Automobile front door cover size detection device

Abstract

The invention discloses an automobile front door cover size detection device. The device comprises a part storage table used for placing parts; the part feeding tongs are used for grabbing parts. The support component is used for fixing a clamping part. The detection system comprises a data acquisition element, a data calculation system and a data display system, the data acquisition element is used for acquiring part data, the data calculation system is used for determining a part size change value according to the part data, and the data display system is used for outputting the part size change value; the collaborative robot is used for moving the workpiece feeding gripper and moving the data acquisition element; the control system is in communication connection with the feeding gripper, the detection system and the collaborative robot, the control system is used for outputting detection instructions, the detection instructions comprise a gripping instruction, a part moving instruction and a scanning instruction, and the part moving instruction is used for controlling the collaborative robot to move parts through the feeding gripper; the scanning instruction is used for controlling the collaborative robot to move the data acquisition element to scan the part to acquire part data.

Description

Technical Field

[0001] The invention relates to the technical field of automobile front door cover size analysis, and in particular to an automobile front door cover size detection device. Background Art

[0002] The contour and surface dimensions of the door cover and other assemblies of automobile complete vehicle products are very important for the coordination and aesthetics of the vehicle's exterior covering parts. Severe dimensional deviations may also bring major functional problems to the vehicle. Therefore, controlling the dimensions of the exterior covering assembly parts is crucial to the function and aesthetics of the vehicle. At present, the industry relies more on physical inspection tools in the process of dimensional analysis, detection and investigation of assembly parts. This kind of physical inspection tool requires manual loading, measurement, recording and analysis. The assembly weight exceeds 15 kilograms, which puts a heavy workload on personnel. In addition, during the inspection process, the inspection results rely on manual measurement, with large errors and results that vary from person to person, resulting in a heavy amount of analysis data and too single analysis methods. It is unable to meet the needs of simulating the impact of local dimensional changes on the overall dimensions of assembly parts, verifying and comparing the impact of welding processes and processes on the deviation dimensions, resulting in a long cycle of dimensional problem analysis and optimization, and it is also unable to meet the increasingly stringent quality requirements of complete vehicle products.

[0003] When using physical inspection fixtures to check and analyze dimensional problems, it is known that the parts need to be manually installed, and then the assembly parts are placed in the specified position of the inspection fixture, and the outer contour surface of the assembly parts is compared with the profiling block for inspection and comparison. The inspection process mostly relies on manual inspection with a flatness gauge or a feeler gauge, and the measurement results need to be recorded to complete the subsequent data collation and analysis, which requires high personnel quality.

[0004] Since the contour surface design of the product is mostly curved, the manual measurement accuracy is about 0.3mm. The measurement data results vary from person to person and are closely related to the measurement angle and position selection. The results can only be used for trend judgment and cannot accurately guide size optimization.

[0005] Physical inspection fixtures can only detect external dimensions, and cannot simulate the impact of local dimensional changes on the overall dimensions of assembly parts, verify and compare the impact of welding processes and techniques on out-of-tolerance dimensions. They also cannot complete stud hole position detection.

[0006] Traditional dimensional problem analysis can only be done through tedious processes such as manual loading, alignment, measurement, data sorting, and analysis. The operation requires high skills and quality of personnel, and the workload is large. The manual loading and unloading of parts requires a lot of operation, and the sharp corners of sheet metal parts can easily cause mechanical injuries to employees. Summary of the invention

[0007] To solve at least one aspect of the above problems, the present invention provides a device for detecting the size of a front door cover of an automobile, comprising: a parts storage table, the parts storage table is used to place parts; a loading gripper, the loading gripper is used to grab the parts; a bracket component, the bracket component is used to fix and clamp the parts; a detection system, the detection system comprises a data acquisition element, a data calculation system and a data display system, the data acquisition element is used to collect part data, the data calculation system is used to determine a part size change value according to the part data, and the data display system is used to output the part size change value; a collaborative robot, the collaborative robot is used to move the loading gripper, and the collaborative robot is used to move the data acquisition element; a control system, the control system is communicatively connected with the loading gripper, the detection system and the collaborative robot, the control system is used to output detection instructions, the detection instructions include gripping instructions, part movement instructions and scanning instructions, the part movement instructions are used to control the collaborative robot to move the part through the loading gripper, and the scanning instructions are used to control the collaborative robot to move the data acquisition element to scan the part to collect the part data.

