Control method and system of automatic clamping equipment, equipment and readable storage medium

Abstract

The invention discloses a control method, system and device for automatic clamping equipment and a readable storage medium, and relates to the technical field of automation control, the method comprises the steps that first position information and second position information are obtained, the first position information is the position information of a first workpiece, the second position information is the position information of a second workpiece, and the first position information is the position information of the first workpiece; the first workpiece comprises a glass panel, and the second workpiece is a workpiece to be clamped with the first workpiece; if the position deviation information between the first position information and the second position information is larger than a first preset threshold value, the position of the first workpiece is adjusted until the position deviation information between the first workpiece and the second workpiece is smaller than or equal to the first preset threshold value; and if the position deviation information between the first position information and the second position information is smaller than or equal to a first preset threshold value, the first workpiece and the second workpiece are controlled to be clamped. According to the invention, the clamping precision of the OC is improved.

Description

Technical Field

[0001] The present application relates to the field of automation control technology, and in particular to a control method, system, device and readable storage medium for an automatic locking device. Background Art

[0002] At present, in the process of producing display products, OC (open cell, glass panel) engagement is generally completed with the help of semi-automatic mechanical equipment and manual assisted engagement. However, most of the glass panels of displays are large in size and heavy in weight. During the manual assisted engagement process, it is easy to cause bumps on the glass panel, which in turn causes the screen to break or scratch, increasing the breakage rate of the product. At the same time, manual operation makes the engagement accuracy low.

[0003] Therefore, how to improve the snap-fitting accuracy of the glass panel is a technical problem that needs to be solved urgently in the technical field.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present application is to provide a control method, system, device and readable storage medium of an automatic snap-fit ​​device, aiming to solve the technical problem of how to improve the snap-fit ​​accuracy of a glass panel.

[0006] To achieve the above object, the present application provides a control method for an automatic snap-fit ​​device, the control method for the automatic snap-fit ​​device comprising the following steps:

[0007] Acquire first position information and second position information, wherein the first position information is position information of a first workpiece, the second position information is position information of a second workpiece, the first workpiece includes a glass panel, and the second workpiece is a workpiece to be engaged with the first workpiece;

[0008] If the position deviation information between the first position information and the second position information is greater than a first preset threshold, adjusting the position of the first workpiece until the position deviation information between the first workpiece and the second workpiece is less than or equal to the first preset threshold;

[0009] If the position deviation information between the first position information and the second position information is less than or equal to a first preset threshold, the first workpiece and the second workpiece are controlled to engage with each other.

[0010] In one embodiment, the step of obtaining the first location information and the second location information includes:

[0011] receiving a first arrival at the engaging position signal, and collecting a first environment image according to the first arrival at the engaging position signal, wherein the first arrival at the engaging position signal is used to indicate that the first workpiece has arrived at the engaging position;

[0012] Locating the horizontal coordinates, vertical coordinates, and plane rotation angle of the first workpiece in a preset coordinate system based on the first environment image to obtain first position information;

[0013] The second location information is obtained from a preset storage area.

[0014] In one embodiment, before the step of obtaining the first location information and the second location information, the method further includes:

[0015] receiving a second arrival at the engaging position signal, and collecting a second environment image according to the second arrival at the engaging position signal, wherein the second arrival at the engaging position signal is used to indicate that the second workpiece has arrived at the engaging position;

[0016] Locating the horizontal coordinates, vertical coordinates, and plane rotation angle of the second workpiece in a preset coordinate system based on the second environment image to obtain second position information;

[0017] The second location information is stored in a preset storage area.

[0018] In one embodiment, before the step of obtaining the first location information and the second location information, the method further includes:

[0019] Receiving a material picking permission signal, acquiring a preset material picking position according to the material picking permission signal, and picking up the first workpiece according to the preset material picking position, wherein the preset material picking position is the position where the first workpiece is located when the material picking permission signal is received;

[0020] Moving the first workpiece to a preset film-tearing position, and tearing the film of the first workpiece after moving to the preset film-tearing position;

[0021] The first workpiece is moved to a preset engaging position, and a first reaching engaging position signal is sent after the workpiece is moved to the preset engaging position.

[0022] In one embodiment, the step of moving the first workpiece to a preset film tearing position includes:

[0023] Generate a moving path according to the preset material taking position, the preset film tearing position and the preset engaging position, and move the first workpiece to the preset film tearing position according to the moving path;

[0024] The step of moving the first workpiece to a preset engagement position includes:

[0025] The first workpiece is moved to the preset film tearing position according to the moving path.

[0026] In one embodiment, after the step of controlling the first workpiece and the second workpiece to engage with each other, the method further includes:

[0027] detecting a degree of fit between the first workpiece and the second workpiece;

[0028] If the fit degree is greater than or equal to a preset fit degree threshold, the engagement is determined to be successful;

[0029] If the degree of fit is less than a preset degree of fit threshold, a warning message is output.

[0030] In one embodiment, after the step of obtaining the first location information and the second location information, the method further includes:

[0031] If the position deviation information between the first position information and the second position information is greater than a second preset threshold, an early warning message is output, wherein the second preset threshold is greater than the first preset threshold

[0032] In addition, to achieve the above purpose, the present application also provides a control system for an automatic locking device, including:

[0033] An acquisition module, used to acquire first position information and second position information, wherein the first position information is position information of a first workpiece, the second position information is position information of a second workpiece, the first workpiece includes a glass panel, and the second workpiece is a workpiece to be engaged with the first workpiece;

[0034] an adjustment module, configured to adjust the position of the first workpiece until the position deviation information between the first workpiece and the second workpiece is less than or equal to the first preset threshold if the position deviation information between the first position information and the second position information is greater than a first preset threshold;

[0035] The control module is used to control the first workpiece and the second workpiece to engage if the position deviation information between the first position information and the second position information is less than or equal to a first preset threshold.

