Product part combined positioning device and control method, control device and combined positioning system thereof

Abstract

The invention relates to the technical field of combined positioning of parts, and discloses a combined positioning device for product parts. The array rod group comprises a plurality of array rods, and each array rod is vertically arranged on the positioning base; the array rods can move in the vertical direction when being driven by external force; and the displacement driving mechanism is used for driving each target array rod in the target array rod group to move to the target displacement height. The end face of the top end of the moving target array rod set forms the positioning supporting face consistent with the supporting face of the part in shape, the target height of the array rods of the array rod set is flexibly adjustable, the array rods can be restored to the initial position, and the array rods can be repeatedly used and respond to combined positioning of different parts. And meanwhile, the investment of tool clamps is reduced, the trial-manufacturing period is shortened, the product development process is not limited by traditional tool clamps any more, and the cost is greatly reduced compared with a traditional mode. The invention further discloses a control method, a control device and a combined positioning system for the product part combined positioning device.

Description

Technical Field

[0001] This application relates to the technical field of sheet metal part combined positioning, for example, it relates to a product component combined positioning device, its control method, control device and combined positioning system. Background Art

[0002] During the development of a product (such as an automobile), from design to the final formation of a commodity, it is necessary to repeatedly and fully verify various performances, indicators, parameters, reliability, etc. of the product. To achieve the purpose of verification, it is necessary to specifically manufacture a physical product for verification during the design stage of the product, which is the trial production of the product (automobile product). For automobile products, among all trial production products, the trial production of the vehicle body plays a crucial role. It is not only the carrier of the vehicle's functional parts, but also the vehicle body performance is directly related to various performance indicators of the whole vehicle.

[0003] During the development of automobile products, there are two traditional ways of vehicle body trial production: one is to make special tooling fixtures, install and position the parts to be modified and then connect and detect them; the other is to use scribing and repeatedly measure and correct with a three-coordinate to carry out modification and connection; the above methods either have high trial production costs and long cycles, or are difficult to operate and have poor accuracy, which are not conducive to the control of the product trial production cycle and cost.

[0004] The trial production of the vehicle body not only requires high precision, but also the design state is constantly changing, and it is required to be able to quickly respond to the design. However, the previous vehicle body trial production, in addition to the disadvantages of high development costs and long production cycles, cannot quickly respond to design changes, affecting the delivery cycle.

[0005] It should be noted that the information disclosed in the above background art section is only used to enhance the understanding of the background of this application, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0006] To have a basic understanding of some aspects of the disclosed embodiments, a simple summary is given below. This summary is not a general review, nor is it intended to identify key / important constituent elements or delineate the protection scope of these embodiments, but rather serves as a preface to the subsequent detailed description.

[0007] The embodiments of the present disclosure provide a product component combined positioning device, its control method, control device and combined positioning system, so as to provide a flexible product component combined positioning device that can quickly implement changes following design changes, which will greatly shorten the product trial production cycle and production cost; especially for the combined positioning of vehicle body trial production parts.

[0008] In some embodiments, the product component combination positioning device includes: a positioning base; an array rod group including a plurality of array rods, each array rod being vertically arranged on the positioning base; and each array rod being movable vertically when driven by an external force; a displacement driving mechanism for driving each target array rod in the target array rod group to move to a target displacement height; wherein, the target array rod group is composed of the array rods covered by the orthographic projection pattern of the support surface of the components to be combined, and the target displacement height of each target array rod is determined according to the shape of the support surface.

[0009] In some embodiments, the control method for the product component combination positioning device includes: obtaining the orthographic projection pattern of the support surface of the components to be combined and the shape of the support surface; determining, according to the orthographic projection pattern, the target array rod group covered by the orthographic projection pattern on the array rod group and the position information of each target array rod in the target array rod group; determining, according to the shape of the support surface and the target array rod group, the target displacement height of each target array rod in the target array rod group; and obtaining the driving information of the displacement driving mechanism according to the position information and the target displacement height of each target array rod in the target array rod group.

[0010] In some embodiments, the control device for the product component combination positioning device includes a processor and a memory storing program instructions, wherein the processor is configured to execute the aforementioned control method for the product component combination positioning device when executing the program instructions.

[0011] In some embodiments, the product component combination positioning device includes the aforementioned product component combination positioning device and a controller, which is used to obtain the driving information of the displacement driving mechanism obtained by the aforementioned control method; and drive the displacement driving mechanism to drive each target array rod in the target array rod group to move to the target displacement height according to the driving information of the displacement driving mechanism.

[0012] The embodiment of the present disclosure provides a product component combination positioning system, including the aforementioned zero-gravity vehicle seat system and the aforementioned control device for the product component combination positioning device, which is used to implement the aforementioned control method for the product component combination positioning device and obtain the driving information of the displacement driving mechanism; the product component combination positioning device responds to the driving information of the displacement driving mechanism and realizes that the displacement driving mechanism drives each target array rod in the target array rod group to move to the target displacement height.