[0008] Preferably, the parts include target parts, sub-assembly parts and assembly parts, the bracket component includes an assembly positioning system, a sub-assembly positioning system and a part positioning system, the assembly positioning system is used to fix and clamp the assembly parts, the sub-assembly positioning system is used to fix and clamp the sub-assembly parts, and the part positioning system is used to fix and clamp the target parts.

[0009] Preferably, the support component further comprises a simulation tool, one end of the simulation tool is fixedly connected to the support component, and the other end of the simulation tool is movably pressed against the part.

[0010] Preferably, the scanning instruction includes scanning trajectory information and calculation template information, the collaborative robot includes multiple scanning trajectories, the detection system includes multiple calculation templates, the multiple scanning trajectories and the multiple calculation templates correspond one to one, the collaborative robot moves the data acquisition element according to the scanning trajectory information, and the data calculation system determines the part size change value based on the calculation template information and the part data.

[0011] Preferably, the calculation templates include a best fit alignment contour surface detection template, an RPS alignment gap contour surface detection template, and a custom alignment point contour surface detection template.

[0012] Preferably, the bracket component includes a bottom frame and a plurality of vertical brackets, the bottom ends of the vertical brackets are fixedly connected to the bottom frame, and the top ends of the vertical brackets are used to fix the assembly positioning system, the sub-assembly positioning system and the parts positioning system.

[0013] Preferably, the simulation tool comprises a fixing structure, a support rod, a translation mechanism and a press head, the fixing structure is used to fixedly connect the support rod and the bottom frame, and the press head is movably connected to the support rod through the translation mechanism.

[0014] Preferably, the pressing head comprises a pressing member, an angle adjusting member and a connecting member, wherein the connecting member is used to fixedly connect the translation mechanism and the angle adjusting member, and the pressing member is rotatably connected to the angle adjusting member.

[0015] Preferably, the bottom frame comprises a plurality of mounting holes, the plurality of mounting holes are respectively distributed on the bottom frame according to preset intervals, and the plurality of mounting holes are used to connect the fixing mechanism.

[0016] Preferably, a roller mechanism is provided at the bottom of the bottom frame.

[0017] The automobile front door cover size detection device of the embodiment of the present invention has the following beneficial effects: the parts are spatially positioned by the bracket component, and the part size can be simulated and analyzed in combination with the simulation tool and the analysis requirements. In combination with data collection, data technology, and data display, the analysis results can be quickly presented, providing efficient and accurate data support for the analysis of size problems. At the same time, the method of size problem analysis is enriched, more data verification methods are provided, and the single size problem analysis method and slow optimization progress are avoided. The efficiency of solving size problems is effectively improved, and the quality of the whole vehicle product is quickly improved. The results output by the detection system can effectively analyze and monitor the influencing amount of the welding process, and the data accuracy is more practical, providing more verification methods for problem analysis, avoiding the waste of size optimization costs and man-hours caused by conjecture. Through the cooperation of the bracket component and the detection system, more accurate identification and analysis of the size data such as the part profile, contour, and feature can be achieved, which can effectively support the improvement of product size accuracy, and thus improve the beauty of the flush gap of the external accessories. The fusion setting of different brackets and different detection templates can realize the use of the same system for multiple parts, realize a high degree of resource integration, and effectively reduce the cost of each part requiring the issuance of inspection tools. The support components, detection system, collaborative robot and control system are combined with preset templates and trajectories to reduce the manual on-line load, realize one-click measurement start, and save time for problem analysis. The coordination of support components and detection system makes the dimensional problem analysis method visible, avoiding the problem that the teaching of dimensional problem analysis can only be abstractly imagined by oral description of method content. It can be used for dimensional problem analysis method training, which is conducive to the cultivation of professional talents. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to better understand the above and other purposes, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings refer to the same components. It should be understood by those skilled in the art that the accompanying drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention, and the components in the drawings are not drawn to scale.

[0019] Figure 1 It shows a structural block diagram of a vehicle front door cover size detection device according to an embodiment of the present invention;

[0020] Figure 2 Another structural block diagram of a vehicle front door cover size detection device according to an embodiment of the present invention is shown;

[0021] Figure 3 A schematic diagram showing the structure of a bracket component of a vehicle front door cover size detection device according to an embodiment of the present invention is shown;

[0022] Figure 4 A schematic diagram of a simulation tool structure of a bracket component of a vehicle front door cover size detection device according to an embodiment of the present invention is shown;

[0023] Figure 5 A schematic diagram of an application scenario of a bracket component of a vehicle front door cover size detection device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0024] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0025] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0026] In order to at least partially solve the above problems and one or more of other potential problems, the embodiments of the present disclosure provide a vehicle front door cover size detection device, such as Figure 1 and Figure 2As shown, it includes: a bracket component 1, a detection system 2, a control system 3, a loading gripper 4, a collaborative robot 5 and a parts storage table 6.

