Surface-mounted part mounting method, device and equipment and computer readable storage medium

Abstract

The invention relates to a surface-mounted part mounting method, device and equipment and a computer readable storage medium. The standard object and the to-be-mounted object are positioned through the force control sensor probe, the position difference between the standard object and the to-be-mounted object is obtained, the standard mounting information of the standard component on the standard object is compensated according to the position difference, the target mounting information is obtained, and finally the mechanical device is controlled to complete mounting work according to the target mounting information. And a time-saving and labor-saving automatic mounting mode is realized, so that the assembly efficiency can be effectively improved.

Description

Technical Field

[0001] The present disclosure relates to the field of manufacturing technologies, and in particular, to a method, device, equipment, and computer-readable storage medium for mounting a mounting part. Background Art

[0002] During the assembly process of a vehicle, after the main body structure of the vehicle is assembled, mounting parts such as vehicle logos need to be installed at corresponding positions on the vehicle. Specifically, a vehicle logo refers to the logo of various automobile brands, which is mainly used to identify the brand or model of the vehicle.

[0003] Currently, during the installation of mounting parts, it is necessary to manually use a positioning tool to determine the position of the mounting part on the vehicle, then place the mounting part at the determined position, and fit the mounting part to the vehicle body to complete the mounting operation of the mounting part.

[0004] However, the above method of manually mounting the mounting part on the vehicle is time-consuming and laborious, resulting in low assembly efficiency. Summary of the Invention

[0005] In order to solve the above technical problems, the present disclosure provides a method, device, equipment, and computer-readable storage medium for mounting a mounting part to improve the assembly efficiency.

[0006] In a first aspect, an embodiment of the present disclosure provides a method for mounting a mounting part, including:

[0007] Controlling a force control sensor probe to contact a standard object located at a standard position along three preset directions that are perpendicular to each other;

[0008] Obtaining the standard position information of the force control sensor probe when it contacts the standard object, and the standard mounting information corresponding to the standard object, where the standard mounting information is used to control a mounting tool to mount a mounting part to a mounting position on the standard object;

[0009] Controlling the force control sensor probe to contact a to-be-mounted object located at a first position along the three preset directions, and obtaining the first position information of the force control sensor probe when it contacts the to-be-mounted object;

[0010] Calculating target mounting information according to the standard position information, the standard mounting information, and the first position information, where the difference between the target mounting information and the standard mounting information is equal to the difference between the first position information and the standard position information;

[0011] Controlling the mounting tool to mount the mounting part to the to-be-mounted object according to the target mounting information.

[0012] In some embodiments, the force control sensor probe contacts a standard object located at a standard position along three preset directions, including:

[0013] Controlling the force control sensor probe to move along the three preset directions respectively;

[0014] For each of the preset directions, when the pressure value between the force control sensor probe and the standard object reaches a preset contact force value, it is determined that the force control sensor probe contacts the standard object.

[0015] In some embodiments, the mounting tool at least includes a mounting component clamp and a mounting component push plate. Controlling the mounting tool to mount the mounting component to the object to be mounted according to the target mounting information includes:

[0016] Controlling the mounting component clamp holding the mounting component to move to the target position corresponding to the target mounting information;

[0017] Controlling the mounting component push plate to apply a pressure with a magnitude of a preset mounting force value in the mounting direction of the mounting component to mount the mounting component to the object to be mounted.

[0018] In some embodiments, controlling the mounting component push plate to apply a pressure with a magnitude of a preset mounting force value in the mounting direction of the mounting component to mount the mounting component to the object to be mounted includes:

[0019] Controlling the mounting component push plate to apply a pressure in the mounting direction of the mounting component, and simultaneously detecting whether the pressure reaches the preset mounting force value through the force control sensor probe;

[0020] If so, it is determined that the mounting component is mounted to the object to be mounted.

[0021] In some embodiments, the mounting component clamp at least includes a first gripper assembly and a second gripper assembly. Before the force control sensor probe contacts a standard object located at a standard position along three preset directions, the method further includes:

[0022] Adjusting the distance between the first gripper assembly and the second gripper assembly according to the dimension information of the mounting component.

[0023] In some embodiments, the method further includes:

[0024] Performing image acquisition on the mounted mounting component to obtain a mounting state image;

[0025] When the similarity between the mounting state image and a preset image is greater than a preset similarity threshold, it is determined that the current mounting operation is successful.

[0026] In some embodiments, controlling the force control sensor probe to move along the three preset directions respectively includes:

[0027] For any one of the preset directions, if the moving distance of the force control sensor probe exceeds a preset distance threshold, then control the force control sensor probe to stop moving.