[0013] The product component combination positioning device, its control method, control device and vehicle provided by the embodiment of the present disclosure can achieve the following technical effects:

[0014] In the product component combination positioning device according to the embodiments of the present disclosure, the top end faces of the moving target array rod group (multiple target array rods) form a positioning support surface that is consistent with the shape of the support surface of the component. The components to be combined are placed on this positioning support surface, thereby realizing the combined positioning of the components to be combined. The target height of the array rods in the array rod group is flexibly adjustable and can be restored to the initial position, and can be reused. Therefore, it can respond to the combined positioning of different sheet metal parts, realize the rapid combined positioning of components (such as vehicle body parts / sheet metal parts), reduce the investment in tooling fixtures, shorten the trial production cycle, so that the body trial production in the development process is no longer restricted by traditional tooling fixtures, and the cost is greatly reduced compared with the traditional method. In addition, the product component combination positioning device according to the embodiments of the present disclosure has strong versatility, low marginal cost, and remarkable benefits. The trial production cycle is greatly shortened compared with the traditional method, and it has the characteristics of convenient operation and wide application range. It can be applied to scenarios such as customized positioning, sample inspection, surface measurement, and sample display.

[0015] The above general description and the following description are only exemplary and explanatory, and are not used to limit this application. Brief Description of the Drawings

[0016] One or more embodiments are exemplarily illustrated by corresponding drawings. These exemplary illustrations and the drawings do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements. The drawings do not constitute a proportional limitation, and among them:

[0017] Figure 1a is a schematic structural diagram of a product component combination positioning device provided by an embodiment of the present disclosure;

[0018] Figure 1b is Figure 1a a partial enlarged view of part A in;

[0019] Figure 2 is a schematic structural diagram of a displacement driving mechanism of another product component combination positioning device provided by an embodiment of the present disclosure;

[0020] Figure 3a is a front view structural diagram of a telescopic mechanism provided by an embodiment of the present disclosure;

[0021] Figure 3b is Figure 3a a sectional view taken along line B-B in;

[0022] Figure 3c is a top view structural diagram of a telescopic mechanism provided by an embodiment of the present disclosure;

[0023] Figure 3d is a three-dimensional structural diagram of a telescopic mechanism provided by an embodiment of the present disclosure;

[0024] Figure 3e It is a schematic structural diagram when the telescopic mechanism provided by an embodiment of the present disclosure is in an extended state;

[0025] Figure 3f is Figure 3e a cross-sectional view taken along the C-C direction in

[0026] Figure 4 It is a schematic structural diagram of the usage state of a product component combination positioning device provided by an embodiment of the present disclosure;

[0027] Figure 5 It is a flowchart of a control method for a product component combination positioning device provided by an embodiment of the present disclosure;

[0028] Figure 6 It is a flowchart of another control method for a product component combination positioning device provided by an embodiment of the present disclosure;

[0029] Figure 7 It is a schematic diagram of a control device for a product component combination positioning device provided by an embodiment of the present disclosure.

[0030] Reference numerals:

[0031] 10, positioning base; 11, first substrate; 111, first array of holes; 12, second substrate; 121, second array of holes; 13, column; 14, third substrate; 20, array rod group; 21, array rod; 22, damping structure; 30, displacement driving mechanism; 31, first-direction moving structure; 310, first driving member; 3101, first motor; 3102, first lead screw; 3103, first connecting member; 3104, first connector; 311, first slide rail; 312, first moving member; 313, first positioning block; 32, second-direction moving structure; 320, second driving member; 3201, second motor; 3202, second lead screw; 3203, second connecting member; 3204, second connector; 321, second slide rail; 322, second moving member; 323, second positioning block; 33, telescopic mechanism, 330, base body; 331, first-stage lead screw; 332, second-stage lead screw; 333, first-stage telescopic section; 334, second-stage telescopic section; 335, stop structure; 336, guide groove; 337, guide protrusion; 338, third motor; 41, part Ⅰ; 42, part Ⅱ. Detailed implementation manners

[0032] In order to understand the features and technical content of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. The attached drawings are for reference and illustration only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the sake of explanation, numerous details are provided to give a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be shown in a simplified manner to simplify the drawings.

[0033] In the description of the embodiments of the present disclosure, the terms "first", "second", etc. in the specification, claims and the above-mentioned drawings are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances so as to understand the embodiments of the present disclosure described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0034] In the embodiments of the present disclosure, the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the embodiments of the present disclosure and their implementations, and are not used to limit that the indicated devices, elements or components must have a specific orientation or be constructed and operated in a specific orientation. And, in addition to being able to represent an orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0035] In addition, the terms "arranged", "connected", "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0036] Unless otherwise specified, the term "plurality" means two or more.

[0037] In the embodiments of the present disclosure, the character " / " indicates that the objects before and after are in an "or" relationship. For example, A / B means: A or B.

[0038] The term "and / or" is a description of the associated relationship of an object and indicates that there can be three relationships. For example, A and / or B means: A or B, or, A and B these three relationships.

[0039] It should be noted that, without conflict, the embodiments in this disclosure and the features in the embodiments can be combined with each other.