[0027] The parts storage table 6 is used to place parts; the upper gripper 4 is used to grab parts; the support component 1 is used to fix and clamp parts; the detection system 2 includes a data acquisition component 201, a data calculation system 202 and a data display system 203, the data acquisition component 201 is used to collect part data, the data calculation system 202 is used to determine the part size change value according to the part data, and the data display system 203 is used to output the part size change value; the collaborative robot 5 is used to move the upper gripper 4, and the collaborative robot 5 is used to move the data acquisition component 4; the control system 3 is connected to the upper gripper 4, the detection system 2 and the collaborative robot 5, and the control system 3 is used to output detection instructions, and the detection instructions include gripping instructions, part movement instructions and scanning instructions. The part movement instructions are used to control the collaborative robot 5 to move the part through the upper gripper 4, and the scanning instructions are used to control the collaborative robot 5 to move the data acquisition component 201 to scan the part to collect part data. In some embodiments, the support component 1 also includes a simulation tool, one end of the simulation tool is fixedly connected to the support component 1, and the other end of the simulation tool is movably against the part.

[0028] Specifically, the parts storage table 6 is provided with a storage rack for storing parts to reduce the deformation of parts during the process. The parts include target parts, sub-assembly parts and assembly parts.

[0029] The support component includes an assembly positioning system, a sub-assembly positioning system and a part positioning system. The assembly positioning system is used to fix and clamp assembly parts, the sub-assembly positioning system is used to fix and clamp sub-assembly parts, and the part positioning system is used to fix and clamp target parts. For example, the support component 1 includes an assembly positioning system 101, an inner panel sub-assembly positioning system 102, and a simulation tool 103. The positioning systems 101 and 102 are used to position assembly parts and sub-assembly parts, respectively.

[0030] The assembly bracket positioning system 101 includes 3 main Z-direction positionings and 4 auxiliary Z-direction positionings. An adjustment mechanism is set in the auxiliary positioning Z direction, and the auxiliary Z-direction positioning position can be adjusted by the adjustment mechanism. The adjustment mechanism is used to adjust the positioning support to fit the front cover assembly support surface. The Z-direction positioning is evenly distributed around the front cover. The bolt positions behind the left and right hinges of the front cover are arranged with positioning holes that match them. The left side is a long hole to limit the X direction, and the right side is a round hole to limit the XY direction. A hand-held tightening nut that can cooperate with the front cover assembly bolt is set below the positioning hole. The above positioning points cooperate to form a front cover assembly parts positioning support system to ensure that the front cover is limited in six degrees of freedom in the X / Y / Z directions of rotation and translation.

[0031] The inner panel sub-assembly bracket positioning system 102 includes three main Z-direction positioning structures shared with the assembly positioning system Z-direction positioning. A clamping system is arranged above the Z-direction positioning system for clamping the front cover inner panel assembly. The middle left part of the front cover inner panel assembly is a long hole to limit the X direction, and the middle right part is a round hole to limit the XY direction. The above positioning points cooperate to form a front cover inner sub-assembly parts positioning support system to ensure that the front cover inner panel assembly parts are limited in six degrees of freedom of rotation and translation in the X / Y / Z directions.

[0032] A pressing head is arranged on the simulation tool 103, and the simulation tool 103 is provided with a scale, which can accurately record the simulated amount of the pressing head stroke. The simulation tool 103 is connected to one end of the bracket component 1, and the other end is used to press in or lift any area size of the part. The angle of the pressing head can be adjusted along with the arc surface of the part to ensure that the curved surface of the part is subjected to a vertical pressing force to prevent the surface of the part from being damaged due to non-vertical force application. By accurately adjusting the pressing head to press down or lift the part stroke, the influence of different local deformation amounts of the part on the size of other areas is analyzed; the simulation tool cooperates with the front cover assembly bracket to realize the analysis and simulation of the influence of local dimensional changes in any area on dimensional changes in other areas of the front cover.