[0028] In a second aspect, an embodiment of the present disclosure provides a mounting device for a mounting component, including:

[0029] A first control module for controlling a force control sensor probe to contact a standard object located at a standard position along three preset directions that are perpendicular to each other;

[0030] A first acquisition module for acquiring the standard position information of the force control sensor probe when it contacts the standard object, and the standard mounting information corresponding to the standard object, where the standard mounting information is used to control a mounting tool to mount the mounting component to a mounting position on the standard object;

[0031] A second control module for controlling the force control sensor probe to contact a to-be-mounted object located at a first position along the three preset directions respectively, and acquiring the first position information of the force control sensor probe when it contacts the to-be-mounted object;

[0032] A calculation module for calculating target mounting information according to the standard position information, the standard mounting information, and the first position information, where the difference between the target mounting information and the standard mounting information is equal to the difference between the first position information and the standard position information;

[0033] A mounting module for controlling the mounting tool to mount the mounting component to the to-be-mounted object according to the target mounting information.

[0034] In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

[0035] A memory;

[0036] A processor; and

[0037] A computer program;

[0038] Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in the first aspect.

[0039] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the method as described in the first aspect.

[0040] In a fifth aspect, embodiments of the present disclosure provide a vehicle, including the device, electronic device or computer-readable storage medium as described above.

[0041] The mounting method, device, equipment and computer-readable storage medium for mounting components provided by the embodiments of the present disclosure locate a standard object and an object to be mounted through a force control sensor probe, obtain the position difference between the two, compensate the standard mounting information of the standard component on the standard object according to the position difference, obtain the target mounting information, and finally control the mechanical device to complete the mounting work according to the target mounting information, realizing a time-saving and labor-saving automatic mounting method, thereby effectively improving the assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure and used together with the specification to explain the principles of the present disclosure.

[0043] To more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0044] Figure 1 It is a flowchart of the mounting method for mounting components provided by the embodiments of the present disclosure;

[0045] Figure 2 It is a schematic diagram of an application scenario provided by the embodiments of the present disclosure;

[0046] Figure 3 It is a schematic diagram of a mounting mechanical device provided by the embodiments of the present disclosure;

[0047] Figure 4 It is a flowchart of the mounting method for mounting components provided by another embodiment of the present disclosure;

[0048] Figure 5 It is a schematic structural diagram of the mounting device for mounting components provided by the embodiments of the present disclosure;

[0049] Figure 6 It is a schematic structural diagram of the electronic device provided by the embodiments of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

[0051] In the following description, many specific details are set forth to provide a thorough understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all of the embodiments.

[0052] Embodiments of the present disclosure provide a method for mounting a mounting component. The method will be introduced below in conjunction with specific embodiments.

[0053] Figure 1 It is a flowchart of the method for mounting a mounting component provided by an embodiment of the present disclosure. This method can be applied to a mounting operation control system. Figure 2 It is an application scenario provided by an embodiment of the present disclosure, which includes a standard object 21 and an object to be mounted 22. It can be understood that the method for mounting a mounting component provided by the embodiments of the present disclosure can also be applied to other scenarios.

[0054] The following combines Figure 2 the application scenario shown, and Figure 1 introduces the method for mounting a mounting component shown. The specific steps included in this method are as follows:

[0055] S101. Control the force control sensor probe to contact the standard object located at the standard position along three preset directions, and the three preset directions are perpendicular to each other.

[0056] The force control sensor probe is used to obtain the pressure on the contact surface when contacting an object. According to the pressure obtained by the force control sensor probe, the contact state between the force control sensor probe and the object can be determined, for example, it can be determined whether the force control sensor probe is in contact with the object.

[0057] The standard object is the object to be calibrated and on which the mounting component needs to be mounted. The mounting component can be a vehicle logo, and the standard object can be a standard vehicle for calibration and on which the vehicle logo needs to be mounted. In the Figure 2 scenario shown, the standard object is schematically shown as a cube 21.

[0058] Control the force control sensor probe to contact the standard object located at the standard position along three mutually perpendicular preset directions, for example, along the Figure 2 X, Y, and Z coordinate axis directions shown.

[0059] For example, control the force control sensor probe to contact the standard object located at the standard position along the first preset direction, then control the force control sensor probe to contact the standard object located at the standard position along the second preset direction, and finally control the force control sensor probe to contact the standard object located at the standard position along the third preset direction.

