Flexible positioning device, positioning method thereof, front wheel cover outer plate reinforcing plate and automobile

Abstract

The invention relates to the field of intelligent manufacturing, in particular to a flexible positioning device, a positioning method of the flexible positioning device, a front wheel cover outer plate reinforcing plate and an automobile. The positioning equipment comprises a hook pin assembly which comprises a hook pin cylinder and a hook pin; the first driving assembly comprises a first driving module and a first linear module, and the first driving module enables the first linear module to drive the hook pin assembly to move in the first direction; the second driving assembly comprises a second driving module and a second linear module, and the second driving module enables the second linear module to drive the hook pin assembly to move in the second direction; and the third driving assembly comprises a third driving module and a third linear module, and the third driving module enables the third linear module to drive the hook pin assembly to move in the third direction. According to the flexible positioning device, through cooperation of the first driving assembly, the second driving assembly and the third driving assembly, flexible positioning of the hook pin assembly in three directions is achieved.

Description

[Technical field]

[0001] The present application relates to the field of intelligent manufacturing, and in particular to a flexible positioning device and a positioning method thereof, a front wheel cover outer panel reinforcement plate and a car. [Background technology]

[0002] On the automated production line of automobile manufacturing, the positioning and installation of the front wheel arch outer panel reinforcement plate usually adopts a combination of a gripper and a DOCKING station, in which the gripper is responsible for grabbing and positioning the workpiece, and the DOCKING station is responsible for positioning the gripper.

[0003] However, the outer panel reinforcement of the front wheel arch of a car is a styling-related part. The irregular shape and curved design of the outer panel reinforcement plate require high shape adaptability of the gripper, and it is difficult to achieve flexible positioning of the gripper. In addition, the gripper usually adopts a clamping method that combines locating holes and cylinders. The shape and size of the locating block need to match the locating features of the workpiece, which means that different locating blocks may be required for workpieces of different shapes and sizes, which limits the sharing of the gripper. [Summary of the invention]

[0004] In view of this, the present application provides a flexible positioning device and a positioning method thereof, a front wheel cover outer panel reinforcement plate and a car, which realize flexible positioning of the pin assembly in three directions through the cooperation of a first drive assembly, a second drive assembly and a third drive assembly.

[0005] In a first aspect, the present application provides a flexible positioning device, the flexible positioning device comprising a transfer device and a positioning device, the positioning device being installed on the transfer device; the positioning device comprising:

[0006] A hook pin assembly, the hook pin assembly comprising a hook pin cylinder and a hook pin, the hook pin cylinder being used to drive the hook pin to extend and retract along the axial direction;

[0007] A first driving assembly, comprising a first driving module and a first linear module, wherein the first driving module is used to drive the first linear module so that the first linear module drives the pin assembly to move along a first direction;

[0008] A second driving assembly, comprising a second driving module and a second linear module, wherein the second driving module is used to drive the second linear module so that the second linear module drives the pin assembly to move along a second direction;

[0009] The third driving assembly includes a third driving module and a third linear module. The third driving module is used to drive the third linear module so that the third linear module drives the pin assembly to move along a third direction.

[0010] In some embodiments, the positioning device further comprises a connection assembly, wherein the connection assembly comprises a positioning pin;

[0011] The transfer device is provided with a positioning hole, and the positioning device and the transfer device are connected through the cooperation of the positioning pin and the positioning hole.

[0012] In some embodiments, the positioning device includes a positioning frame, and the hook pin assembly, the first drive assembly, the second drive assembly, the third drive assembly and the connecting assembly are installed on the positioning frame.

[0013] In some embodiments, the flexible positioning device includes two sets of latch assemblies.

[0014] In some embodiments, the first driving module, the second driving module, and the third driving module are servo motors.