[0033] The part is placed on the bracket component 1, and the control system 3 selects the template state to send instructions to control the data acquisition element 201 of the detection system 2 to collect data and send it to the data calculation system 202. The data calculation system calculates the impact of the local size of the current part on the size of other areas according to the fixed template, and presents the data analysis results on the data display system 203.

[0034] It is also possible not to use the simulation tool 103, and directly collect and calculate the data before and after the welding of the part in the above manner, to provide data for analyzing the dimensional changes in the welding process, to analyze and troubleshoot the factors affecting the process dimensions, and to provide accurate data support for the analysis of dimensional problems; it is also possible to install the above method to directly output the part edge and contour dimension data to obtain a dimensional deviation that is closer to the true value of the part deviation. The data can be directly used for dimensional problem optimization to speed up the efficiency of dimensional problem parts.

[0035] The detection system 2 includes a data acquisition element 201, a data calculation system 202, and a data display system 203. The data calculation system is provided with a variety of detection templates, including a best fit alignment contour surface detection template, an RPS alignment gap contour surface detection template, and a custom alignment point contour surface detection template. The difference between the templates lies in the number and position of the comparison points of the part selection system, which are used to analyze data changes from multiple angles, so as to identify the key points affecting the size, and then determine the optimization plan for size adjustment optimization;

[0036] The control system 3 inputs the template type requirement to control the data acquisition element 201 to scan and pick up data according to the contour profile trajectory of the front cover assembly and the contour profile size of the front cover inner panel assembly, and sends the picked data to the data calculation system 202, calculates and outputs the comparison value according to the fixed template / custom template, and presents it in the data display system; the detection template is set as needed to facilitate the user's one-click measurement, and it can also be operated without professional detection and analysis personnel, so that the analysis process is simple, fast and flexible;

[0037] The control system 3 sends instructions to control the collaborative robot 5 to drive the loading gripper 4 to grab the front cover assembly or the front cover inner panel assembly placed on the parts storage table 6, and places the parts on the designated positioning system on the bracket component 1 according to a fixed trajectory for positioning; different templates for the front cover assembly and the front cover inner panel assembly are set inside the control system 3, and according to the selected template, the control system 3 sends instructions to control the data acquisition element 201 to scan and pick up data according to the contour surface trajectory of the front cover assembly and the contour surface contour size of the front cover inner panel assembly, and the data acquisition system 201 sends the data to the data calculation system 202 for data processing and calculation. The control system 3 can preset the template best fit alignment contour surface detection template, RPS alignment gap contour surface detection template, and custom alignment point contour surface detection template. The number of templates can also be increased at any time as needed, so that multiple different parts can be detected and analyzed separately. Compared with the original method that requires a separate inspection fixture for each part, the quality inspection and analysis cost is greatly saved.

[0038] A flexible gripper is provided on the upper part gripper 4, and the gripping point on the gripper can be changed according to preset instructions of the control system 3 to adapt to the front cover assembly and the front cover inner plate assembly parts.

[0039] The collaborative robot 5 can drive the gripper to grab the front cover assembly and the front cover inner panel assembly parts according to the instructions of the control system 3, and can also drive the data acquisition element 201 to scan and pick up data according to the contour trajectory of the front cover assembly and the contour dimensions of the front cover inner panel assembly according to the instructions sent by the control system 3.

[0040] In some embodiments, the scanning instruction includes scanning trajectory information and calculation template information, the collaborative robot 5 includes multiple scanning trajectories, the detection system 2 includes multiple calculation templates, the multiple scanning trajectories correspond to the multiple calculation templates one by one, the collaborative robot 5 moves the data acquisition element 201 according to the scanning trajectory information, and the data calculation system 202 determines the part size change value based on the part data based on the calculation template information. In some embodiments, the calculation template includes a best fit alignment contour surface detection template, an RPS alignment gap contour surface detection template, and a custom alignment point contour surface detection template.

[0041] Specifically, when analyzing the influence of local dimensional deformation on the overall dimension, the user selects the type of part in the control system 3 according to the needs, and the control system 3 sends instructions to control the upper gripper 4 and the collaborative robot 5 to grab the part and put it into the corresponding bracket on the bracket component 1, and the simulation tool 1 is placed in the corresponding part size simulation area, and the angle of the pressing head on the simulation tool 103 is adjusted along with the arc surface of the part to ensure that the part surface is subjected to vertical clamping force. By accurately adjusting the pressing head to press down or lift the part stroke, the influence of different local deformation amounts of the part on the dimensions of other areas is analyzed. The user selects the corresponding template or custom template of the control system, and the control system 3 sends a control instruction to the data acquisition component 201. The data acquisition component 201 completes data acquisition and transmits it to the data calculation system 202 to complete the calculation results, completing a simulation analysis test of the influence of local deformation of the part on the overall dimension. This test can be used before the part size is adjusted to quickly find size optimization measures and speed up the size optimization progress.