[0060] S102. Obtain the standard position information of the force control sensor probe when it contacts the standard object, and the standard mounting information corresponding to the standard object, where the standard mounting information is used to control the mounting tool to mount the mounting part to the mounting position on the standard object.

[0061] Each time the force control sensor probe contacts the standard object, record the position information of the force control sensor probe at this time, and at the same time, this position information is also the position information of the contact point between the force control sensor probe and the standard object; after controlling the force control sensor probe to contact the standard object located at the standard position along three preset directions respectively, the position information of the force control sensor probe when it contacts the standard object in each preset direction can be obtained, and the standard position information is obtained.

[0062] In some embodiments, after obtaining the standard position information, the position where the standard object is located can be determined.

[0063] Specifically, the standard position information may be in the form of coordinates, and the embodiments of the present disclosure do not limit this.

[0064] For example, as Figure 2 shown, control the force control sensor probe to contact the standard object 21 along the X, Y, and Z coordinate axes directions respectively, record the contact points as P1, P2, and P3 respectively, and obtain the position information of P1, P2, and P3 to obtain the standard position information.

[0065] The standard mounting information can be understood as the information indicating the position of the mounting position on the standard object. According to the standard mounting information, the mounting tool can be controlled to mount the mounting part to the mounting position on the standard object.

[0066] S103. Control the force control sensor probe to contact the object to be mounted located at the first position along the three preset directions respectively, and obtain the first position information of the force control sensor probe when it contacts the object to be mounted.

[0067] The object to be mounted can be understood as an object located on the mounting production line that needs to perform the mounting operation of the mounting part. It is schematically shown as a cube 22 in the Figure 2 shown scenario. For example, the object to be mounted may be a vehicle to be mounted located on the mounting production line.

[0068] Optionally, during the actual production process, the positions of the objects to be mounted when they reach the mounting station may deviate. Therefore, trend analysis can be performed on the positions of the objects to be mounted when they reach the mounting station through multiple pieces of first position information to obtain a deviation trend and give an early warning. For example, various data are automatically uploaded to the measurement system in real time, and the data supports offline visualization and online visualization. Big data is formed through data accumulation to obtain the deviation trend of the objects to be mounted and give an early warning in advance to improve the accuracy of the mounting method for the mounted parts. Specifically, this process can be realized relying on the Manufacturing Execution System (MES).

[0069] Control the force control sensor probe to contact the object to be mounted at the first position along the three preset directions respectively. The specific implementation process is the same as the process of controlling the force control sensor probe to contact the standard object along the three preset directions in the above steps, and will not be elaborated here.

[0070] When the force control sensor probe contacts the object to be mounted, record the position where the force control sensor probe is located or the contact point where the force control sensor probe contacts the object to be mounted each time the force control sensor probe contacts the object to be mounted, to obtain the first position information. For example, obtain the three-point position information of P’1, P’2, and P’3 as shown in Figure 2 to obtain the first position information.

[0071] Specifically, the first position information can be in the form of coordinates, and the embodiments of the present disclosure do not limit this.

[0072] In some embodiments, after obtaining the first position information, the position of the object to be mounted can be determined.

[0073] S104. Calculate the target mounting information according to the standard position information, the standard mounting information, and the first position information, where the difference between the target mounting information and the standard mounting information is equal to the difference between the first position information and the standard position information.

[0074] For the standard object and the object to be mounted of the same model, the positions where the mounting parts need to be mounted are fixed. Therefore, according to the position gap between the standard object and the object to be mounted, the position gap between the standard object and the object to be mounted can be known, and the standard mounting information can be compensated accordingly to obtain the target mounting information.

[0075] Specifically, find the difference between the standard position information and the first position information, and sum the difference between the standard position information and the first position information and the standard mounting information to obtain the target mounting information.

[0076] ForFigure 2 Taking the scene shown as an example, obtain the standard position information P1(x1, y1, z1), P2(x2, y2, z2), P3(x3, y3, z3), and obtain the standard mounting information P o (x o , y o , z o ). Obtain the first position information P’1(x’1, y’1, z’1), P’2(x’2, y’2, z’2), P’3(x’3, y’3, z’3); calculate Δx = x’1 - x1, Δy = y’2 - y2, Δz = z’3 - z3 in sequence, and further calculate to obtain the target mounting information P’ o (x’ o , y’ o , z’ o ) = P o (x o + Δx, y o + Δy, z o + Δz).

[0077] S105. Control the mounting tool to mount the mounting part onto the object to be mounted according to the target mounting information.