[0036] In addition, to achieve the above-mentioned purpose, the present application also provides an automatic snap-fit ​​device, which includes: a clamping unit, a positioning unit and a processor, and the processor is respectively connected to the clamping unit and the positioning unit. The processor is used to execute the steps of the control method of the automatic snap-fit ​​device as described above.

[0037] In addition, to achieve the above-mentioned purpose, the present application also provides a readable storage medium, which is a computer-readable storage medium, and the computer-readable storage medium stores a program for implementing a control method for an automatic locking device, and the program for implementing a control method for an automatic locking device is executed by a processor to implement the steps of the control method for the automatic locking device as described above.

[0038] The present application also provides a computer program product, including a computer program, which implements the steps of the control method of the automatic locking device as described above when the computer program is executed by a processor.

[0039] The present application obtains first position information and second position information, wherein the first position information is the position information of the first workpiece, the second position information is the position information of the second workpiece, the first workpiece includes a glass panel, and the second workpiece is a workpiece to be engaged with the first workpiece. If the position deviation information between the first position information and the second position information is greater than a first preset threshold, the position of the first workpiece is adjusted until the position deviation information between the first workpiece and the second workpiece is less than or equal to the first preset threshold; if the position deviation information between the first position information and the second position information is less than or equal to the first preset threshold, the first workpiece and the second workpiece are controlled to be engaged. In this way, before the first workpiece and the second workpiece are engaged, the embodiment of the present application respectively obtains the position information of the first workpiece and the second workpiece to be engaged, and when the position deviation information between the first workpiece and the second workpiece is greater than the first preset threshold, the position of the first workpiece is adjusted until the position deviation information between the two is less than or equal to the first preset threshold, and the first workpiece and the second workpiece are engaged, and the first workpiece includes a glass panel, that is, when the glass panel and the second workpiece are engaged, the glass panel and the second workpiece are engaged only when the position deviation information between the glass panel and the second workpiece is less than a certain threshold, thereby improving the engagement accuracy of the glass panel. In addition, the embodiment of the present application realizes high-precision engagement of the glass panel from the software level, without adding additional jigs to improve the engagement accuracy of the glass panel, thereby reducing the engagement cost of the glass panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 This is a flow chart of a first embodiment of a control method for an automatic locking device of the present application;

[0043] Figure 2 This is a brief flow chart of the control method of the automatic locking device of this application;

[0044] Figure 3 Another simplified flow chart of the control method of the automatic locking device of the present application;

[0045] Figure 4 This is a schematic diagram of the system structure of the control system of the dynamic locking device of this application;

[0046] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the control device of the automatic locking device in the embodiment of the present application.

[0047] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0049] At present, the OC of display products is mainly snapped on to the back panel after tearing the film manually. However, the speed of manual film tearing and the success rate of one-time film tearing may affect the production line production speed and OC yield, and the OC may not be placed in the right position on the back panel, resulting in low snapping accuracy.

[0050] Based on this, the main solution of the present application is: obtain first position information and second position information, wherein the first position information is the position information of the first workpiece, the second position information is the position information of the second workpiece, the first workpiece includes a glass panel, and the second workpiece is a workpiece to be engaged with the first workpiece; if the position deviation information between the first position information and the second position information is greater than a first preset threshold, adjust the position of the first workpiece until the position deviation information between the first workpiece and the second workpiece is less than or equal to the first preset threshold; if the position deviation information between the first position information and the second position information is less than or equal to the first preset threshold, control the first workpiece and the second workpiece to engage.

[0051] The present application obtains the position information of the first workpiece and the second workpiece to be engaged before engaging the first workpiece and the second workpiece, and adjusts the position of the first workpiece when the position deviation information between the first workpiece and the second workpiece is greater than the first preset threshold value, until the position deviation information between the two is less than or equal to the first preset threshold value, and the first workpiece and the second workpiece are engaged, and the first workpiece includes a glass panel, that is, when engaging the glass panel and the second workpiece, the glass panel and the second workpiece are engaged only when the position deviation information between the glass panel and the second workpiece is less than a certain threshold value, thereby improving the engagement accuracy of the glass panel. In addition, the embodiment of the present application realizes high-precision engagement of the glass panel from the software level, without adding additional jigs to improve the engagement accuracy of the glass panel, thereby reducing the engagement cost of the glass panel.

[0052] It should be noted that the execution subject of each embodiment of the control method of the automatic snap-fit ​​device of the present application can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an automatic snap-fit ​​device capable of realizing the above functions. Exemplarily, the automatic snap-fit ​​device is used as the execution subject to explain and illustrate each embodiment of the present application.

[0053] Based on this, the present application proposes a control method for an automatic locking device of the first embodiment, please refer to Figure 1 The control method of the automatic locking device includes steps S10 to S30:

[0054] Step S10, obtaining first position information and second position information, wherein the first position information is position information of a first workpiece, the second position information is position information of a second workpiece, the first workpiece includes a glass panel, and the second workpiece is a workpiece to be engaged with the first workpiece;

[0055] The first workpiece and the second workpiece are both partial structures in the product assembly. Specifically, the first workpiece and the second workpiece are workpieces to be clamped together, the first workpiece includes but is not limited to a glass panel (hereinafter referred to as an OC), and the second workpiece is a workpiece to be clamped with the first workpiece. When the first workpiece is an OC, the second workpiece can specifically be a backplane. Exemplarily, the first workpiece is an OC and the second workpiece is a backplane for the description and explanation of each embodiment of the present application.