[0042] When analyzing the influence of the welding process on the size, according to the user's selection, the control system 3 sends instructions to control the collaborative robot 5 to drive the upper gripper 4 to grab the sub-assembly parts, and place the sub-assembly parts in the bracket component 4. The control system 3 sends instructions to control the collaborative robot 5 to drive the data acquisition component 201 to collect the part data according to the preset trajectory, and send the data to the data calculation system 202 for calculation, output the detection value, and then produce the sub-assembly parts according to the welding process to the assembly parts, and perform the detection value again according to the above steps. The control system compares the two data according to the fixed template and outputs the change state. The user can directly lock the influence of the current welding process on the size according to the result change state, so as to quickly lock the key influencing factors of the size problem and speed up the analysis of the size problem.

[0043] When analyzing the change of contour surface size, the above steps can be used to directly output the size detection deviation value. The template can also be flexibly changed through the control system to compare the relative positions of the surface sizes or contour sizes of any several areas, so as to achieve accurate result output.

[0044] The six spatial degrees of freedom of the part are fixed by the positioning elements of the bracket component 1 respectively, and the inspection system is used to accurately detect the contour, surface size and characteristic size of the part, effectively improving the accuracy of the analysis data and achieving the purpose of accurate data guiding dimensional optimization; the simulation tool 103 is used to simulate the local deformation of the part according to needs, and the preset template is selected according to needs. The detection system extracts and processes the data, which reduces the difficulty of dimensional analysis and can meet the simulation of various analysis conditions of the vehicle's outer cover, quickly lock the key influencing factors of dimensional optimization, guide dimensional optimization, and effectively improve the analysis and optimization level of the outer cover dimensional problems; the control system is used to drive the collaborative robot to achieve precise hierarchical control, which can reduce personnel compliance and realize resource integration.

[0045] In some embodiments, the bracket component includes a bottom frame 11 and multiple vertical brackets 12, the bottom ends of the vertical brackets 12 are fixedly connected to the bottom frame 11, and the top ends of the vertical brackets 12 are used to fix the assembly positioning system, the sub-assembly positioning system and the parts positioning system.

[0046] Specifically, Figure 3 and Figure 5 As shown, the bottom frame 11 and the plurality of vertical brackets 12 are fixedly connected, and the number and position of the plurality of vertical brackets 12 are set according to actual needs. The top of the vertical bracket 12 is used to set the positioning system, which includes the assembly positioning system, the sub-assembly positioning system and the parts positioning system.

[0047] In some embodiments, the simulation tool includes a fixing structure 141, a support rod 142, a translation mechanism and a press head, the fixing structure is used to fix the support rod and the bottom frame, and the press head is movably connected to the support rod through the translation mechanism.

[0048] Specifically, Figure 4 As shown, the fixing mechanism 141 is fixedly engaged with the support rod 142, and the fixing mechanism 141 is fixedly connected to the bottom frame 11. The translation mechanism includes an adjustment rod 143 and an adjustment block, the adjustment block is used to fix the adjustment rod 143 and the support rod 142, the adjustment rod 143 and the support rod 142 are arranged perpendicular to each other, and a fastening screw is arranged on the adjustment block, and the adjustment block can be moved up and down relative to the support rod 142 by adjusting the fastening screw, and the adjustment rod 143 can be moved relative to each other in a plane perpendicular to the support rod 142.

[0049] In some embodiments, the press head includes a pressing member 146, an angle adjusting member 145 and a connecting member 144, wherein the connecting member is used to fixedly connect the translation mechanism and the angle adjusting member, and the pressing member is rotatably connected to the angle adjusting member.

[0050] Specifically, Figure 4 and Figure 5As shown, the bottom end of the pressing member 146 is used to abut against the parts. The pressing member 146 is rotatably connected to the angle adjustment member 145, so that the angle of the pressing member 146 can be adjusted according to actual needs. The angle adjustment member 145 is a disc structure, on which a limit hole is provided. The limit hole is an arc hole around the disc. The extended end of the pressing member 146 is fixed relative to the angle adjustment member 145 by a fastening screw passing through the limit hole. The bottom end of the angle adjustment member 145 is fixedly connected to the connecting member 144. The connecting member 144 is sleeved on the adjustment rod 143 of the translation mechanism.