[0078] The target mounting information represents the position where the mounting part should be mounted on the object to be mounted. After obtaining the target mounting information, the mounting tool can be controlled to mount the mounting part onto the object to be mounted.

[0079] In the embodiments of the present disclosure, the force control sensor probe is controlled to contact a standard object located at a standard position along three preset directions, and the three preset directions are perpendicular to each other; the standard position information of the force control sensor probe when it contacts the standard object and the standard mounting information corresponding to the standard object are obtained, and the standard mounting information is used to control a mounting tool to mount a mounting component to a mounting position on the standard object; the force control sensor probe is controlled to contact a to-be-mounted object located at a first position along the three preset directions, and the first position information of the force control sensor probe when it contacts the to-be-mounted object is obtained; target mounting information is calculated according to the standard position information, the standard mounting information and the first position information, and the difference between the target mounting information and the standard mounting information is equal to the difference between the first position information and the standard position information; the mounting tool is controlled to mount the mounting component to the to-be-mounted object according to the target mounting information. By positioning the standard object and the to-be-mounted object through the force control sensor probe, the position difference between the two is obtained, and the standard mounting information of the standard component on the standard object is compensated according to the position difference to obtain the target mounting information. Finally, the mechanical device is controlled to complete the mounting work according to the target mounting information, realizing a time-saving and labor-saving automatic mounting method, thereby effectively improving the assembly efficiency.

[0080] In some embodiments, controlling the force control sensor probe to contact a standard object located at a standard position along three preset directions includes: controlling the force control sensor probe to move along the three preset directions respectively; for each of the preset directions, when the pressure value between the force control sensor probe and the standard object reaches a preset contact force value, it is determined that the force control sensor probe contacts the standard object.

[0081] Correspondingly, controlling the force control sensor probe to contact a to-be-mounted object located at a first position along the three preset directions includes controlling the force control sensor probe to move along the three preset directions respectively; for each of the preset directions, when the pressure value between the force control sensor probe and the to-be-mounted object reaches a preset contact force value, it is determined that the force control sensor probe contacts the to-be-mounted object.

[0082] The force control sensor probe can obtain the pressure value generated when contacting the contact surface. The preset contact force value is the pressure threshold preset by the assembly personnel. When the pressure value obtained by the force control sensor probe reaches the preset contact force value, it is considered that the force control sensor probe contacts the standard object or the object to be mounted; at the same time, the judgment criteria for the force control sensor probe to contact the standard object and the object to be mounted are that the pressure value obtained by the force control sensor probe reaches the preset contact force value, which can ensure that the contact states of the force control sensor probe when contacting the standard object and the object to be mounted are the same, so as to ensure the accuracy of positioning the standard object and the object to be mounted.

[0083] Figure 3 The figure is a schematic diagram of a mounting mechanical device provided by an embodiment of the present disclosure. In some embodiments, as Figure 3 shown, the mounting mechanical device at least includes a force control sensing probe 31, a first gripper assembly 32, a detection camera 33, a second gripper assembly 34, and a profiling suction cup 35, wherein the first gripper assembly 32, the second gripper assembly 34, and the profiling suction cup 35 form a mounting part fixture; mounting part push plates are provided at the ends of the first gripper assembly 32 and the second gripper assembly 34. It can be understood that Figure 3 the shown mounting mechanical device is only an example that can implement the mounting method of the mounting part. The mounting method of the mounting part will be introduced below with reference to Figure 3 the shown mounting mechanical device.

[0084] In some embodiments, the mounting tool at least includes a mounting part fixture and a mounting part push plate. The control of the mounting tool to mount the mounting part to the object to be mounted according to the target mounting information includes: controlling the mounting part fixture holding the mounting part to move to the target position corresponding to the target mounting information; controlling the mounting part push plate to apply a pressure with a magnitude of a preset mounting force value in the mounting direction of the mounting part to mount the mounting part to the object to be mounted.

[0085] Specifically, the control of the mounting part push plate to apply a pressure with a magnitude of a preset mounting force value in the mounting direction of the mounting part to mount the mounting part to the object to be mounted includes: controlling the mounting part push plate to apply a pressure in the mounting direction of the mounting part, and at the same time detecting whether the pressure reaches the preset mounting force value through the force control sensor probe; if so, it is determined that the mounting part is mounted to the object to be mounted.