[0056] After both the OC and the backplane have reached the engaging position, the position information of the OC and the backplane can be located respectively, thereby obtaining the first position information and the second position information. Considering that the OC and the backplane may not reach the engaging position at the same time, the position information of the OC can be located after the OC reaches the engaging position, and the position information of the OC can be located after the backplane reaches the engaging position. It should be noted that when the OC or the backplane reaches the engaging position, the automatic engaging device can sense that the OC or the backplane has reached the engaging position by sending a corresponding signal, thereby positioning the OC or the backplane that has reached the engaging position.

[0057] After obtaining the position information of the OC and the backplane, the first position information and the second position information can be obtained to proceed to the subsequent steps.

[0058] The position information (including the first position information and the second position information) may specifically be the coordinate position and / or plane rotation angle of one or more feature points of the workpiece (including the OC and the back plate), and the feature point may specifically be a corner point or a center point of the workpiece. This embodiment does not impose any specific restrictions on this, wherein the coordinate position may specifically be the coordinate position of each coordinate axis in a preset coordinate system, and the preset coordinate system may be any coordinate system established in advance, such as a world coordinate system. The plane rotation angle may specifically be the angle between a straight line where the feature point is located and parallel to a given side of the workpiece and a preset horizontal direction.

[0059] Exemplarily, the four sides of OC are denoted as a, b, c, and d, and a given side is a. For a certain feature point A, the angle between a straight line passing through point A and parallel to side a and a preset horizontal direction is the plane rotation angle.

[0060] In one specific embodiment, the position information may be the coordinate positions of the four corner points of the workpiece. In another specific embodiment, the position information may be the coordinate position and plane rotation angle of a corner point of the workpiece. In another specific embodiment, the position information may be the coordinate position and plane rotation angle of the center point of the workpiece.

[0061] It should be noted that, in order to facilitate the subsequent determination of the position deviation information between the first position information and the second position information, the number and position of the feature points selected by the OC and the back plate are consistent. For example, if the coordinate position and plane rotation angle of the lower right corner point of the OC are selected as the position information of the OC, then the coordinate position and plane rotation angle of the lower right corner point of the back plate are also selected as the position information of the back plate.

[0062] Exemplarily, a horizontal coordinate system is established with the plane where the locking station is located, the first position information is the x-axis coordinate, y-axis coordinate and plane rotation angle of the lower right corner point of the OC in the horizontal coordinate system, and the second position information is the x-axis coordinate, y-axis coordinate and plane rotation angle of the lower right corner point of the back panel in the horizontal coordinate system for explanation and description of this embodiment.

[0063] Step S20, if the position deviation information between the first position information and the second position information is greater than a first preset threshold, adjusting the position of the first workpiece until the position deviation information between the first workpiece and the second workpiece is less than or equal to the first preset threshold;

[0064] It can be understood that the position information includes one or more position components, such as the x-axis coordinate is a position component, the y-axis coordinate is a position component, and the plane rotation angle is a position component. Therefore, the position deviation information can be specifically the absolute difference between each position component of the first position information and the second position information. Correspondingly, the position deviation information also includes one or more deviation components.

[0065] The first position information is denoted as [X1, Y1, R1], and the second position information is denoted as [X2, Y2, R2], where R represents the plane rotation angle. The position deviation information can be expressed as [|X1-X2|, |Y1-Y2|, |R1-R2|], where |X1-X2| represents the deviation component of the x-axis coordinate, |Y1-Y2| represents the deviation component of the y-axis coordinate, and |R1-R2| represents the deviation component of the plane rotation angle.

[0066] It should be noted that for each deviation component in the position deviation information, a threshold value can be set accordingly, that is, the first preset threshold value also corresponds to one or more threshold components. The first preset threshold value can be expressed as [△X1, △Y1, △R1], wherein △X represents the threshold component corresponding to the deviation component of the x-axis coordinate, △Y represents the threshold component corresponding to the deviation component of the y-axis coordinate, and △R represents the threshold component corresponding to the deviation component of the plane rotation angle.

[0067] The position deviation information between the first position information and the second position information is greater than the first preset threshold value. If any deviation component in the position deviation information is greater than the corresponding threshold component, then the position deviation information is determined to be greater than the first preset threshold value. Otherwise, if all deviation components are less than or equal to the corresponding threshold component, then the position deviation information is determined to be less than or equal to the first preset threshold value. Alternatively, if all deviation components in the deviation information are greater than the corresponding threshold component, then the position deviation information is determined to be greater than the first preset threshold value. Otherwise, if any deviation component is less than or equal to the corresponding threshold component, then the position deviation information is determined to be less than or equal to the first preset threshold value.

[0068] In this embodiment, if any deviation component in the position deviation information is greater than the corresponding threshold component, the position deviation information is determined to be greater than the first preset threshold; conversely, if all the deviation components are less than or equal to the corresponding threshold components, the position deviation information is determined to be less than or equal to the first preset threshold. That is, if |X1-X2| is greater than △X1, or |Y1-Y2| is greater than △Y1, or |R1-R2| is greater than △R1, the position deviation information is determined to be greater than the first preset threshold; if |X1-X2| is less than or equal to △X1 and |Y1-Y2| is less than or equal to △Y1 and |R1-R2| is less than or equal to △R1, the position deviation information is determined to be less than or equal to the first preset threshold, so as to further improve the engagement accuracy between the OC and the backplane.