[0015] In a second aspect, the present application provides a flexible positioning method, wherein the flexible positioning device described in any one of the first aspects uses the flexible positioning method to perform flexible positioning with at least one front wheel housing outer panel reinforcement plate of an automobile; the flexible positioning device comprises a first hook pin assembly and a second hook pin assembly, the first hook pin assembly comprises a first hook pin cylinder and a first hook pin, and the second hook pin assembly comprises a second hook pin cylinder and a second hook pin; the front wheel housing outer panel reinforcement plate is provided with a first positioning surface, a second positioning surface, a first positioning hole and a second positioning hole, the first positioning hole is opened on the first positioning surface, and the second positioning hole is opened on the second positioning surface; the flexible positioning method comprises:

[0016] The transfer device drives the positioning device to move to the processing position of the front wheel housing outer plate reinforcement plate, and the first hook pin assembly and the first positioning hole, and the second hook pin assembly and the second positioning hole are preliminarily positioned;

[0017] The first driving module drives the first linear module to move, so that the first linear module drives the first hook pin assembly and the second hook pin assembly to adjust their spatial positions in a first direction;

[0018] The second driving module drives the second linear module to move, so that the second linear module drives the first hook pin assembly and the second hook pin assembly to adjust their spatial positions in the second direction;

[0019] The third driving module drives the third linear module to move, so that the third linear module drives the first hook pin assembly and the second hook pin assembly to adjust their spatial positions in the third direction;

[0020] The first detent pin cylinder drives the first detent pin to extend axially into the first positioning hole, and the second detent pin cylinder drives the second detent pin to extend axially into the second positioning hole.

[0021] In some embodiments, on the front wheel housing outer panel reinforcement plates of different automobiles, the first positioning surface and the second positioning surface have the same spatial distance in the first direction, the second direction, and the third direction;

[0022] The first positioning hole and the second positioning hole have the same spatial distance in the first direction, the second direction and the third direction;

[0023] The first positioning surface and the first positioning hole have the same spatial distance in the first direction, the second direction and the third direction;

[0024] The second positioning surface and the second positioning hole have the same spatial distance in the first direction, the second direction and the third direction.

[0025] In some embodiments, the diameters of the first positioning hole and the second positioning hole are between 18 mm and 22 mm.

[0026] In a third aspect, the present application provides a front wheel cover outer panel reinforcement plate, which is flexibly positioned and installed with the front wheel cover using the flexible positioning device described in any one of the first aspects, or is flexibly positioned and installed with the front wheel cover using the flexible positioning method described in any one of the second aspects.

[0027] In a fourth aspect, the present application provides an automobile, comprising the front wheel arch outer panel reinforcement plate described in the third aspect.

[0028] By adopting the above scheme, the present application has at least the following beneficial effects:

[0029] The flexible positioning device provided by the present application adopts a hook pin assembly composed of a hook pin cylinder and a hook pin to realize the clamping function, so that the front wheel cover outer panel reinforcement plates of different types of automobiles can share the positioning device; at the same time, through the cooperation of the first drive assembly, the second drive assembly and the third drive assembly, the spatial position of the hook pin assembly is adjusted in the first direction, the second direction and the third direction respectively, so that the hook pin assembly and the front wheel cover outer panel reinforcement plate of the automobile can be flexibly positioned, and the front wheel cover outer panel reinforcement plate can be accurately grasped, the positioning process is simple, and the positioning accuracy is high.

[0030] The flexible positioning method provided by the present application reduces the number of positioning holes and positioning surfaces, and adjusts the relative positions of the positioning surfaces and positioning holes on the front wheel cover outer panel reinforcement plate, so that the first positioning hole and the first positioning surface are integrated, and the second positioning hole and the second positioning surface are integrated, thereby ensuring the positioning effect of the front wheel cover outer panel reinforcement plate and the flexible positioning device, while reducing the number of hook and pin components required for the positioning equipment, so that the positioning equipment has the advantage of being lightweight; at the same time, the integrated first positioning hole, the first positioning surface, the second positioning hole and the second positioning surface can evenly disperse the stress, which can reduce the flexible deformation of the positioning equipment, ensure the positioning effect of the front wheel cover outer panel reinforcement plate and the flexible positioning device, and improve the positioning accuracy of the hook and pin components and the front wheel cover outer panel reinforcement plate and the assembly efficiency of the front wheel cover outer panel reinforcement plate in the subsequent automated assembly process.