[0086] The mounting component fixture is used to clamp the mounting component and move the mounting component from the mounting component placement table to a position convenient for mounting. After the mounting component fixture moves to the target position corresponding to the target mounting information, a pressure with a magnitude of a preset mounting force value is applied to the mounting direction of the mounting component by the mounting component pusher plate, wherein the magnitude of the pressure applied by the mounting component pusher plate is detected by the force control sensor probe to mount the mounting component onto the object to be mounted. Among them, the preset mounting force value is the pressure threshold preset by the assembly personnel. When the force control sensor probe detects that the pressure between the mounting component (or the mounting component pusher plate) and the object to be mounted (or the mounting component) reaches the preset mounting force value, it is considered that the pressing force during mounting is sufficient to firmly bond the mounting component to the object to be mounted. Correspondingly, when the force control sensor probe detects that the pressure between the mounting component (or the mounting component pusher plate) and the object to be mounted (or the mounting component) is less than the preset mounting force value, at this time, due to the insufficient pressing force during mounting, the bonding stability of the mounting component on the object to be mounted may be poor.

[0087] In some embodiments, the mounting component pusher plate is controlled to apply a pressure with a magnitude of a preset mounting force value to the mounting direction of the mounting component and maintain it for a preset time to mount the mounting component onto the object to be mounted.

[0088] In some embodiments, the mounting component fixture may include Figure 3 the first gripper assembly 32, the second gripper assembly 34, and the profiling suction cup 35 as shown. Controlling the mounting component fixture holding the mounting component to move to the target position corresponding to the target mounting information includes: controlling the first gripper assembly 32, the second gripper assembly 34, and the profiling suction cup 35 holding the mounting component to move to the target position corresponding to the target mounting information.

[0089] Optionally, the standard mounting information at least includes the standard position information of the first gripper, the standard position information of the second gripper, and the standard position information of the profiling suction cup. The standard position information of the first gripper, the standard position information of the second gripper, and the standard position information of the profiling suction cup represent the positions where the first gripper assembly 32, the second gripper assembly 34, and the profiling suction cup 35 are located when mounting a standard object. Correspondingly, the target mounting information at least includes the target position information of the first gripper, the target position information of the second gripper, and the target position information of the profiling suction cup. The target position information of the first gripper, the target position information of the second gripper, and the target position information of the profiling suction cup represent the positions where the first gripper assembly 32, the second gripper assembly 34, and the profiling suction cup 35 are located when mounting an object to be mounted. Meanwhile, the target mounting information is calculated according to the standard position information, the standard mounting information, and the first position information, including: calculating the target position information of the first gripper, the target position information of the second gripper, and the target position information of the profiling suction cup according to the standard position information, the standard position information of the first gripper, the standard position information of the second gripper, the standard position information of the profiling suction cup, and the first position information, where the difference between the target position information of the first gripper and the standard position information of the first gripper is equal to the difference between the first position information and the standard position information, the difference between the target position information of the second gripper and the standard position information of the second gripper is equal to the difference between the first position information and the standard position information, and the difference between the target position information of the profiling suction cup and the standard position information of the profiling suction cup is equal to the difference between the first position information and the standard position information.

[0090] Specifically, denote the standard position information as P1(x1, y1, z1), P2(x2, y2, z2), P3(x3, y3, z3), the standard position information of the first gripper as P o1 (x o1 ,y o1 ,z o1 ), the standard position information of the second gripper as P o2 (x o2 ,y o2 ,z o2 ), the standard position information of the profiling suction cup as P o3 (x o3 ,y o3 ,z o3 ), the first position information as P’1(x’1, y’1, z’1), P’2(x’2, y’2, z’2), P’3(x’3, y’3, z’3). Calculate the differences between the first position information and the standard position information respectively, that is, the position change amounts in the X, Y, and Z directions, Δx = x’1 - x1, Δy = y’2 - y2, Δz = z’3 - z3, so as to obtain the target position information of the first gripper P’ o1 (x’ o1 ,y’o1 , z' o1 ) = P o1 (x o1 + Δx, y o1 + Δy, zo1 + Δz, the target position information of the second gripper Po2, yo2,, yo2,, zo2, = Po2 xo2 + Δx, yo2 + Δy, zo2 + Δz,, the target position information of the profiling suction cup P' o3 (x' o3 , y' o3 , z' o3 ) = P o3 (x o3 + Δx, y o3 + Δy, z o3 + Δz).

[0091] In some embodiments, before the control force sensor probe contacts a standard object located at a standard position along three preset directions respectively, the method further includes: adjusting the distance between the first gripper assembly and the second gripper assembly according to the size information of the mounting part.