[0069] If the position deviation information is greater than the first preset threshold, the position of the OC is adjusted until the position deviation information between the OC and the backplane is less than or equal to the first preset threshold. Specifically, the position of the OC can be adjusted based on the position deviation information. For example, if |X1-X2| in the position deviation information is greater than △X1, the OC is translated in the x-axis direction to adjust the x-axis coordinate of the OC. If |Y1-Y2| in the position deviation information is greater than △Y1, the OC is translated in the y-axis direction to adjust the y-axis coordinate of the OC. If |R1-R2| in the position deviation information is greater than △R1, the OC is rotated to adjust the plane rotation angle of the OC, so as to realize intelligent adjustment of the OC position and improve the adjustment efficiency.

[0070] Step S30: If the position deviation information between the first position information and the second position information is less than or equal to a first preset threshold, controlling the first workpiece and the second workpiece to engage with each other.

[0071] If the position deviation information between the first position information and the second position information is less than or equal to the first preset threshold, the position of the OC may no longer be adjusted, and the subsequent engagement process may be entered. In a specific embodiment, the automatic engagement device includes an OC installation robot, and the OC installation robot adsorbs the OC to the upper part of the backplane to complete the engagement.

[0072] It should be noted that the threshold involved in each embodiment of the present application can be a fixed value set in advance, or it can be a dynamic parameter, such as the threshold changes with the change of OC area, etc. This embodiment does not make specific restrictions on this.

[0073] In this embodiment, first position information and second position information are obtained, wherein the first position information is the position information of the first workpiece, the second position information is the position information of the second workpiece, the first workpiece includes an OC, and the second workpiece is a workpiece to be engaged with the first workpiece. If the position deviation information between the first position information and the second position information is greater than a first preset threshold, the position of the first workpiece is adjusted until the position deviation information between the first workpiece and the second workpiece is less than or equal to the first preset threshold; if the position deviation information between the first position information and the second position information is less than or equal to the first preset threshold, the first workpiece and the second workpiece are controlled to be engaged. In this way, before the first workpiece and the second workpiece are engaged, the present embodiment respectively obtains the position information of the first workpiece and the second workpiece to be engaged, and when the position deviation information between the first workpiece and the second workpiece is greater than the first preset threshold, the position of the first workpiece is adjusted until the position deviation information between the two is less than or equal to the first preset threshold, and the first workpiece and the second workpiece are engaged, and the first workpiece includes an OC, that is, when the OC is engaged with the backplane, the OC is engaged with the backplane only when the position deviation information between the OC and the backplane is less than a certain threshold, thereby improving the engagement accuracy of the OC. In addition, the present application embodiment realizes high-precision engagement of the OC from the software level, without adding additional jigs to improve the engagement accuracy of the OC, thereby reducing the engagement cost of the OC.

[0074] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated later. On this basis, the steps of obtaining the first location information and the second location information include:

[0075] Step A10, receiving a first arrival at the engaging position signal, and collecting a first environment image according to the first arrival at the engaging position signal, wherein the first arrival at the engaging position signal is used to indicate that the first workpiece has arrived at the engaging position;

[0076] The first arrival at the engagement position signal is used to indicate that the OC has arrived at the engagement position. And the signal can be sent through a PCL (Programmable Logic Controller), and after receiving the first arrival at the engagement position signal, the first environment image is collected. Specifically, the automatic engagement device includes a positioning unit, and the positioning unit can be a CCD (Charge-Coupled Device) camera. After receiving the first arrival at the engagement position signal, the positioning unit takes a picture to obtain the first environment image.

[0077] Furthermore, if the automatic snap-fitting device includes a first positioning unit and a second positioning unit, the first positioning unit is used to position the OC, and the second positioning unit is used to position the back panel, then after receiving the first arrival at the snap-fitting station signal, the first positioning unit can be controlled to take a photo to obtain a first environmental image.

[0078] Step A20, locating the horizontal coordinate, vertical coordinate and plane rotation angle of the first workpiece in a preset coordinate system based on the first environment image to obtain first position information;

[0079] The preset coordinate system can specifically be a horizontal coordinate system of the plane where the engaging station is located. The horizontal coordinate is also the x-axis coordinate, and the vertical coordinate is also the y-axis coordinate. The horizontal coordinate, vertical coordinate and plane rotation angle of the OC in the preset coordinate system can be located based on the first environment image. Specifically, the horizontal coordinate, vertical coordinate and plane rotation angle of the corner point in the preset coordinate system can be located based on the corner point captured in the first environment image. If the first environment image captures multiple corner points, the horizontal coordinate, vertical coordinate and plane rotation angle of any corner point in the preset coordinate system can be located.

[0080] Step A30, obtaining second location information from a preset storage area.

[0081] It is understandable that the OC needs to be torn off before the OC is engaged, so the back plate usually reaches the engagement position before the OC, and when the back plate reaches the engagement position, the position information of the back plate can be located and stored in the preset storage area. In this way, after the OC also reaches the engagement position, the position information of the OC is located and the position information of the back plate is obtained from the preset storage area to obtain the first position information and the second position information.

[0082] In a possible implementation manner, before the step of acquiring the first location information and the second location information, the method further includes:

[0083] Step B10, receiving a second arrival at the engaging position signal, and collecting a second environment image according to the second arrival at the engaging position signal, wherein the second arrival at the engaging position signal is used to indicate that the second workpiece has arrived at the engaging position;

[0084] After receiving the second arrival at the engagement station signal, the second environment image is collected. Specifically, the automatic engagement device includes a positioning unit, and after receiving the second arrival at the engagement station signal, the positioning unit takes a picture to obtain the second environment image.

[0085] Furthermore, if the automatic snap-fitting device includes a first positioning unit and a second positioning unit, the first positioning unit is used to position the OC, and the second positioning unit is used to position the back panel, then after receiving the second snap-fitting station signal, the second positioning unit can be controlled to take a photo to obtain a second environmental image.