Brief Description of the Drawings

[0031] Figure 1 A schematic structural diagram of the positioning device of the flexible positioning device provided in this application.

[0032] Figure 2 A flow chart of a flexible positioning method adopted by the flexible positioning device provided in this application.

[0033] Figure ID:

[0034] 1. Pin assembly; 2. First drive assembly; 3. Second drive assembly; 4. Third drive assembly; 5. Connecting assembly; 6. Positioning frame. [Specific implementation method]

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] On the automated production line of automobile manufacturing, the positioning and installation of the front wheel arch outer panel reinforcement plate usually adopts a combination of a gripper and a DOCKING station, in which the gripper is responsible for grabbing and positioning the workpiece, and the DOCKING station is responsible for positioning the gripper.

[0041] However, the front wheel arch outer panel reinforcement plate of the car is a styling-related part. The irregular shape and curved design of the outer panel reinforcement plate require a high degree of shape adaptability of the gripper, and it is difficult to achieve flexible positioning of the gripper. In addition, the gripper usually adopts a clamping method that cooperates with the positioning hole and the cylinder. The shape and size of the positioning block need to match the positioning characteristics of the workpiece, which means that different positioning blocks may be required for workpieces of different shapes and sizes, which limits the sharing of the gripper. When the gripper with the positioning block is used to grab the front wheel arch outer panel reinforcement plate, the gripper needs to be opened during the placement process due to the interference between the gripper and the side of the car, and the front wheel arch outer panel reinforcement plate is prone to fall off, affecting the assembly process.

[0042] At the same time, the weight that the robot used to assemble the gripper can bear is limited. When the weight of the front wheel arch outer panel reinforcement plate is certain, the weight of the gripper needs to be controlled within a limited range, which places high requirements on the weight of the gripper.

[0043] In view of this, the present application provides a flexible positioning device, which is used in the process of grabbing and transporting the outer plate reinforcement of the front wheel cover of the automobile. The flexible positioning device includes a transport device and a positioning device, and the positioning device is installed on the transport device; please refer to Figure 1 , positioning equipment includes:

[0044] The hook pin assembly 1 comprises a hook pin cylinder and a hook pin, wherein the hook pin cylinder is used to drive the hook pin to extend and retract along the axial direction;

[0045] The first driving assembly 2 includes a first driving module and a first linear module, wherein the first driving module is used to drive the first linear module so that the first linear module drives the pin assembly 1 to move along a first direction;

[0046] The second driving assembly 3 includes a second driving module and a second linear module, wherein the second driving module is used to drive the second linear module so that the second linear module drives the pin assembly 1 to move along the second direction;

[0047] The third driving assembly 4 includes a third driving module and a third linear module. The third driving module is used to drive the third linear module so that the third linear module drives the pin assembly 1 to move along the third direction.

[0048] In the above scheme, the flexible positioning device adopts a hook pin assembly 1 composed of a hook pin cylinder and a hook pin to realize the clamping function, so that the front wheel cover outer panel reinforcement plates of different types of automobiles can share the positioning device; at the same time, through the cooperation of the first drive assembly 2, the second drive assembly 3 and the third drive assembly 4, the spatial position of the hook pin assembly 1 is adjusted in the first direction, the second direction and the third direction respectively, so that the hook pin assembly 1 and the front wheel cover outer panel reinforcement plate of the automobile can achieve flexible positioning, accurately grasp the front wheel cover outer panel reinforcement plate, and the positioning process is simple with high positioning accuracy.

[0049] In some embodiments, the front wheel housing outer panel reinforcement plate is an important component in the vehicle body structure, and has at least the following functions: First, the front wheel housing outer panel reinforcement plate is installed in the front wheel housing area, which can enhance the rigidity and torsional strength of the front structure of the vehicle and reduce the deformation of the vehicle body in the event of a collision. Second, when the vehicle is in a frontal or side collision, the front wheel housing outer panel reinforcement plate can absorb and disperse the impact force to protect the safety of the driver and passengers. Third, the front wheel housing outer panel reinforcement plate helps to reduce vibration and improve ride comfort by increasing the rigidity of the vehicle body structure.