[0092] For example, when it is necessary to grasp a mounting part with a larger size, the first gripper assembly and the second gripper assembly can be controlled to move in a direction away from each other to increase the distance between the first gripper assembly and the second gripper assembly; or, when it is necessary to grasp a mounting part with a smaller size, the first gripper assembly and the second gripper assembly can be controlled to move in a direction closer to each other to reduce the distance between the first gripper assembly and the second gripper assembly, so as to realize stable grasping operations for various models of mounting parts.

[0093] In some embodiments, the method further includes: performing image acquisition on the mounted mounting part to obtain a mounting state image; when the similarity between the mounting state image and a preset image is greater than a preset similarity threshold, determining that the current mounting operation is successful.

[0094] Specifically, the mounted mounting part can be subjected to image acquisition by a detection camera 33 as shown in Figure 3 to obtain a mounting state image.

[0095] The preset image is the image of the component to be mounted on the object to be mounted under normal circumstances, and this preset image can reflect the position of the component to be mounted on the object to be mounted under normal circumstances. When the similarity between the mounting state image and the preset image is greater than the preset similarity threshold, it is considered that there is no obvious position deviation in this mounting operation, the mounting position of the component meets the requirements, and this mounting operation is successful; when the similarity between the mounting state image and the preset image is less than or equal to the preset similarity threshold, it is considered that there is an obvious position deviation in this mounting operation, the mounting position of the component does not meet the requirements, and this mounting operation fails.

[0096] In the embodiments of the present disclosure, by monitoring the mounting state of the component to be mounted,

[0097] In some embodiments, controlling the force control sensor probe to move along the three preset directions respectively includes: for any one of the preset directions, if the moving distance of the force control sensor probe exceeds the preset distance threshold, then control the force control sensor probe to stop moving.

[0098] The preset distance threshold is the boundary condition set in advance. When controlling the force control sensor probe to move along any one of the preset directions, if the moving distance of the force control sensor probe exceeds the preset distance threshold and still does not contact the object to be mounted, it is considered that there is an abnormal situation at this time, such as the absence of the object to be mounted or the position of the object to be mounted exceeding the mounting operation station. At this time, it is necessary to control the force control sensor probe to stop moving and report the abnormal situation in time to further improve the flexibility of the component mounting method. It can be understood that during the process of the force control sensor probe contacting the standard object, the moving range of the force control sensor probe can also be controlled according to the preset distance threshold.

[0099] Figure 4 is a flowchart of a component mounting method provided by another embodiment of the present disclosure. As Figure 4 shown, the method includes the following steps:

[0100] S401. Set the mounting parameters according to the mounting process requirements.

[0101] Specifically, the mounting parameters include but are not limited to the preset contact force value, the preset mounting force value, the preset distance threshold, the distance between the first gripper assembly and the second gripper assembly, the preset similarity threshold, and so on.

[0102] S402. Control the force control sensor probe to move along the three preset directions respectively.

[0103] S403. Determine whether the pressure between the force control sensor probe and the standard object reaches the preset contact force value. If so, execute S406; if not, execute S404.

[0104] S404. Determine whether the moving distance of the force control sensor probe in any preset direction exceeds a preset distance threshold. If so, execute S405; if not, execute S403.

[0105] S405. Report an error.

[0106] S406. Obtain the standard position information and the standard mounting information.

[0107] S407. Wait for the object to be mounted to move to the mounting station.

[0108] For example, the object to be mounted can be a vehicle to be mounted.

[0109] S408. Control the force control sensor probe to contact the object to be mounted along the three preset directions respectively.

[0110] S409. Determine whether the pressure between the force control sensor probe and the object to be mounted reaches a preset contact force value. If so, execute S411; if not, execute S410.

[0111] S410. Determine whether the moving distance of the force control sensor probe in any preset direction exceeds a preset distance threshold. If so, execute S405; if not, execute S409.

[0112] S411. Obtain the first position information.

[0113] S412. Calculate the target mounting information based on the standard position information, the standard mounting information, and the first position information.

[0114] S413. Control the mounting tool to mount the mounting part on the object to be mounted according to the target mounting information.

[0115] S414. Perform image acquisition on the mounted mounting part to obtain a mounting state image.

[0116] S415. Determine whether the similarity between the mounting state image and a preset image is greater than a preset similarity threshold. If so, execute S416; if not, execute S405.

[0117] S416. Wait for the next object to be mounted to move to the mounting station.

[0118] In the embodiments of the present disclosure, the force control sensor probe is used to position the standard object and the object to be mounted, obtain the position difference between the two, and compensate the standard mounting information of the standard part on the standard object according to the position difference to obtain the target mounting information. Finally, the mechanical device is controlled to complete the mounting work according to the target mounting information, realizing a time-saving and labor-saving automatic mounting method, thereby effectively improving the assembly efficiency.