[0051] In some embodiments, the bottom frame 11 includes a plurality of mounting holes, which are respectively distributed on the bottom frame 11 according to preset intervals, and the plurality of mounting holes are used to connect the fixing mechanism 141 .

[0052] Specifically, the mounting hole is a threaded through hole opened on the bottom frame 1, and the bottom frame 11 and the fixing mechanism 141 are fixedly connected by fastening screws that pass through the threaded hole of the fixing mechanism 141 and the mounting hole of the bottom frame 1 in sequence. Multiple mounting holes are evenly distributed on the bottom frame 11, and the movement and fixing efficiency of the simulation tool are increased by setting the mounting holes.

[0053] In some embodiments, a roller mechanism 15 is disposed at the bottom of the bottom frame 11 .

[0054] Specifically, Figure 1 As shown, a plurality of roller mechanisms 15 are disposed at the bottom of the bottom frame 11 , and the roller mechanisms 15 can be used to realize the overall movement of the bracket component 1 to meet the requirements of different application scenarios.

[0055] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the present invention.

Claims

1. A vehicle front door cover size detection device, characterized in that: include: A parts storage table, wherein the parts storage table is used to place parts; A top gripper, the top gripper is used to grab the parts; A bracket component, the bracket component is used to fix and clamp the part; A detection system, the detection system comprising a data acquisition element, a data calculation system and a data display system, the data acquisition element is used to collect part data, the data calculation system is used to determine a part size change value according to the part data, and the data display system is used to output the part size change value; A collaborative robot, the collaborative robot is used to move the upper gripper, and the collaborative robot is used to move the data acquisition element; A control system, wherein the control system is communicatively connected with the loading gripper, the detection system and the collaborative robot, the control system is used to output detection instructions, the detection instructions include gripping instructions, part movement instructions and scanning instructions, the part movement instructions are used to control the collaborative robot to move the part via the loading gripper, and the scanning instructions are used to control the collaborative robot to move the data acquisition element to scan the part to acquire the part data.

2. The device according to claim 1, characterized in that The parts include target parts, sub-assembly parts and assembly parts. The bracket component includes an assembly positioning system, a sub-assembly positioning system and a part positioning system. The assembly positioning system is used to fix and clamp the assembly parts, the sub-assembly positioning system is used to fix and clamp the sub-assembly parts, and the part positioning system is used to fix and clamp the target parts.

3. The device according to claim 2, characterized in that The support component further comprises a simulation tool, one end of which is fixedly connected to the support component, and the other end of which is movably pressed against the part.

4. The device according to claim 3, characterized in that The scanning instruction includes scanning trajectory information and calculation template information, the collaborative robot includes multiple scanning trajectories, and the detection system includes multiple calculation templates. The multiple scanning trajectories and the multiple calculation templates correspond one to one. The collaborative robot moves the data acquisition element according to the scanning trajectory information, and the data calculation system determines the part size change value based on the calculation template information and the part data.

5. The device according to claim 4, characterized in that The calculation templates include a best fit alignment contour surface detection template, an RPS alignment gap contour surface detection template, and a custom alignment point contour surface detection template.

6. The device according to claim 3, characterized in that The bracket component includes a bottom frame and a plurality of vertical brackets, the bottom ends of the vertical brackets are fixedly connected to the bottom frame, and the top ends of the vertical brackets are used to fix the assembly positioning system, the sub-assembly positioning system and the parts positioning system.

7. The device according to claim 6, characterized in that The simulation tool comprises a fixing mechanism, a support rod, a translation mechanism and a press head, wherein the fixing structure is used for fixedly connecting the support rod and the bottom frame, and the press head is movably connected to the support rod through the translation mechanism.

8. The device according to claim 7, characterized in that The press-fitting head comprises a pressing member, an angle adjusting member and a connecting member, wherein the connecting member is used for fixedly connecting the translation mechanism and the angle adjusting member, and the pressing member is rotatably connected to the angle adjusting member.

9. The device according to claim 8, characterized in that The bottom frame comprises a plurality of mounting holes, the plurality of mounting holes are respectively distributed on the bottom frame according to preset intervals, and the plurality of mounting holes are used to connect the fixing mechanism.

10. The device according to claim 6, characterized in that A roller mechanism is arranged at the bottom of the bottom frame.

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