[0040] Combined with FIGS. 1 to Figure 4 As shown, the product component combination positioning device provided by the embodiments of this disclosure includes a positioning base 10, an array rod group 20, and a displacement driving mechanism 30. The array rod group 20 includes a plurality of array rods 21, and each array rod 21 is vertically arranged on the positioning base 10; and the array rod 21 can move vertically when driven by an external force. The displacement driving mechanism 30 is used to drive each target array rod in the target array rod group to move to the target displacement height. Among them, the target array rod group is composed of the array rods 21 covered by the orthographic projection pattern of the support surface of the components to be combined, and the target displacement height of each target array rod is determined according to the shape of the support surface.

[0041] In the product component combination positioning device of the embodiments of this disclosure, the combination positioning of sheet metal parts is realized by using the array rod group 20. The target array rod group that needs to be driven to displace (for example, rise) is determined according to the orthographic projection pattern of the support surface of the components to be combined, and in combination with the shape of the support surface, the target displacement height of each target array rod in the target array rod group is determined, so that the top end faces of the moving target array rod group (multiple target array rods) form a positioning support surface consistent with the shape of the support surface of the components. The components to be combined are placed on this positioning support surface, thereby realizing the combination positioning of the components to be combined. The target height of the array rods 21 in the array rod group 20 is flexibly adjustable and can be restored to the initial position, and can be reused repeatedly. Therefore, it can respond to the combination positioning of different sheet metal parts. It realizes the rapid combination positioning of components (for example, vehicle body parts / sheet metal parts), reduces the investment in tooling fixtures, shortens the trial production cycle, enables the body trial production in the development process to be no longer restricted by traditional tooling fixtures, and greatly reduces the cost compared with the traditional method.

[0042] The product component combination positioning device of the embodiments of this disclosure can realize the positioning combination of multiple components at one time, and mainly needs to consider the size of the components to be positioned and the size of the array component platform. After the relevant operation services of the component positioning are completed, it can also be controlled to restore all the array rods to the initial position to prepare for the next component positioning.

[0043] The product component combination positioning device of the embodiments of this disclosure has strong versatility, low marginal cost, and remarkable benefits. The trial production cycle is greatly shortened compared with the traditional method, and it has the characteristics of convenient operation and wide application range. It can be applied to scenarios such as customized positioning, sample inspection, surface measurement, and sample display.

[0044] In the embodiments of this disclosure, the top end of the array rod is the end in contact with the components to be combined, and the other end of the array rod opposite to the top end is defined as the bottom end.

[0045] In the product component combination positioning device according to the embodiments of the present disclosure, the surface of the component to be combined facing the array rod group 20 is the support surface, and the surface with the largest projected area of the component to be combined is used as the support surface. Since the projected graphics of the support surfaces of different components to be combined are different, different target array rod groups are determined on the array rod group 20, so that it can be applicable to the combination positioning of different sheet metal parts.

[0046] In the product component combination positioning device according to the embodiments of the present disclosure, the array rod group 20 includes a plurality of array rods 21, and the plurality of array rods 21 are arranged in an array on the fixed base. The array arrangement mode of the array rods 21 is not limited, and it can be an orthogonal array, a non-orthogonal intersecting array, a circumferential array, etc. It is determined according to factors such as the shape and size of the components to be combined.

[0047] Optionally, the plurality of array rods 21 of the array rod group 20 are arranged in an orthogonal array on the positioning base 10. The orthogonal array is simple and orderly, and it is convenient to determine the target array rod.

[0048] Each array rod 21 in the array rod group 20 has an initial position. At this initial position, the top end faces of all the array rods 21 are flush, and the displacement height of each array rod 21 is defined as 0.

[0049] In the product component combination positioning device according to the embodiments of the present disclosure, the specific structural form of the displacement driving mechanism 30 is not limited, as long as it can drive the target array rod to displace vertically so that the top end faces of the plurality of target array rods form a positioning support surface.

[0050] In some embodiments, the displacement driving mechanism 30 includes a jacking mechanism or a lifting mechanism. In this embodiment, as the name implies, the jacking mechanism jacks the array column from below to the target displacement height; the lifting mechanism lifts the array column from above to the target displacement height. The jacking mechanism or the lifting mechanism is selected according to the actual application site and requirements.

[0051] In some embodiments, the displacement driving mechanism 30 includes a plurality of telescopic mechanisms 33, which are arranged in one-to-one correspondence with the array rods 21 of the array rod group 20, and the telescopic mechanism 33 drives the corresponding target array rod to move to the target displacement height.

[0052] In some embodiments, the displacement driving mechanism 30 includes a jacking mechanism. The jacking mechanism includes a movable jacking end. The movable jacking end is located below the array rod group 20 and can be driven to move below the target array rod and can move vertically. The target array rod is jacked and moved vertically to the target displacement height. The jacking mechanism is arranged below the positioning base 10 (array rod group 20) to realize the jacking operation.