[0119] Figure 5 This is a schematic structural diagram of a mounting component mounting device provided by an embodiment of the present disclosure. The mounting component mounting device may be in the mounting operation control system described in the above embodiment, or the mounting component mounting device may be a component or assembly in the mounting operation control system. The mounting component mounting device provided by the embodiment of the present disclosure may execute the processing flow provided by the embodiment of the mounting component mounting method. As Figure 5 shown, the mounting component mounting device 50 includes: a first control module 51, a first acquisition module 52, a second control module 53, a calculation module 54, and a mounting module 55. Among them, the first control module 51 is used to control the force control sensor probe to contact a standard object located at a standard position along three preset directions, and the three preset directions are perpendicular to each other. The first acquisition module 52 is used to acquire the standard position information of the force control sensor probe when it contacts the standard object, and the standard mounting information corresponding to the standard object. The standard mounting information is used to control the mounting tool to mount the mounting component to the mounting position on the standard object. The second control module 53 is used to control the force control sensor probe to contact a to-be-mounted object located at a first position along the three preset directions, and acquire the first position information of the force control sensor probe when it contacts the to-be-mounted object. The calculation module 54 is used to calculate the target mounting information according to the standard position information, the standard mounting information, and the first position information. The difference between the target mounting information and the standard mounting information is equal to the difference between the first position information and the standard position information. The mounting module 55 is used to control the mounting tool to mount the mounting component to the to-be-mounted object according to the target mounting information.

[0120] Optionally, the first control module 51 includes a first control unit 511 and a first determination unit 512. The first control unit 511 is used to control the force control sensor probe to move along the three preset directions respectively. The first determination unit 512 is used to determine that the force control sensor probe contacts the standard object when the pressure value between the force control sensor probe and the standard object reaches a preset contact force value for each of the preset directions.

[0121] Optionally, the second control module 53 includes a second control unit 531 and a second determination unit 532. The second control unit 531 is used to control the force control sensor probe to move along the three preset directions respectively. The second determination unit 532 is used to determine that the force control sensor probe contacts the to-be-mounted object when the pressure value between the force control sensor probe and the to-be-mounted object reaches a preset contact force value for each of the preset directions.

[0122] Optionally, the mounting tool includes at least a mounting part fixture and a mounting part pusher. The mounting module 55 includes a moving unit 551 and a mounting unit 552. The moving unit 551 is configured to control the mounting part fixture holding the mounting part to move to the target position corresponding to the target mounting information. The mounting unit 552 is configured to control the mounting part pusher to apply a pressure with a magnitude of a preset mounting force value in the mounting direction of the mounting part, so as to mount the mounting part onto the object to be mounted.

[0123] Optionally, the mounting unit 552 is specifically configured to control the mounting part pusher to apply a pressure in the mounting direction of the mounting part, and at the same time detect whether the pressure reaches the preset mounting force value through the force control sensor probe. If so, it is determined that the mounting part is mounted onto the object to be mounted.

[0124] Optionally, the mounting part fixture includes at least a first gripper assembly and a second gripper assembly. The mounting part mounting device 50 further includes an adjustment module 56, configured to adjust the distance between the first gripper assembly and the second gripper assembly according to the dimension information of the mounting part.

[0125] Optionally, the mounting part mounting device 50 further includes a judgment module 57, configured to collect an image of the mounted mounting part to obtain a mounting state image. When the similarity between the mounting state image and a preset image is greater than a preset similarity threshold, it is determined that the current mounting operation is successful.

[0126] Optionally, the first control unit 511 or the second control unit 531 is further configured to, for any one of the preset directions, if the moving distance of the force control sensor probe exceeds a preset distance threshold, control the force control sensor probe to stop moving.

[0127] Figure 5 The mounting part mounting device in the illustrated embodiment can be used to execute the technical solution of the above method embodiment, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0128] In addition, an embodiment of the present disclosure further provides a vehicle, which includes the mounting part mounting device as described in the above embodiment.

[0129] Figure 6 It is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. This electronic device can run the mounting operation control system as described in the above embodiment. The electronic device provided by the embodiment of the present disclosure can execute the processing flow provided by the mounting part mounting method embodiment, such as Figure 6 As shown, the electronic device 60 includes: a memory 61, a processor 62, a computer program, and a communication interface 63. Among them, the computer program is stored in the memory 61 and is configured to be executed by the processor 62 to perform the mounting part mounting method as described above.