[0050] The transfer device used in the flexible positioning device of the present application is a robot, which can simultaneously transport the front wheel cover outer panel reinforcement plate and adjust the docking position between the front wheel cover outer panel reinforcement plate and the front wheel cover. Specifically, after the positioning device and the front wheel cover outer panel reinforcement plate are flexibly positioned and grasped, the robot can transport the front wheel cover outer panel reinforcement plate to the designated assembly station to position and install it with the front wheel cover. It can be understood that compared with transportation methods such as manual handling, the use of a robot as a transfer device can ensure that the front wheel cover outer panel reinforcement plate can be correctly and quickly transported to the designated assembly station, and the positioning and installation of the front wheel cover outer panel reinforcement plate and the front wheel cover can be completed at the designated assembly station, thereby improving the accuracy and consistency of the assembly of the front wheel cover outer panel reinforcement plate and the front wheel cover, improving assembly efficiency, and reducing assembly costs.

[0051] In some embodiments, the positioning device installed on the transfer device includes a connecting component 5, the connecting component 5 includes at least one positioning pin, and the transfer device is provided with at least one positioning hole. The positioning device and the transfer device are detachably connected through the cooperation of the positioning pin and the positioning hole.

[0052] It should be noted that in the present application, at least one positioning hole can be set on the connecting component 5, and at least one positioning pin can be set on the transfer equipment. The positioning equipment and the transfer equipment are connected through the cooperation of the positioning pin and the positioning hole, or the two are connected in other detachable ways. It can be selected according to actual needs and is not limited here.

[0053] In some embodiments, the positioning device installed on the transfer device includes a positioning frame 6, and the positioning frame 6 provides structural support and installation foundation for other components of the positioning device to ensure that the positioning device can stably perform operations such as positioning, fixing and releasing. Specifically, the pin assembly 1, the first drive assembly 2, the second drive assembly 3 and the third drive assembly 4 are installed on the positioning frame 6, and the connection method between the above structure and the positioning frame 6 can be a detachable connection or a fixed connection, wherein the detachable connection includes a fastener connection or an adhesive connection, etc., and the fixed connection includes a welding connection, etc. The connection method between the above components and the positioning frame 6 can be selected according to actual needs, and is not limited here. Preferably, the connection method between the above structure and the positioning frame 6 is preferably a detachable connection. It can be understood that the two are detachably connected. When the structures such as the pin assembly 1, the first drive assembly 2, the second drive assembly 3 and the third drive assembly 4 are damaged, they can be replaced separately without overall replacement, which reduces the maintenance cost of the positioning device and extends the service life of the positioning device.

[0054] In some embodiments, the hook pin assembly 1 for realizing the clamping function of the positioning device includes a hook pin cylinder and a hook pin, and the hook pin cylinder is used to drive the hook pin to extend and retract along the axial direction. Specifically, the hook pin cylinder includes a cylinder body, a piston and a piston rod, and the piston rod is connected to the hook pin. In actual use, when compressed air or hydraulic oil enters the cylinder body, the piston is pushed by the pressure and moves along the axial direction of the cylinder body. At this time, the linear motion of the piston is transmitted to the hook pin through the piston rod, so that the hook pin extends and inserts into the positioning hole of the front wheel cover outer panel reinforcement plate to complete the locking action; when the air pressure or hydraulic pressure in the cylinder body is released, the piston moves in the opposite direction along the axial direction of the cylinder body, and the piston rod drives the hook pin to retract, so that it is separated from the positioning hole of the front wheel cover outer panel reinforcement plate to achieve the release action.

[0055] The positioning device used in the present application includes two sets of hook pin assemblies 1, namely the first hook pin assembly and the second hook pin assembly. It can be understood that the positioning device adopts the hook pin assembly 1. Compared with the method of positioning by using the positioning block, the positioning device adopting the hook pin assembly 1 has the advantage of being lightweight, and can realize the flexible positioning function of the positioning device within the load range of the transfer equipment. At the same time, when installing the front wheel cover outer panel reinforcement plate for the same model of automobile, compared with the solution of positioning by using the positioning block, the present application can invest less in two sets of positioning equipment, reduce the assembly cost, and reduce the switching time of the positioning equipment and reduce the occupation of the workshop space.