[0086] Step B20, locating the horizontal coordinate, vertical coordinate and plane rotation angle of the second workpiece in a preset coordinate system based on the second environment image to obtain second position information;

[0087] The positioning method of the second position information is similar to the positioning method of the first position information described above, and the process of obtaining the second position information will not be described in detail here.

[0088] Step B30: storing the second location information in a preset storage area.

[0089] The second position information is stored in a preset storage area, so that the position information of the backplane can be obtained from the preset storage area.

[0090] In a possible implementation manner, before the step of acquiring the first location information and the second location information, the method further includes:

[0091] Step C10, receiving a material picking permission signal, obtaining a preset material picking position according to the material picking permission signal, and picking the first workpiece according to the preset material picking position, wherein the preset material picking position is the position of the first workpiece when the material picking permission signal is received;

[0092] Specifically, a pick-up signal can be sent after OC reaches the designated working position. For example, to assist in understanding the actual sending of each signal, a specific workflow of an automatic clamping device is now given as an example, which is as follows: the first step is to manually place OC on the transmission unit (such as a belt line); the second step is for the transmission unit to send OC to the working position. The third step is to visually take pictures and locate, obtain the current OC position information, and send it to the clamping unit; the fourth step is for the clamping unit to take the OC screen from the transmission unit. The fifth step is for the clamping unit to suck OC to the film-tearing platform. The sixth step is for the film-tearing platform to tear the film of OC; the seventh step is for the clamping unit to tear the film and move to the clamping waiting position after completing the film-tearing; the eighth step is for the visual camera module to take pictures and locate the backboard, obtain the position information of the backboard, and send it to the clamping unit. The ninth step is for the OC installation robot to suck OC to the upper part of the backboard position and clamp it. While completing these nine steps, the roller line also completes the following three steps at the same time: the first step: the transmission unit brings the backboard into the automatic placement position. The second step is to mechanically block the limit and lift. The third step is to visually take pictures of the corners of the backboard. Then the overall tenth step is to visually take pictures of the corners of OC. Based on this workflow, after the OC is transported to the working position by the transmission unit, the PLC sends a signal to allow material collection; after the backplane is transported to the automatic placement position, the PLC sends a second arrival at the engagement position signal; after the OC is transported to the engagement waiting position, the PLC sends a first arrival at the engagement position signal.

[0093] The preset material-collecting position is the position of the OC when the material-collecting permission signal is received. Specifically, after receiving the material-collecting permission signal, an environmental image can be collected to locate the position of the OC based on the collected environmental image.

[0094] Step C20, moving the first workpiece to a preset film-tearing position, and tearing the film of the first workpiece after moving to the preset film-tearing position;

[0095] It should be noted that the automatic clamping device is provided with a film tearing platform, and the OC is torn at the film tearing platform. The preset film tearing position can be the position where the film tearing platform is located. Moving the OC to the preset film tearing position means moving the OC to the film tearing platform so as to tear the OC.

[0096] Step C30, moving the first workpiece to a preset engaging position, and sending an arrival at the engaging position signal after moving to the preset engaging position.

[0097] After the OC film is peeled off, the OC is moved to a preset engaging position, which may be a position where the engaging station is located. After the OC is moved to the engaging station, a first reaching engaging station signal is sent.

[0098] In this embodiment, the OC is automatically torn off before the engagement. Specifically, the position of the OC is located so that the OC can be taken from the position, and then the OC is moved to the preset tearing position to complete the automatic tearing of the OC. This reduces the possibility that the speed of manual tearing and the success rate of one-time tearing will affect the production line production speed and the yield of the OC, as well as the phenomenon that the OC is bumped when the human is not paying attention, causing the screen to crack and be damaged.

[0099] In a possible implementation manner, the step of moving the first workpiece to a preset film-tearing position includes:

[0100] Step D10, generating a moving path according to the preset material taking position, the preset film tearing position and the preset engaging position, and moving the first workpiece to the preset film tearing position according to the moving path;

[0101] The step of moving the first workpiece to a preset engagement position includes:

[0102] Step D20: moving the first workpiece to the preset film tearing position according to the moving path.

[0103] The preset moving path is used to indicate the moving path from the preset material picking position to the preset film tearing position, and then from the preset film tearing position to the preset engaging position. Specifically, the clamping unit can be controlled to move along the moving path, so that after picking up the OC from the preset material picking position, the OC is moved to the preset film tearing position along the preset moving path for film tearing, and after the film tearing is completed, the OC is moved to the preset opening and closing position along the preset moving path for engaging. In this way, a moving path is generated based on the preset material picking position, the preset film tearing position and the preset engaging position, so that the OC is moved along the moving path, which ensures that the OC can be accurately moved to the preset film tearing position for film tearing and the preset engaging position for engaging, thereby realizing the standardization and automation of OC film tearing and engaging.

[0104] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the first and second embodiments can be referred to the above description and will not be described in detail later. On this basis, after the step of controlling the first workpiece to engage with the second workpiece, the method further includes:

[0105] Step E10, detecting the fit between the first workpiece and the second workpiece;

[0106] In a specific implementation, after the first workpiece and the second workpiece are engaged, an environmental image is collected again, and the degree of fit between the OC and the back plate is detected based on the collected environmental image.

[0107] The degree of fit between the OC and the backplane can be indicated by the area of ​​the overlapping part of the OC and the backplane. Specifically, the degree of fit between the OC and the backplane is positively correlated with the area of ​​the overlapping part; the degree of fit between the OC and the backplane can also be indicated by the distance from the edge of the backplane to the edge of the OC (the distance between two adjacent edges). Specifically, the degree of fit between the OC and the backplane is negatively correlated with the distance between the adjacent edges, and the fit can be determined based on the adjacent edges with the longest distance. For example, assuming that starting from the right side and going counterclockwise, the four sides of the OC are [A1, B1, C1, D1], the four sides of the backplane are [A2, B2, C2, D2], the distance between edge A1 and edge A1 is d1, the distance between edge B1 and edge B2 is d2, the distance between edge C1 and edge C2 is d3, the distance between edge D1 and edge D2 is d4, and the longest distance among d1, d2, d3 and d4 is d1. The degree of fit can be determined based on d1, and the degree of fit is negatively correlated with d1.