[0130] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the method for mounting a mounting component described in the above embodiment.

[0131] Furthermore, an embodiment of the present disclosure further provides a computer program product, which includes a computer program or instruction, and when the computer program or instruction is executed by a processor, the method for mounting a mounting component as described above is implemented.

[0132] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages or combinations thereof. The above programming languages include, but are not limited to, object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone 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 (for example, by connecting through the Internet using an Internet service provider).

[0133] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0134] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0135] The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but rather will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for mounting a mounting component, characterized in that, The method includes: Controlling the force control sensor probe to contact a standard object located at a standard position along three preset directions respectively, obtaining the standard position information of the force control sensor probe when it contacts the standard object, and the standard mounting information corresponding to the standard object, wherein the three preset directions are perpendicular to each other, and the standard mounting information is used to control the mounting tool to mount a mounting component onto the mounting position on the standard object; Controlling the force control sensor probe to contact a to-be-mounted object located at a first position along the three preset directions respectively, and obtaining the first position information of the force control sensor probe when it contacts the to-be-mounted object; Calculating target mounting information according to the standard position information, the standard mounting information and the first position information, wherein the difference between the target mounting information and the standard mounting information is equal to the difference between the first position information and the standard position information; Controlling the mounting tool to mount the mounting component onto the to-be-mounted object according to the target mounting information.

2. The method according to claim 1, wherein The controlling the force control sensor probe to contact a standard object located at a standard position along three preset directions respectively includes: Controlling the force control sensor probe to move along the three preset directions respectively; For each of the preset directions, when the pressure value between the force control sensor probe and the standard object reaches a preset contact force value, it is determined that the force control sensor probe contacts the standard object.

3. The method according to claim 1, wherein The mounting tool at least includes a mounting component fixture and a mounting component pusher plate. The controlling the mounting tool to mount the mounting component onto the to-be-mounted object according to the target mounting information includes: Controlling the mounting component fixture holding the mounting component to move to the target position corresponding to the target mounting information; Controlling the mounting component pusher plate to apply a pressure with a magnitude of a preset mounting force value in the mounting direction of the mounting component, so as to mount the mounting component onto the to-be-mounted object.

4. The method according to claim 3, characterized in that, The controlling the mounting component pusher plate to apply a pressure with a magnitude of a preset mounting force value in the mounting direction of the mounting component, so as to mount the mounting component onto the to-be-mounted object includes: Controlling the mounting component pusher plate to apply a pressure in the mounting direction of the mounting component, and simultaneously detecting whether the pressure reaches the preset mounting force value through the force control sensor probe; If so, it is determined that the mounting component is mounted onto the to-be-mounted object.

5. The method according to claim 3, characterized in that, The mounting component fixture at least includes a first gripper assembly and a second gripper assembly. Before the controlling the force control sensor probe to contact a standard object located at a standard position along three preset directions respectively, the method further includes: Adjusting the distance between the first gripper assembly and the second gripper assembly according to the dimension information of the mounting component.

6. The method according to claim 1, characterized in that The method further includes: Performing image acquisition on the mounted mounting component to obtain a mounting state image; When the similarity between the mounting state image and a preset image is greater than a preset similarity threshold, it is determined that the current mounting operation is successful.

7. The method according to claim 2, wherein The controlling the force control sensor probe to move along the three preset directions respectively includes: For any one of the preset directions, if the moving distance of the force control sensor probe exceeds a preset distance threshold, the movement of the force control sensor probe is controlled to stop.

8. A mounting device for mounting components, characterized in that, The device includes: A first control module, configured to control the force control sensor probe to contact a standard object located at a standard position along three preset directions that are perpendicular to each other; A first acquisition module, configured to acquire the standard position information of the force control sensor probe when the force control sensor probe contacts the standard object, and the standard mounting information corresponding to the standard object, where the standard mounting information is used to control a mounting tool to mount a mounting component to a mounting position on the standard object; A second control module, configured to control the force control sensor probe to contact a to-be-mounted object located at a first position along the three preset directions, and acquire the first position information of the force control sensor probe when the force control sensor probe contacts the to-be-mounted object; A calculation module, configured to calculate target mounting information according to the standard position information, the standard mounting information, and the first position information, where the difference between the target mounting information and the standard mounting information is equal to the difference between the first position information and the standard position information; A mounting module, configured to control the mounting tool to mount the mounting component to the to-be-mounted object according to the target mounting information.

9. An electronic device, characterized in that, Comprising: A memory; A processor; And A computer program; Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1-7 is implemented.

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