that: The gripper device moves to the storage position of the side panel, and the visual detection component grabs the side panel information, specifically including: The visual detection component captures the spatial position information and vehicle model configuration information of the side panel; The gripper device adjusts the docking position with the side panel along the first direction, the second direction and the third direction according to the spatial position information.

3. The positioning method of the flexible positioning device according to claim 1, characterized in that: The positioning pin mechanism includes a movable jaw, which can be deformed in the radial direction, and the movable jaw has a first sawtooth groove distributed in the axial direction; the positioning pin mechanism extends into the positioning hole and is locked with the positioning hole after deformation, specifically including: The positioning pin mechanism adjusts the docking length between the movable clamping jaw and the positioning hole according to the depth of the positioning hole, so that different first serrated grooves are docked with the positioning hole; The positioning pin mechanism adjusts the radial deformation of the movable clamping jaw according to the diameter of the positioning hole.

4. The positioning method of the flexible positioning device according to claim 1, characterized in that: The clamping mechanism comprises a first clamping arm and a second clamping arm, and the first clamping arm and the second clamping arm can move relative to each other; the clamping mechanism extends out and clamps the B-pillar of the side panel, and specifically comprises: The first clamping arm and the second clamping arm automatically adjust the clamping position according to the spatial position and width of the B-pillar of the side enclosure.

5. The positioning method of the flexible positioning device according to claim 1, characterized in that: The support mechanism includes a first support component and a second support component, the first support component is provided with a plurality of second sawtooth grooves of different widths, and the second support component is provided with a plurality of third sawtooth grooves of different widths; the support mechanism abuts against the first positioning portion and the second positioning portion respectively, and grooves of different widths of the support mechanism support the front window frame and the rear window frame of the side enclosure, so that the support mechanism and the clamping mechanism form a three-point support for the side enclosure, specifically including: The first supporting assembly supports the front window frame using different second serrated grooves according to the width of the flange structure of the front window frame; The second supporting assembly supports the rear window frame using different third serrated grooves according to the width of the flange structure of the front window frame.

6. The positioning method of the flexible positioning device according to claim 1, characterized in that: The buckle device fixedly connects the side panel to the vehicle body, and specifically includes: A plurality of buckle positions are preset on the side periphery, and buckles are arranged at the buckle positions; The buckle punching device moves to the buckle position and applies force to the buckle so that the buckle connects the side panel and the vehicle body; The buckle punching device withdraws and moves to the next buckle position until a plurality of buckles connect the side panel to the vehicle body.

7. The positioning method of the flexible positioning device according to claim 1, characterized in that: It also includes the rear wheel housing auxiliary positioning process, including: A third positioning portion is preset at the rear wheel housing of the side enclosure; The buckle device exits the buckle position and moves to the third positioning portion, abutting against and supporting the third positioning portion of the rear wheel cover.

8. A flexible positioning device, characterized in that: The flexible positioning device adopts the positioning method of the flexible positioning device according to any one of claims 1 to 7; the flexible positioning device comprises: A gripper device, the gripper device comprising a visual detection member, a positioning pin mechanism, a clamping mechanism, a support mechanism and a stroke detection member; the positioning pin mechanism comprises a movable clamping jaw, the movable clamping jaw can be deformed in the radial direction, and the movable clamping jaw is provided with a first sawtooth groove along the axial direction; the clamping mechanism comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm can move relative to each other; the support mechanism is provided with grooves of different widths; and A buckle punching device, the buckle punching device comprises a cylinder, and the cylinder is used to apply a force to the buckle.

9. The flexible positioning device according to claim 8, characterized in that: The positioning pin mechanism includes a servo control component and a detent cylinder, and the servo control component is used to adjust the spatial position of the detent cylinder along the second direction and the third direction.

10. An automobile, characterized in that: The side panel of the automobile is pre-assembled with the vehicle body by means of the flexible positioning device described in claim 8 or 9.

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