[0108] Step E20, if the fit degree is greater than or equal to a preset fit degree threshold, determining that the engagement is successful;

[0109] The preset fit threshold can be a threshold set according to actual needs. For example, when the fit accuracy requirement is high, a higher threshold is set. Correspondingly, when the fit accuracy requirement is low, a lower threshold is set. This embodiment does not make specific restrictions on this.

[0110] Step E30: if the fit degree is less than a preset fit degree threshold, output a warning message.

[0111] The warning information may specifically be a voice warning, a vibration warning, an indicator light warning, etc., and this embodiment does not impose any specific limitation on this.

[0112] In this embodiment, when the degree of fit between the OC and the back panel is less than a preset fit threshold, a warning message is output to enable relevant personnel to perceive the low accuracy of the fit between the OC and the back panel, so as to facilitate subsequent processing and thereby reduce the defective rate of the OC after fit.

[0113] In a possible implementation manner, after the step of acquiring the first location information and the second location information, the method further includes:

[0114] Step F10: if the position deviation information between the first position information and the second position information is greater than a second preset threshold, outputting a warning message, wherein the second preset threshold is greater than the first preset threshold.

[0115] It should be noted that if the position deviation information between the first position information and the second position information is greater than the second preset threshold, the warning information is output. That is, the position of the OC is adjusted only when the position deviation information between the first position information and the second position information is greater than the first preset threshold and less than or equal to the second preset threshold.

[0116] Similar to the first preset threshold, the second preset threshold also includes multiple threshold components, and the second preset threshold is greater than the first preset threshold, specifically, at least one threshold component in the second preset threshold is greater than the threshold component in the preset fit threshold. Exemplarily, assuming that the first preset threshold is [△X1, △Y1, △R] and the second preset threshold is [△X2, △Y2, △R2], then △X2 is greater than △X1, or △Y2 is greater than △Y1, or △R2 is greater than △R1.

[0117] In this embodiment, considering that there are many components on the automatic snap-fit ​​device, and the position deviation information between the OC and the back plate is large, it means that the OC needs to be moved to a greater extent. If the OC is moved to a greater extent, the OC may collide with the components on the automatic snap-fit ​​device during the movement, causing damage to the OC or the components on the automatic snap-fit ​​device. Based on this, in this embodiment, when the position deviation information between the OC and the back plate is greater than the second preset threshold, the position of the OC is no longer moved, but an early warning message is output, thereby reducing the phenomenon of damage to the OC or the components of the automatic snap-fit ​​device during the movement of the OC.

[0118] For example, in order to help understand the technical concept or technical principle of the control process of the automatic clamping device of this embodiment, a specific embodiment is listed. In this specific embodiment, the automatic clamping device includes a belt line, a positioning unit, a robotic arm, a film tearing platform and an OC installation robot. The control process of the automatic clamping device is:

[0119] In the first step, the OC and backplane are manually placed on the belt line;

[0120] In the second step, the belt line delivers the OC and backplane to the working position.

[0121] In the third step, the positioning unit takes a picture of the OC, obtains the current OC position information, and sends it to the robotic arm; at the same time, the backplane end mechanically blocks the backplane and then lifts the backplane, and the positioning unit takes a picture of the backplane corner to obtain the three coordinate values ​​of X, Y, and R, and obtains the position information of the backplane, that is, the second position information, and stores the second position information.

[0122] Step 4: The robotic arm goes to the belt line to take the OC screen.

[0123] Step 5: The robot arm sucks OC to the film tearing platform.

[0124] Step 6: The film-tearing platform tears off the OC film;

[0125] Step 7. After the OC film is torn off, it moves to the top of the back plate under the drive of the robotic arm. The positioning unit takes a picture of the OC to obtain the three coordinate values ​​of X, Y, and R to obtain the first position information.

[0126] In the eighth step, the robot arm compares the first position information with the second position information according to the previously stored position information of the backplane, adjusts the position of the robot arm according to the comparison result, and further adjusts the position of the OC.

[0127] Step 9: The OC installation robot controls the OC to engage with the backplane.

[0128] In the tenth step, the positioning unit takes photos of the engaged OC and back panel again to confirm the accuracy. Only those with an error of less than 0.2mm can move to the next station along the belt line.

[0129] Further, refer to Figures 2 to 3 As shown, the third to ninth steps specifically include:

[0130] Receive the robot arm engagement position data (i.e., first position information) corresponding to the position data information of OC and back plate (which may be the collected environmental image) included in the camera control software information, wherein the robot arm engagement position data includes engagement coordinates X, Y, and R data, the first value stored in the engagement coordinate X is used to represent the value of OC in the engagement coordinate X direction, the second value stored in the engagement coordinate Y is used to represent the value of OC in the engagement coordinate Y direction, and the third value stored in the feeding coordinate R is used to represent the value of OC in the engagement coordinate R direction, that is, the plane rotation angle.

[0131] Determine, according to the first value, the second value and the third value, the mechanical arm engaging back plate position data information (that is, the second position information) corresponding to the position data information of the OC;

[0132] According to the determined data information of the mechanical arm engagement position, the mechanical arm is controlled ( Figures 2 to 3 The moving path of the robot arm module) is used to produce a module corresponding to the robot arm engaging backplate.

