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

Abstract

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 an automobile, which are used for positioning a side panel pre-installed on a vehicle body; the flexible positioning device includes a gripping device and a clipping buckle device, and the gripping device includes a visual detection component, a positioning pin mechanism, a clamping mechanism, a support mechanism, and a stroke detection component; the positioning method includes: a preset positioning hole for the side panel, a first positioning portion, and a second positioning portion, the first positioning portion is provided on the front window frame, and the second positioning portion is provided on the rear window frame; the visual detection component captures the side panel information; the positioning pin mechanism extends into the positioning hole and locks it; the clamping mechanism extends and clamps the B-pillar; the support mechanism abuts against the first positioning portion and the second positioning portion, respectively, to form a three-point support for the side panel; the gripping device delivers the side panel to abut against the vehicle body, the stroke detection component confirms the side panel is in place information, and the clipping buckle device connects the side panel to the vehicle body. The positioning method of the present application can improve the accuracy of clamping and pre-installation of the side panel, and is compatible with different vehicle models.

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 uses a pre-installation robot, which is equipped with a gripper component and a clip-on buckle component. The gripper component is generally used to roughly position the side panel to the installation station, and then the clips on the side panel are flattened by the clip-on buckle component 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 for 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 for a flexible positioning device for positioning a side panel pre-installed on a vehicle body; the flexible positioning device includes a gripping device and a buckle device, the gripping device includes a visual detection member, a positioning pin mechanism, a clamping mechanism, a support mechanism, and a stroke detection member, the support mechanism being provided with grooves of different widths; the positioning method for the flexible positioning device includes:

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

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

[0010] 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 panel, so that the support mechanism and the clamping mechanism form a three-point support for the side panel;

[0011] The gripping device transports the side panel to abut against the vehicle body, the stroke detecting component confirms the side panel is in place, and the buckle device securely connects the side panel to the vehicle body.

[0012] In some embodiments, the gripper device moves to the storage position of the side panel, and the visual detection component captures the side panel information, specifically including:

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

[0014] The gripping 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 that can be deformed in the radial direction and has a first serrated groove distributed along the axial direction; the positioning pin mechanism extends into the positioning hole and is locked with the positioning hole after deformation, specifically comprising:

[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 clamp 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 are movable relative to each other; the clamping mechanism extends 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 panel.

[0020] In some embodiments, the support mechanism includes a first support assembly and a second support assembly, the first support assembly is provided with a plurality of second serrated grooves of different widths, and the second support assembly is provided with a plurality of third serrated 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 panel, so that the support mechanism and the clamping mechanism form a three-point support for the side panel, 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 securely connects the side panel to the vehicle body, specifically comprising:

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

[0025] The buckle device moves to the buckle position and applies force to the buckle to connect the side panel and the vehicle body;

[0026] The buckle punching device exits and moves to the next buckle position until multiple 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 pre-set at the rear wheel housing of the side panel;

[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 gripping device, the gripping 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 has a first serrated groove distributed 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 includes a cylinder, and the cylinder is used to apply 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 panels of the car are pre-assembled with the car body by the flexible positioning device described in the second aspect.

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

[0036] 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; 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 inspection 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 panels.

Brief Description of the Drawings

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

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

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

[0040] Figure 4 A schematic structural diagram 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 This is 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-on 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 embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this 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", "an", "the" 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 otherwise.

[0049] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects 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 based on 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 should be understood that when it is mentioned that an element is connected to another element "on" or "under", it can not only be directly connected to the other element "on" or "under", but also be indirectly connected to the other element "on" or "under" through an intermediate element.

[0051] The pre-installation of the side panel of a car usually uses a pre-installation robot, which is equipped with a gripper component and a clip-on buckle component. The gripper component is generally used to roughly position the side panel to the installation station, and then the clips on the side panel are flattened by the clip-on buckle component 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 Figures 1 to 6 The flexible positioning device includes a gripping device and a buckle device. The gripping device includes a visual detection component, a positioning pin mechanism 1, a clamping mechanism 2, a support mechanism 3 and a stroke detection component. 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 set on the front window frame of the side panel 10, and the second positioning portion 103 is set 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 deformation;

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

[0058] The support mechanism 3 abuts against the first positioning portion 102 and the second positioning portion 103 respectively. The 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 clip-on buckle device, which reduces the influence of the rigid structure of the clip-on 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 inspection 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 connect with positioning holes 101 of different depths and diameters, the opening and closing of the clamping mechanism 2 can connect with B-pillars 104 of different widths and positions, and the grooves of different widths of the support mechanism 3 can connect with window frames of different widths, so that the gripping device can be compatible with the pre-installation of side panels 10 of different models, thereby reducing the pre-installation cost of the side panel 10.

[0061] In some embodiments, a side panel 10 is mounted on the side of the vehicle, covering the area from the door bottom to the roof, and located between the front and rear wheels. It serves the following functions: First, the side panel 10 enhances the vehicle's lateral rigidity and strength, improving the overall structural stability and safety of the vehicle. Second, the side panel 10 protects the vehicle's sides from external impacts and scratches. In the event of a side collision, the side panel 10 absorbs and disperses the impact force, protecting the vehicle's occupants and internal structure. Furthermore, the side panel 10 provides mounting locations for exterior accessories such as rearview mirrors, door handles, and decorative trim.

[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 in 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 arch 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, a flexible positioning device is used to grasp the side panel 10 and pre-assemble it with the vehicle body. The flexible positioning device of the present application includes a gripper device and a clipping device. The gripper device is used to grasp the side panel 10, process it, and transport it to the workstation where the vehicle body is located. The clipping device is used to connect the side panel 10 to the vehicle body. The gripper device includes a visual detection component, a positioning pin mechanism 1, a clamping mechanism 2, a support mechanism 3, and a travel detection component.