[0056] In some embodiments, after the detent assembly 1 is initially positioned with the positioning hole of the front wheel housing outer panel reinforcement plate, the first drive assembly 2, the second drive assembly 3 and the third drive assembly 4 perform a precise positioning process in the first direction, the second direction and the third direction, so that the detent assembly 1 is accurately docked with the positioning hole. It should be noted that, when observed along the length direction of the positioning device, the first direction, the second direction and the third direction in the present application can be one of the front-to-back direction, the left-to-right direction and the height direction. Specifically, the first direction is the front-to-back direction, the second direction is the left-to-right direction, and the third direction is the height direction.

[0057] The first drive assembly 2 includes a first drive module and a first linear module. The first drive module is used to drive the first linear module so that the first linear module drives the hook pin assembly 1 to move along the first direction. Specifically, the first drive module includes a first servo motor and a first drive controller. The first servo motor can provide driving force for the first linear module. The first drive controller achieves driving and positioning of the first linear module by precisely controlling the speed, torque and position of the first servo motor. Then, the first linear module converts the power of the first servo motor into precise linear motion to adjust the spatial position of the hook pin assembly 1 in the first direction.

[0058] The second drive assembly 3 includes a second drive module and a second linear module. The second drive module is used to drive the second linear module so that the second linear module drives the hook pin assembly 1 to move along the second direction. Specifically, the second drive module includes a second servo motor and a second drive controller. The second servo motor can provide driving force for the second linear module. The second drive controller achieves driving and positioning of the second linear module by precisely controlling the speed, torque and position of the second servo motor. Then, the second linear module converts the power of the second servo motor into precise linear motion to adjust the spatial position of the hook pin assembly 1 in the second direction.

[0059] The third drive assembly 4 includes a third drive module and a third linear module. The third drive module is used to drive the third linear module so that the third linear module drives the hook pin assembly 1 to move along the third direction. Specifically, the third drive module includes a third servo motor and a third drive controller. The third servo motor can provide driving force for the third linear module. The third drive controller can achieve driving and positioning of the third linear module by precisely controlling the speed, torque and position of the third servo motor. Then, the third linear module converts the power of the third servo motor into precise linear motion to adjust the spatial position of the hook pin assembly 1 in the third direction.

[0060] It should be noted that in the present application, the adjustment of the spatial distance between the first drive component 2, the second drive component 3 and the third drive component 4 and the hook pin component 1 can be selected according to the actual setting distance between the first positioning hole and the second positioning hole, and is not limited here.

[0061] Through the cooperation of the above-mentioned first drive component 2, the second drive component 3 and the third drive component 4, the spatial position of the hook pin component 1 in the front and rear directions, the left and right directions and the height direction can be adjusted, so that the hook pin component 1 can be accurately docked with the front wheel cover outer panel reinforcement plate and grasp the front wheel cover outer panel reinforcement plate.

[0062] In the second aspect, the present application provides a flexible positioning method, and the flexible positioning device of any one of the first aspects adopts a flexible positioning method and at least one front wheel cover outer panel reinforcement plate of an automobile to perform flexible positioning, that is, the flexible positioning method and flexible positioning device of the present application can be applicable to the installation of front wheel cover outer panel reinforcement plates of different types of automobiles.