[0133] In one embodiment, the moving path includes above the OC on the belt line (i.e., the preset material picking position), above the film tearing platform (i.e., the preset film tearing position), and above the back plate engagement position (i.e., the preset engagement position), and the moving path of the control robot arm to produce a module corresponding to the back plate engaged with the robot arm includes:

[0134] After controlling the mechanical arm to move to the top of the OC on the belt line, controlling the mechanical arm to take the OC;

[0135] The OC is moved to above the film tearing platform for film tearing, and then the robotic arm is controlled to move the OC to above the backplane locking position, and according to the robotic arm locking backplane position data information corresponding to the OC position data information, the OC is locked into the backplane to produce a module corresponding to the robotic arm locking backplane.

[0136] In one embodiment, after the controlling robot arm moves to above the OC on the belt line, controlling the robot arm to take the OC includes:

[0137] According to the received camera control software position data information, after controlling the robotic arm to move above the OC on the belt line, the robotic arm is controlled to take the OC.

[0138] In one embodiment, the step of moving the OC to the film-tearing platform for film-tearing further comprises:

[0139] According to the determined robot arm control program, the robot arm is controlled to move the OC to above the film tearing platform, and the film tearing mechanism scrapes the OC film and drops it above the film tearing platform.

[0140] In one embodiment, the OC is moved to the upper side of the backplane engagement position, and is engaged with the backplane according to the mechanical arm engagement backplane position data information corresponding to the position data information of the OC, so as to produce a module corresponding to the mechanical arm engagement backplane, including:

[0141] According to the determined robot arm control program, after controlling the robot arm to move to the upper side of the back plate engagement position, controlling the camera control software to take a photo;

[0142] According to the received camera control software position data information, the robot arm is controlled to clamp the OC into the back plate.

[0143] It should be noted that the above specific embodiments are only used to understand the present application and do not constitute a limitation on the control process of the automatic locking device of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0144] In addition, the present application also provides a control system for an automatic locking device, referring to Figure 4 As shown, the control system of the automatic locking device includes:

[0145] An acquisition module 10 is used to acquire first position information and second position information, wherein the first position information is position information of a first workpiece, the second position information is position information of a second workpiece, the first workpiece includes a glass panel, and the second workpiece is a workpiece to be engaged with the first workpiece;

[0146] an adjusting module 20, configured to adjust the position of the first workpiece until the position deviation information between the first workpiece and the second workpiece is less than or equal to the first preset threshold if the position deviation information between the first position information and the second position information is greater than a first preset threshold;

[0147] The control module 30 is configured to control the first workpiece and the second workpiece to engage with each other if the position deviation information between the first position information and the second position information is less than or equal to a first preset threshold.

[0148] In addition, an embodiment of the present application also provides an automatic snap-fit ​​device, which includes a clamping unit, a positioning unit and a processor, wherein the processor is respectively connected to the clamping unit and the positioning unit, and the processor is used to execute the steps of the control method of the automatic snap-fit ​​device as described above.

[0149] The gripping unit is used to grip the OC, and may specifically be a robotic arm.

[0150] Furthermore, the clamping unit is provided with a clamp for clamping the OC. Specifically, the clamp can be a suction cup, and a plurality of suction cups are arranged at intervals. When the clamping unit drives the plurality of suction cups to be located on the upper side of the OC, the plurality of suction cups are in contact with the OC, and the suction cups absorb the OC. When the clamping unit moves, the OC is driven to move synchronously, and the OC is absorbed by the suction cups to avoid damage to the OC.

[0151] For example, refer to Figure 5 As shown, the automatic snap-fit ​​device includes:

[0152] A frame 70, on which a clamping station is provided;

[0153] A plurality of positioning units 30, wherein the plurality of positioning units 30 are mounted on the frame 70 and are respectively located on both sides of the clamping station;

[0154] A lifting unit 40, which is disposed on the frame 70 and is used to lift the back plate to the assembly station;

[0155] A gripping unit 10, the gripping unit 10 is used to grip and transport the OC;

[0156] The transmission unit 80, the backplane is transmitted by the transmission unit 80 and carried by the loading platform 50, and is used for card formation with the OC;

[0157] The clamping unit 90 is installed on the frame 70 and is located around the clamping station to clamp the back plate lifted by the lifting structure 40.

[0158] It should be noted that the OC is removed from the lifting unit 60 under the action of the clamping unit 10 , and the clamping unit 10 assists in completing the automatic engagement with the module, thereby improving the engagement efficiency.

[0159] Furthermore, a clamp 20 is disposed on the clamping unit 10 to clamp the OC raised or lowered by the lifting unit 60 .

[0160] The automatic snap-fit ​​device provided in the embodiment of the present application adopts the control method of the automatic snap-fit ​​device in the above embodiment, which can solve the technical problem of controlling the automatic snap-fit ​​device. Compared with the prior art, the beneficial effects of the automatic snap-fit ​​device provided in the present application are the same as the beneficial effects of the control method of the automatic snap-fit ​​device provided in the above embodiment, and the other technical features in the automatic snap-fit ​​device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0161] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0162] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0163] In addition, to achieve the above-mentioned purpose, an embodiment of the present application also provides a readable storage medium having computer-readable program instructions (ie, computer program) stored thereon, and the computer-readable program instructions are used to execute the control method of the automatic locking device in the above-mentioned embodiment.

[0164] The computer-readable storage medium provided in the embodiment of the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0165] The computer-readable storage medium may be included in the automatic snap-fit ​​device; or may exist independently without being assembled into the automatic snap-fit ​​device.