[0053] Optionally, the jacking mechanism includes a horizontal movement mechanism and a telescopic mechanism 33. The horizontal movement mechanism includes a horizontal movement end that can move to the target position corresponding to the target array rod in the horizontal plane. The telescopic mechanism 33 is vertically arranged at the horizontal movement end of the horizontal movement mechanism and moves to the target position along with the horizontal movement end. The telescopic end of the telescopic mechanism 33 extends to jack up the target array rod at the target position to the target displacement height.

[0054] Optionally, a detachable connection structure is provided between the telescopic end of the telescopic mechanism 33 and the bottom end of the array rod. During the jacking process, the telescopic end of the telescopic mechanism 33 is connected to the bottom end of the array rod to improve the jacking stability. At the same time, when it is necessary to restore the array rod to the initial position, the telescopic end of the telescopic mechanism 33 can be used to pull down the array rod to restore it to the initial position.

[0055] In this embodiment, the detachable connection structure is not limited as long as it is convenient for connection and disconnection. Optionally, an electromagnetic structure (defined as the first electromagnetic structure) is provided on the array rod, and a magnetic component is provided at the telescopic end of the telescopic mechanism 33. During the jacking process, the electromagnetic structure is energized to generate magnetism and is attracted to the magnetic component provided at the telescopic end of the telescopic mechanism 33 to achieve connection. When disconnection is required, the electromagnetic structure is de-energized to lose magnetism and can be disconnected from the telescopic end of the telescopic mechanism 33.

[0056] Optionally, the power supply lines of the first electromagnetic structures on the array rod 21 can be in series or parallel, which is determined according to the actual situation. Optionally, the power supply lines of the first electromagnetic structures are in parallel to supply power to the first electromagnetic components on the target array rod specifically. The power supply lines are arranged on the fixed base. Optionally, the power supply lines are laid on the following first substrate 11 or second substrate 12.

[0057] In this embodiment, it can be understood that the horizontal movement end can move to the position corresponding to each array rod 21 of the array rod group 20 (for example, below the array rod 21) in the horizontal plane. Optionally, the target position corresponding to the target array rod includes below the target array rod. The telescopic end of the telescopic mechanism 33 on the horizontal movement end is located directly below the target array rod.

[0058] In the jacking mechanism of this embodiment, the structure of the horizontal movement mechanism is not limited as long as it can achieve displacement in the horizontal plane.

[0059] Optionally, in combination with Figure 2As shown in the figure, the horizontal movement mechanism includes a first-direction movement structure 31 and a second-direction movement structure 32. The first-direction movement structure 31 includes a first movement end that can move along the first direction; the second-direction movement structure 32 includes a second movement end that can move along the second direction; the second-direction movement structure 32 is disposed at the first movement end; the second-direction movement structure 32 can move along the first direction with the first movement end. The telescopic mechanism 33 is vertically disposed at the second movement end of the second-direction movement structure 32.

[0060] In this embodiment, the first direction and the second direction are consistent with the array arrangement of the array rod group 20. For example, when the array rod group 20 is an orthogonal array, the first direction and the second direction are perpendicular. Another example is that when the array rod group 20 is a non-orthogonal intersecting array, the first direction and the second direction intersect non-perpendicularly.

[0061] Optionally, the first-direction movement structure 31 is an X-direction movement structure, and the second-direction movement structure 32 is a Y-direction movement structure. Or, the first-direction movement structure 31 is a Y-direction movement structure, and the second-direction movement structure 32 is an X-direction movement structure.

[0062] In some embodiments, the first-direction movement structure 31 includes a first driving member 310, a first slide rail 311, and a first moving member 312. The first driving assembly has a first driving end that can move along the first direction; the first slide rail 311 is disposed along the first direction; the first moving member 312 is disposed at the first driving end and is slidably connected to the first slide rail 311. In this embodiment, the first driving member 310 can drive the first moving member 312 to move along the first direction.

[0063] Optionally, the first driving member 310 includes a first motor 3101, a first lead screw 3102, and a first connecting member 3103. The first lead screw 3102 is connected to the output end of the first motor 3101, and the first lead screw 3102 is disposed along the first direction; the first connecting member 3103 is screwed onto the first lead screw 3102, and the first moving member 312 is connected to the first connecting member 3103. The first motor 3101 drives the first lead screw 3102 to rotate, thereby driving the first connecting member 3103 and the first moving member 312 to move synchronously along the first lead screw 3102 and the first slide rail 311, and the first moving member 312 realizes moving along the first direction. In this embodiment, a first connector 3104 can also be disposed between the output end of the first motor 3101 and the first lead screw 3102 to stably output the output of the first motor 3101 to the first lead screw 3102.

[0064] Optionally, the first-direction movement structure 31 further includes a first positioning block 313, which is disposed at the movement stop position in the first direction. For example, it is disposed at one end of the first lead screw 3102 away from the first motor 3101 to define the first-direction stop position of the first connecting member 3103.

[0065] Optionally, the first driving member 310 includes an electric telescopic rod. The telescopic end of the electric telescopic rod is the first driving end.

[0066] Optionally, the first driving member 310 includes a telescopic electric cylinder. The telescopic end of the telescopic electric cylinder is the first driving end.