[0063] In the application process of the flexible positioning method, the flexible positioning device includes a first hook pin assembly and a second hook pin assembly, the first hook pin assembly includes a first hook pin cylinder and a first hook pin, and the second hook pin assembly includes a second hook pin cylinder and a second hook pin. Different types of front wheel cover outer panel reinforcement plates are provided with a first positioning surface, a second positioning surface, a first positioning hole and a second positioning hole with the same spatial distance and position. The first positioning hole is opened on the first positioning surface, and the second positioning hole is opened on the second positioning surface; please refer to Figure 2 , flexible positioning methods include:

[0064] Step S10, the transfer device drives the positioning device to move to the processing position of the front wheel housing outer panel reinforcement plate, and the first hook pin assembly and the first positioning hole, and the second hook pin assembly and the second positioning hole are preliminarily positioned;

[0065] Step S20, the first driving module drives the first linear module to move, so that the first linear module drives the first hook pin assembly and the second hook pin assembly to adjust their spatial positions in the first direction;

[0066] Step S30, the second driving module drives the second linear module to move, so that the second linear module drives the first hook pin assembly and the second hook pin assembly to adjust their spatial positions in the second direction;

[0067] Step S40, the third driving module drives the third linear module to move, so that the third linear module drives the first hook pin assembly and the second hook pin assembly to adjust their spatial positions in the third direction;

[0068] Step S50: the first detent cylinder drives the first detent pin to extend axially into the first positioning hole, and the second detent cylinder drives the second detent pin to extend axially into the second positioning hole.

[0069] In the above scheme, the flexible positioning method provided by the present application reduces the number of positioning holes and positioning surfaces, and adjusts the relative positions of the positioning surfaces and positioning holes on the front wheel cover outer panel reinforcement plate, so that the first positioning hole and the first positioning surface are integrated, and the second positioning hole and the second positioning surface are integrated, thereby ensuring the positioning effect of the front wheel cover outer panel reinforcement plate and the flexible positioning device, while reducing the number of hook pin components 1 required for the positioning equipment, so that the positioning equipment has the advantage of lightweight; at the same time, the integrated first positioning hole, the first positioning surface, the second positioning hole and the second positioning surface can evenly disperse the stress, which can reduce the flexible deformation of the positioning equipment, ensure the positioning effect of the front wheel cover outer panel reinforcement plate and the flexible positioning device, and improve the positioning accuracy of the hook pin component 1 and the front wheel cover outer panel reinforcement plate and the assembly efficiency of the front wheel cover outer panel reinforcement plate in the subsequent automated assembly process.

[0070] In some embodiments, on the front wheel housing outer panel reinforcement plates of different automobiles, the first positioning surface and the second positioning surface have the same spatial distance in the first direction, the second direction and the third direction; the first positioning hole and the second positioning hole have the same spatial distance in the first direction, the second direction and the third direction; the first positioning surface and the first positioning hole have the same spatial distance in the first direction, the second direction and the third direction; the second positioning surface and the second positioning hole have the same spatial distance in the first direction, the second direction and the third direction. It can be understood that the first positioning surface, the second positioning surface, the first positioning hole and the second positioning hole with the same spatial distance and position are provided on different types of front wheel housing outer panel reinforcement plates, and the same preset distance parameters can be input into the flexible positioning device, so that different types of automobiles can share the same set of flexible positioning devices.

[0071] In some embodiments, the diameter of the first positioning hole and the second positioning hole is 18mm to 22mm. Optionally, the diameter of the first positioning hole and the second positioning hole can be 18mm, 19mm, 20mm, 21mm and 22mm, etc., or other values ​​within the range. It can be selected according to actual needs and is not limited here. It can be understood that if the diameter of the first positioning hole and the second positioning hole is too large, the pin will have additional space for movement in the first positioning hole and the second positioning hole, which will cause inaccurate positioning of the front wheel cover outer panel reinforcement plate during assembly, affecting the assembly accuracy and the final quality of the product; if the diameter of the first positioning hole and the second positioning hole is too small, the difficulty of assembly is high, and the too small aperture may cause stress concentration at the edge of the first positioning hole and the second positioning hole during assembly, reducing the reliability of the connection between the front wheel cover and the front wheel cover outer panel reinforcement plate. Preferably, the diameter of the first positioning hole and the second positioning hole is 20mm.

[0072] Through the cooperation of the flexible positioning device of the present application and the flexible positioning method, accurate installation of the front wheel cover outer panel reinforcement plate and the front wheel cover can be ensured.