[0064] The visual inspection component captures the spatial position and vehicle model matching information of the side panel 10 to ensure accurate installation on the corresponding vehicle body. The locating pin mechanism 1, comprising a servo module and a latch module, engages the locating hole 101. The clamping mechanism 2 grips the B-pillar 104. The support mechanism 3 supports the window frames of the side panel 10, including the front and rear frames. The travel detection component verifies that the side panel 10 has been accurately transported to the vehicle body workstation.

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

[0066] In step S10 , a positioning area is preset on the side panel 10 , the positioning area including 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 car models are different, and the width 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. The selection can be made according to actual needs and is not limited here.

[0068] In step S20 , the gripping device moves to the storage position of the side panel 10 , and the visual inspection component captures information of the side panel 10 .

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

[0070] In step S201 , the visual inspection 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. 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; 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 model matching information is specifically as follows: by comparing the characteristics of the side panel 10 with the information in the vehicle model database, the system can determine the specific vehicle model 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, the automated and intelligent assembly of the side panel 10 can be realized, which facilitates the gripping device to match the side panel 10 of different vehicle models, improves production efficiency, and ensures assembly quality and consistency.

[0074] In step S202, the gripper device adjusts its docking position with the side panel 10 along the first, second, and third directions based on the spatial position information. As will be appreciated, the spatial positions of the side panels 10 of different vehicle models may vary somewhat in the first, second, and third directions. Preemptive adjustments of the gripper device based on the position of the side panel 10 can expedite the gripping process.

[0075] In 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] In 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 locating pin mechanism 1 comprises a servo module and a detent module. The detent module comprises a detent cylinder and a movable clamping jaw. The movable clamping jaw has a plurality of first serrations 11 distributed circumferentially. The servo module is used to adjust the movement of the detent module along the second and third directions, ensuring that the detent module accurately mates with the locating hole 101 of the side panel 10 in the second and third directions. The length of the detent module extending into the locating hole 101 is also adjusted to accommodate locating holes 101 of varying depths.

[0079] In 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 positioning holes 101 of different diameters.

[0081] In step S40 , the clamping mechanism 2 extends 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. The 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 assembly 31 and a second support assembly 32. The first support assembly 31 is provided with a plurality of second sawtooth grooves of different widths, and the second support assembly 32 is provided with a plurality of third sawtooth grooves of different widths. The widths of the second and 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 serrated grooves according to the width of the flange structure of the front window frame to support the first positioning portion 102 to support the front window frame;

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

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

[0089] In step S60, it specifically includes:

[0090] Step S601: Preset 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 to connect the side panel 10 to the vehicle body. Specifically, the buckle punching device includes a cylinder, which is used to apply force to the buckle.

[0092] In 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 the side panel 10 can be stably connected to the vehicle body through the fixing effect of the clip-on buckle device, which facilitates the subsequent pre-assembly 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] In step S702 , the locking device exits the locking position and moves to the third positioning portion 105 , abutting against and supporting the third positioning portion 105 of the rear wheel housing.

[0097] It is understandable that after the side panel 10 is connected to the vehicle body through buckles, other parts still need to be pre-installed. The auxiliary support can improve the accuracy of the subsequent pre-installation of other parts and speed up the 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 scope of implementation of the present invention is not limited to what is shown in the drawings. Any changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which do not exceed the spirit covered by the description and drawings, should be within the scope of protection of the present invention.

Claims

1. A positioning method for 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 gripping device and a buckle device. The gripping device includes a visual detection component, a positioning pin mechanism, a clamping mechanism, a support mechanism and a stroke detection component. 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 including a positioning hole, a first positioning portion, and a second positioning portion; wherein the first positioning portion is provided on the front window frame of the side panel, and the second positioning portion is provided 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 deformation; The clamping mechanism extends and clamps the B-pillar of the side panel; 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 panel, so that the support mechanism and the clamping mechanism form a three-point support for the side panel; The gripping device transports the side panel to abut against the vehicle body, the stroke detecting component confirms the side panel is in place, and the buckle device securely connects 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 of the side panel and the vehicle model configuration information; The gripping 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 has a first serrated 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 comprising: 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 clamp 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 includes a first clamping arm and a second clamping arm, and the first clamping arm and the second clamping arm are movable relative to each other; the clamping mechanism extends and clamps the B-pillar of the side panel, specifically including: 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 panel.

5. The positioning method of the flexible positioning device according to claim 1, characterized in that: The support mechanism includes a first support assembly and a second support assembly, wherein the first support assembly is provided with a plurality of second serrated grooves of different widths, and the second support assembly is provided with a plurality of third serrated 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 panel, so that the support mechanism and the clamping mechanism form a three-point support for the side panel. Specifically, the support mechanism includes: 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 securely connects the side panel to the vehicle body, and specifically includes: A plurality of buckle positions are preset on the side wall, and buckles are provided at the buckle positions; The buckle device moves to the buckle position and applies force to the buckle to connect the side panel and the vehicle body; The buckle punching device exits and moves to the next buckle position until multiple 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 arch auxiliary positioning process, including: A third positioning portion is pre-set at the rear wheel housing of the side panel; 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 gripping device, the gripping 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 has a first serrated groove distributed 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 includes a cylinder, and the cylinder is used to apply 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 panels of the automobile are pre-assembled with the vehicle body by means of the flexible positioning device described in claim 8 or 9.

Images