[0067] Optionally, the first driving member 310 includes a telescopic hydraulic electric cylinder. The telescopic end of the telescopic hydraulic electric cylinder is the first driving end.

[0068] In some embodiments, the second-direction moving structure 32 includes a second driving member 320, a second slide rail 321, and a second moving member 322. The second driving member 320 has a second driving end capable of moving in the second direction; the second slide rail 321 is arranged along the second direction; the second moving member 322 is arranged on the second driving end and is slidably connected to the second slide rail 321. In this embodiment, the second driving member 320 can drive the second moving member 322 to move in the second direction.

[0069] Optionally, the second driving member 320 includes a second motor 3201, a second lead screw 3202, and a second connecting member 3203. The second lead screw 3202 is connected to the output end of the second motor 3201, and the second lead screw 3202 is arranged along the second direction; the second connecting member 3203 is screwed to the second lead screw 3202, and the second moving member 322 is connected to the second connecting member 3203. The second motor 3201 drives the second lead screw 3202 to rotate, thereby driving the second connecting member 3203 and the second moving member 322 to move synchronously along the second lead screw 3202 and the second slide rail 321, and the second moving member 322 realizes moving in the second direction. In this embodiment, a second connector 3204 can also be arranged between the output end of the second motor 3201 and the second lead screw 3202 to enable the output of the second motor 3201 to be output stably to the second lead screw 3202.

[0070] Optionally, the second-direction moving structure 32 further includes a second positioning block 323, which is arranged at the moving stop position in the second direction. For example, it is arranged at one end of the second lead screw 3202 away from the second motor 3201 to define the second-direction stop position of the second connecting member 3203.

[0071] Optionally, the second driving member 320 includes an electric telescopic rod. The telescopic end of the electric telescopic rod is the second driving end.

[0072] Optionally, the second driving member 320 includes a telescopic electric cylinder. The telescopic end of the telescopic electric cylinder is the second driving end.

[0073] Optionally, the second driving member 320 includes a telescopic hydraulic electric cylinder. The telescopic end of the telescopic hydraulic electric cylinder is the second driving end.

[0074] In the lifting mechanism of this embodiment, the telescopic mechanism 33 realizes movement in the Z direction (vertical direction). It can adopt an electric telescopic rod, a telescopic electric cylinder or a telescopic hydraulic cylinder, or a multi-stage screw telescopic rod driven by a motor.

[0075] In some embodiments, as shown in Figures 3a to 3f the telescopic mechanism 33 includes a multi-stage screw telescopic rod. The multi-stage screw telescopic rod includes a base body 330, a screw group and a telescopic joint group. The base body 330 is configured as an open-ended cylinder; the screw group includes multiple screws. One of the screws is used as the first-stage screw 331 and penetrates through the bottom wall of the open-ended cylinder and is movably connected to the bottom wall. The remaining screws are hollow screws and are sleeved and thread-connected step by step. And a stop structure 335 is provided at the telescopic end of each screw to prevent the hollow screw from coming out; the hollow screws are defined as the second-stage screw 332 to the N-stage screw from the inside to the outside in sequence, and the lengths of the hollow screws are shortened step by step to form a stepped screw group. The telescopic joint group includes multiple telescopic joints. The multiple telescopic joints are slidably sleeved, and a limiting and guiding structure along the axial direction is provided on the sleeved surface of two adjacent telescopic joints to limit the telescopic joint to slide along the axial direction; the multiple telescopic joints are defined as the first-stage telescopic joint 333 to the N-stage telescopic joint from the outside to the inside in sequence. The telescopic joint group is slidably accommodated in the base body 330, and the outer end surface of the first-stage telescopic joint 333 is slidably connected to the inner wall of the base body 330, and a limiting and guiding structure is provided on the connecting surface to limit the first-stage telescopic joint 333 to slide along the axial direction. Each stage of telescopic joint is screwed to the corresponding stage of screw.

[0076] In the multi-stage screw telescopic rod of this embodiment, driving the first-stage screw 331 to rotate (for example, rotate forward), and then driving the remaining hollow screws to rotate synchronously, and then driving the telescopic joints connected to each stage of screw to move axially and extend. Driving the first-stage screw 331 to rotate reversely can drive the telescopic joints to move and retract. It can be understood that one end of the screw group in the retracted state is flush as the telescopic end, and the other end is stepped, and is configured as a stepped screw group. It can increase the use boundary of the combined positioning device in the vertical (Z direction), so as to meet the positioning requirements of more types of parts.

[0077] It can be understood that the telescopic joint group is accommodated in the base body 330, and when it is in the retracted state, the telescopic end surface is flush with the open end of the base body 330. The telescopic end of the N-stage telescopic joint is a solid structure, for example, a solid end surface, and the telescopic ends of the remaining telescopic joints are open to sleeve the lower-stage telescopic joints. The telescopic joint is adapted to the shape of the base body 330.

[0078] Optionally, the pitches of the external threads of the first-stage screw 331 to the N-stage screw of the screw group increase step by step. Multiple telescopic joints can be synchronously extended.