[0073] 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 flexible positioning device, characterized in that: The flexible positioning device includes a transfer device and a positioning device, wherein the positioning device is installed on the transfer device; the positioning device includes: A hook pin assembly, the hook pin assembly comprising a hook pin cylinder and a hook pin, the hook pin cylinder being used to drive the hook pin to extend and retract along the axial direction; A first driving assembly, comprising a first driving module and a first linear module, wherein the first driving module is used to drive the first linear module so that the first linear module drives the pin assembly to move along a first direction; A second driving assembly, comprising a second driving module and a second linear module, wherein the second driving module is used to drive the second linear module so that the second linear module drives the pin assembly to move along a second direction; The third driving assembly includes a third driving module and a third linear module. The third driving module is used to drive the third linear module so that the third linear module drives the pin assembly to move along a third direction.

2. The flexible positioning device according to claim 1, characterized in that: The positioning device also includes a connecting assembly, and the connecting assembly includes a positioning pin; The transfer device is provided with a positioning hole, and the positioning device and the transfer device are connected through the cooperation of the positioning pin and the positioning hole.

3. The flexible positioning device according to claim 2, characterized in that: The positioning device comprises a positioning frame, and the hook pin assembly, the first driving assembly, the second driving assembly, the third driving assembly and the connecting assembly are installed on the positioning frame.

4. The flexible positioning device according to claim 1, characterized in that: The flexible positioning device includes two sets of hook pin assemblies.

5. The flexible positioning device according to claim 1, characterized in that: The first driving module, the second driving module and the third driving module are servo motors.

6. A flexible positioning method, characterized in that: The flexible positioning device described in any one of claims 1 to 5 adopts the flexible positioning method to flexibly position at least one front wheel housing outer panel reinforcement plate of an automobile; the flexible positioning device includes a first detent assembly and a second detent assembly, the first detent assembly includes a first detent cylinder and a first detent, and the second detent assembly includes a second detent cylinder and a second detent; the front wheel housing outer panel reinforcement plate is provided with a first positioning surface, a second positioning surface, a first positioning hole and a second positioning hole, the first positioning hole is opened on the first positioning surface, and the second positioning hole is opened on the second positioning surface; the flexible positioning method includes: The transfer device drives the positioning device to move to the processing position of the front wheel housing outer plate reinforcement plate, and the first hook pin assembly and the first positioning hole, and the second hook pin assembly and the second positioning hole are preliminarily positioned; The first driving module drives the first linear module to move, so that the first linear module drives the first hook pin assembly and the second hook pin assembly to adjust their spatial positions in a first direction; The second driving module drives the second linear module to move, so that the second linear module drives the first hook pin assembly and the second hook pin assembly to adjust their spatial positions in the second direction; The third driving module drives the third linear module to move, so that the third linear module drives the first hook pin assembly and the second hook pin assembly to adjust their spatial positions in the third direction; The first detent pin cylinder drives the first detent pin to extend axially into the first positioning hole, and the second detent pin cylinder drives the second detent pin to extend axially into the second positioning hole.

7. The flexible positioning method according to claim 6, characterized in that: On the front wheel housing outer panel reinforcement plates of different automobiles, the first positioning surface and the second positioning surface have the same spatial distance in the first direction, the second direction and the third direction; The first positioning hole and the second positioning hole have the same spatial distance in the first direction, the second direction and the third direction; The first positioning surface and the first positioning hole have the same spatial distance in the first direction, the second direction and the third direction; The second positioning surface and the second positioning hole have the same spatial distance in the first direction, the second direction and the third direction.

8. The flexible positioning method according to claim 6, characterized in that: The diameters of the first positioning hole and the second positioning hole are 18 mm to 22 mm.

9. A front wheel housing outer panel reinforcement plate, characterized in that: The front wheel cover outer panel reinforcement plate is flexibly positioned and installed with the front wheel cover by using the flexible positioning device described in any one of claims 1 to 5, or is flexibly positioned and installed with the front wheel cover by using the flexible positioning method described in any one of claims 6 to 8.

10. An automobile, characterized in that: The automobile includes the front wheel house outer panel reinforcement according to claim 9.

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