[0166] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the automatic clamping device, the automatic clamping device: obtains first position information and second position information, wherein the first position information is the position information of the first workpiece, and the second position information is the position information of the second workpiece, the first workpiece includes a glass panel, and the second workpiece is a workpiece to be clamped with the first workpiece; if the position deviation information between the first position information and the second position information is greater than a first preset threshold, adjust the position of the first workpiece until the position deviation information between the first workpiece and the second workpiece is less than or equal to the first preset threshold; if the position deviation information between the first position information and the second position information is less than or equal to the first preset threshold, control the first workpiece and the second workpiece to clamp.

[0167] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0168] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0169] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0170] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the control method of the above-mentioned automatic engaging device, and can solve the technical problem of controlling the automatic engaging device. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the control method of the automatic engaging device provided by the above-mentioned embodiment, and will not be described in detail here.

[0171] In addition, an embodiment of the present application further proposes a computer program product, including a control program for an automatic snap-fit ​​device, wherein the control program for the automatic snap-fit ​​device, when executed by a processor, implements the steps of the control method for the automatic snap-fit ​​device as described above.

[0172] The specific implementation of the computer program product of the present application is basically the same as the various embodiments of the control method of the automatic engaging device described above, and will not be repeated here.

[0173] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0174] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0175] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software sensor, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, including a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0176] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A control method for an automatic locking device, characterized in that: The control method of the automatic locking device comprises the following steps: Acquire first position information and second position information, wherein the first position information is position information of a first workpiece, the second position information is position information of a second workpiece, the first workpiece includes a glass panel, and the second workpiece is a workpiece to be engaged with the first workpiece; If the position deviation information between the first position information and the second position information is greater than a first preset threshold, adjusting the position of the first workpiece until the position deviation information between the first workpiece and the second workpiece is less than or equal to the first preset threshold; If the position deviation information between the first position information and the second position information is less than or equal to a first preset threshold, the first workpiece and the second workpiece are controlled to engage with each other.

2. The method according to claim 1, characterized in that The step of obtaining the first location information and the second location information includes: receiving a first arrival at the engaging position signal, and collecting a first environment image according to the first arrival at the engaging position signal, wherein the first arrival at the engaging position signal is used to indicate that the first workpiece has arrived at the engaging position; Locating the horizontal coordinates, vertical coordinates, and plane rotation angle of the first workpiece in a preset coordinate system based on the first environment image to obtain first position information; The second position information is obtained from a preset storage area.

3. The method according to claim 1, characterized in that Before the step of obtaining the first location information and the second location information, the method further includes: receiving a second arrival at the engaging position signal, and collecting a second environment image according to the second arrival at the engaging position signal, wherein the second arrival at the engaging position signal is used to indicate that the second workpiece has arrived at the engaging position; Locating the horizontal coordinates, vertical coordinates, and plane rotation angle of the second workpiece in a preset coordinate system based on the second environment image to obtain second position information; The second location information is stored in a preset storage area.

4. The method according to claim 1, characterized in that Before the step of obtaining the first location information and the second location information, the method further includes: Receiving a material picking permission signal, acquiring a preset material picking position according to the material picking permission signal, and picking up the first workpiece according to the preset material picking position, wherein the preset material picking position is the position where the first workpiece is located when the material picking permission signal is received; Moving the first workpiece to a preset film-tearing position, and tearing the film of the first workpiece after moving to the preset film-tearing position; The first workpiece is moved to a preset engaging position, and a first reaching engaging position signal is sent after the workpiece is moved to the preset engaging position.

5. The method according to claim 4, characterized in that The step of moving the first workpiece to a preset film-tearing position comprises: Generate a moving path according to the preset material taking position, the preset film tearing position and the preset engaging position, and move the first workpiece to the preset film tearing position according to the moving path; The step of moving the first workpiece to a preset engagement position includes: The first workpiece is moved to the preset film tearing position according to the moving path.

6. The method according to claim 1, characterized in that After the step of controlling the first workpiece and the second workpiece to engage with each other, the method further includes: detecting a degree of fit between the first workpiece and the second workpiece; If the fit degree is greater than or equal to a preset fit degree threshold, the engagement is determined to be successful; If the degree of fit is less than a preset degree of fit threshold, a warning message is output.

7. The method according to claim 1, characterized in that After the step of obtaining the first location information and the second location information, the method further includes: If the position deviation information between the first position information and the second position information is greater than a second preset threshold, a warning message is output, wherein the second preset threshold is greater than the first preset threshold.

8. A control system for an automatic locking device, characterized in that: The control system of the automatic engagement device comprises: An acquisition module, used to acquire first position information and second position information, wherein the first position information is position information of a first workpiece, the second position information is position information of a second workpiece, the first workpiece includes a glass panel, and the second workpiece is a workpiece to be engaged with the first workpiece; an adjustment module, configured to adjust the position of the first workpiece until the position deviation information between the first workpiece and the second workpiece is less than or equal to the first preset threshold if the position deviation information between the first position information and the second position information is greater than a first preset threshold; The control module is used to control the first workpiece and the second workpiece to engage if the position deviation information between the first position information and the second position information is less than or equal to a first preset threshold.

9. An automatic snap-fit ​​device, characterized in that: The automatic clamping device comprises: a clamping unit, a positioning unit and a processor, wherein the processor is connected to the clamping unit and the positioning unit respectively. The processor is used to execute the steps of the control method of the automatic clamping device as described in any one of claims 1 to 7.

10. A readable storage medium, characterized in that: The readable storage medium is a computer-readable storage medium, on which is stored a program for implementing a control method for an automatic snap-fitting device. The program for implementing a control method for an automatic snap-fitting device is executed by a processor to implement the steps of the control method for an automatic snap-fitting device as described in any one of claims 1 to 7.

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