[0079] Optionally, the limit guiding structure includes a guiding groove 336 and a guiding projection 337, and the guiding projection 337 is arranged in the guiding groove 336; a guiding groove 336 or a guiding projection 337 is arranged on the outer peripheral surface of the inner telescopic section of two adjacent telescopic sections. Correspondingly, a guiding projection 337 or a guiding groove 336 is arranged on the inner peripheral surface of the outer telescopic section.

[0080] Optionally, the telescopic mechanism 33 further includes a third motor 338, and the output end thereof is drivingly connected to the first-level lead screw 331 for driving the first-level lead screw 331 to rotate.

[0081] As Figures 3a to 3f shown in a second-level lead screw telescopic rod, the second-level lead screw telescopic rod includes a base body 330, a lead screw group, and a telescopic section group. The base body 330 is configured as an open-ended cylinder. The lead screw group includes two lead screws. One of the lead screws serves as the first-level lead screw 331 and passes through the bottom wall of the open-ended cylinder and is movably connected to the bottom wall. The other lead screw is a hollow lead screw defined as the second-level lead screw 332. The second-level lead screw 332 is sleeved and threadedly connected to the first-level lead screw 331, and a stop structure 335 (for example, a retaining ring) is arranged at the telescopic end of each lead screw to prevent the hollow lead screw from coming out; and the length of the second-level lead screw 332 (hollow lead screw) is shortened (less than the first-level lead screw 331) to form a stepped lead screw group. The telescopic section group includes a first-level telescopic section 333 and a second-level telescopic section 334. The two telescopic sections are sleeved, and a guiding groove 336 is arranged along the axial direction on the inner peripheral surface of the first-level telescopic section 333, and a guiding projection 337 is arranged along the axial direction on the outer peripheral surface of the second-level telescopic section 334. The guiding projection 337 is arranged in the guiding groove 336; the first-level telescopic section 333 is threadedly connected to the first-level lead screw 331, and the second-level telescopic section 334 is threadedly connected to the second-level lead screw 332. The structure of the second-level lead screw telescopic rod of this embodiment in the retracted state is as Figures 3a to 3d shown, and the structure in the extended state is as Figures 3e to 3f shown.

[0082] In some embodiments, the displacement driving mechanism 30 includes a lifting mechanism. The lifting mechanism includes a movable lifting end. The movable lifting end is located above the array rod group 20 and can be driven to move above the target array rod and can move vertically; the movable lifting end has a connecting structure, and the connecting structure can be connected to the array rod 21 to lift the array rod 21. The target array rod is lifted vertically to the target displacement height.

[0083] The lifting mechanism of this embodiment lifts the array rod 21 from above the array rod 21, and the lifting mechanism is arranged above the positioning base 10 (array rod group 20).

[0084] It can be understood that the structure of the lifting mechanism can be the same as that of the aforementioned jacking mechanism, except that the jacking mechanism is inverted and arranged above the array rod group 20, and a connection structure is arranged at the telescopic end (movable lifting end) of the telescopic mechanism 33, which can be connected to or disconnected from the array rod to be lifted, as long as it can ensure the lifting of the array rod 21. At the same time, when setting the lifting mechanism, the upper space of the array rod group 20 can be avoided so as to facilitate the placement of the parts to be assembled on the array rod group 20. Therefore, the structure of the lifting mechanism can refer to the structure of the aforementioned jacking mechanism and will not be elaborated here.

[0085] In some embodiments, the displacement driving mechanism 30 includes a plurality of lifting driving mechanisms, which are arranged in one-to-one correspondence with the array rods 21 of the array rod group 20, and the lifting driving mechanism drives the corresponding target array rod to move to the target displacement height. In this embodiment of the displacement driving mechanism 30, one lifting driving mechanism is provided for each array rod 21, so that a plurality of target array rods corresponding to the target pattern can be driven to their respective target displacement heights simultaneously, with high efficiency.

[0086] Optionally, the driving end of the lifting driving mechanism is connected to the corresponding array rod 21. Then the driving end of the lifting driving mechanism can provide a certain support for the array rod 21 and improve the stability of the array rod 21.

[0087] Optionally, the lifting driving mechanism adopts the aforementioned telescopic mechanism 33. The telescopic mechanism 33 is arranged vertically below each array rod 21, and the telescopic end of the telescopic mechanism 33 abuts / connects with the bottom end of the array rod 21. Optionally, when the telescopic mechanism 33 is in a contracted state, the bottom end of the array rod 21 is connected to the telescopic end of the telescopic mechanism 33 and the array rod 21 is in its initial position.

[0088] In the embodiments of the present disclosure, the displacement driving mechanism 30 is not limited to the aforementioned jacking mechanism, lifting mechanism and lifting driving mechanism, and other driving mechanisms that can move to the corresponding position of the target array rod and can drive the target array rod to displace vertically are all applicable. For example, an automated driving mechanism such as a manipulator.

[0089] In the embodiments of the present disclosure, it can be understood that the positioning base 10 provides a vertical installation base for the array rod group 20, so that the array rod 21 can move vertically when driven by an external force, thereby forming a positioning support surface.

[0090] In some embodiments, the positioning base 10 includes a first substrate 11, and a first array of holes 111 is arranged on the first substrate 11; the array rods 21 of the array rod group 20 are movably arranged in the array holes of the first array of holes 111 in one-to-one correspondence; and under the action of an external force, the array rods 21 can move vertically. In this embodiment, the array of holes is movably arranged on the first substrate 11 and forms an integral structure with the first substrate 11.

[0091] It can be understood that when the jacking mechanism is arranged below the positioning base 10, a certain operating space is required below the first substrate 11 to facilitate the jacking operation of the jacking mechanism.

[0092] Optionally, the positioning base 10 further includes columns 13, and the first substrate 11 is fixedly arranged on the columns 13 to form a certain space below the first substrate 11. As shown in FIG. 1, the number of columns 13 is multiple, and the multiple columns 13 are distributed around the first substrate 11 to fixedly arrange the first substrate 11 and have a certain space below it. For example, there are 4 columns 13, the first substrate 11 is square, and the 4 columns are respectively arranged at the 4 corners of the square first substrate 11. When the displacement driving mechanism 30 is a lifting mechanism, this space can at least accommodate the array column segments of the array columns located below the first substrate 11. When the displacement driving mechanism 30 is a jacking mechanism, this space needs to be able to accommodate the jacking mechanism while accommodating some of the array column segments to reserve an operating space for the jacking mechanism. Similarly, when the displacement driving mechanism 30 is multiple lifting driving mechanisms, this space needs to be able to accommodate the lifting driving mechanisms while accommodating some of the array column segments.

[0093] In some embodiments, the positioning base 10 further includes a second substrate 12, the second substrate 12 is arranged at an interval from the first substrate 11, and a set of second array holes 121 is arranged on the second substrate 12; the set of first array holes 111 and the set of second array holes 121 correspond to each other vertically, and the array rods 21 of the array rod group 20 are movably inserted through the first array holes 111 and the second array holes 121 in the same vertical direction. The first substrate 11 and the second substrate 12 are cooperatively arranged with the array rods 21 to improve the verticality and reliability of the array rods 21 during the moving process. In this embodiment, the second substrate 12 can be arranged above or below the first substrate 11, without limitation.

[0094] In one example, as shown in FIG. 1, the positioning base 10 includes a first substrate 11 and a second substrate 12, and a set of first array holes 111 is arranged on the first substrate 11; the second substrate 12 is arranged at an interval from the first substrate 11 and is located below the first substrate 11, and a set of second array holes 121 is arranged on the second substrate 12; the set of first array holes 111 and the set of second array holes 121 correspond to each other vertically. The array rods 21 of the array rod group 20 are inserted through the first array holes 111 and the second array holes 121 in the same vertical direction.

[0095] Optionally, as shown in FIG. 1, the positioning base 10 further includes a third substrate 14, which is arranged at an interval below the array rod group 20, and the columns 13 are arranged on the third substrate 14. In this embodiment, the displacement driving mechanism 30 is arranged on the third substrate 14.

[0096] In the embodiments of the present disclosure, the array rod 21 can move vertically when a certain external force is applied. That is, when no external force or a small external force is applied, the array rod 21 will not displace. In some embodiments, when the fixed base includes the first substrate 11, a damping structure 22 is provided between the array rod 21 and the first array hole 111, so that the array rod 21 can move vertically when an external force greater than or equal to the first external force value is applied. The presence of the damping structure 22 ensures that the array rod 21 can withstand external forces less than the first external force value, and the first external force value is not limited and is determined according to factors such as the material and size of the components to be combined, so as to prevent the array rod 21 from sliding down after the components to be combined are placed.

[0097] Optionally, the damping structure 22 includes a damping sleeve, which is arranged in the first array hole 111 and / or the second array hole 121, and the array rod 21 passes through the damping sleeve. It can be understood that the outer wall of the damping sleeve is fixedly / force-fittedly connected to the inner wall of the array hole to prevent relative displacement between the damping sleeve and the array hole during the displacement of the array column.

[0098] In some embodiments, an electromagnetic structure (defined as the second electromagnetic member) is provided on some or all of the array rods 21 of the array rod group 20. In this embodiment, when the components to be combined are made of a material that can be magnetically attracted (for example, a material containing metal elements such as iron, cobalt, and / or nickel), such as steel, the second electromagnetic structure is energized and has magnetism, and can attract such components to be combined, limit the components to be combined placed on the array column, and prevent displacement. For example, the second electromagnetic structure includes an electromagnetic coil, which is sleeved on the outer peripheral wall of the array rod 21 or embedded inside the array rod 21.

[0099] Optionally, when the second electromagnetic structure is provided on some of the array rods 21 of the array rod group 20, the array rods 21 provided with the second electromagnetic structure are distributed in the array rod group 20. When determining the target pattern, it is ensured that the array rods 21 covered by the target pattern include the array rods 21 provided with the electromagnetic structure.

[0100] Optionally, the power supply lines of the second electromagnetic structure on the array rod 21 can be in series or parallel. It is determined according to the actual situation. The power supply lines are arranged on the fixed base. Optionally, the power supply lines are laid on the first substrate 11 or the second substrate 12.

[0101] Optionally, the electromagnetic structure is arranged on the rod section near the top of the array rod 21. To be close to the components to be combined and improve the magnetic attraction stability. In this embodiment, the power supply lines are laid on the upper first substrate 11 or the second substrate 12.

[0102] In some embodiments, anti-slip structures are provided at the tops of some or all of the array rods 21 of the array rod group 20. The anti-slip structures form a damping frictional force between the tops of the array rods 21 and the support surface of the sheet metal part, preventing relative displacement between the array rods 21 and the sheet metal part.

[0103] Optionally, the anti-slip structure can be an anti-slip surface formed at the top of the array rod 21, or an additionally provided anti-slip pad structure. When an anti-slip pad is provided at the top of the array rod 21, the surface of the anti-slip pad serves as the end face of the top of the array rod 21.

[0104] In some embodiments, electromagnetic structural members are provided on some or all of the array rods 21 of the array rod group 20 and anti-slip structures are provided at their tops. The components to be combined placed on the array columns are limited to prevent displacement.

[0105] In some embodiments, a first pressure sensor is provided at the top of the array rod 21 for detecting the first pressure value between the component to be combined and the top of the array rod 21. The support function of the end face at the top of each target array rod can be determined through the first pressure value.

[0106] Optionally, the first pressure sensor is a patch pressure sensor and is provided at the top of the array rod 21.

[0107] In some embodiments, a second pressure sensor is provided at the bottom of the array rod 21 for detecting the driving force of the displacement driving mechanism 30 for driving the target array rod. Whether the damping force between the array rod 21 and the fixed base meets the preset damping force can be determined through the driving force, preventing the array rod 21 from sliding down when the component to be combined is placed on the array rod 21.

[0108] Optionally, the second pressure sensor is a patch pressure sensor and is provided at the bottom of the array rod 21.

[0109] In some embodiments, the product component combination positioning device further includes a reset mechanism for resetting each array rod of the target array rod group to its initial position. In this embodiment, the reset mechanism is used to reversely drive the driven target array rod back to its initial position. Optionally, the reset mechanism can adopt the aforementioned lifting mechanism, control the movable lifting end to press down, and press the target array rod down to restore it to its initial position.

[0110] Optionally, the first reset mechanism includes a lifting mechanism and a lower pressing plate. The driving end of the lifting mechanism is connected to the lower pressing plate. The lifting mechanism drives the lower pressing plate to descend, thereby pressing each target array rod of the target array rod group to descend to the initial position. In this embodiment, the descending displacement value of the lower pressing plate is determined according to the distance between the waiting position of the lower pressing plate and the end face of the top of the array rod at the initial position of the array rod group. The reset is simple and reliable, and one-key reset can be realized. It can be understood that after the lifting mechanism drives the lower pressing plate to descend to complete the reset of the array rod group, it then drives the lower pressing plate to rise to the waiting position.

[0111] Optionally, the area of the lower pressing plate can cover the array rod group. Ensure that each target array rod in the target array rod group can contact the lower pressing plate and be pressed to the initial position.

[0112] Combined with FIGS. 1 to Figure 5 As shown, the embodiment of the present disclosure also provides a control method for a product component combination positioning device, which is used for the server side / computer side. The control method includes:

[0113] S10. Obtain the orthographic projection graph and the shape of the support surface of the components to be combined.

[0114] S20. According to the orthographic projection graph of the support surface, determine the target array rod group covered by the orthographic projection graph on the array rod group 20 and the position information of each target array rod in the target array rod group.

[0115] S30. According to the shape of the support surface and the target array rod group, determine the target displacement height of each target array rod in the target array rod group.

[0116] S40. According to the position information and the target displacement height of each target array rod in the target array rod group, obtain the driving information of the displacement driving mechanism 30.

[0117] The control method for the product component combination positioning device in the embodiment of the present disclosure obtains the positions and target displacement heights of the target array rods of the target array rod group through the orthographic projection graph and the shape of the support surface of the components to be combined, and obtains the driving information of the displacement driving mechanism 30. The product component combination positioning device responds to the driving information, and realizes that the displacement driving mechanism 30 drives each target array rod in the target array rod group to move to the target displacement height. The control method is fast, accurate, and personalized. It can obtain the driving information of the target array rod group adapted to different components to be combined, has strong versatility, low marginal cost, remarkable benefits, and the trial production cycle is greatly shortened compared with the traditional method. Moreover, it has the characteristics of convenient operation and wide application range, and can be applied to scenarios such as customized positioning, sample detection, surface measurement, and sample display.

[0118] The driving information of the displacement driving mechanism 30 obtained by the control method of the present disclosure embodiment is transmitted to the product component combination positioning device, and the product component combination positioning device (or controller) drives according to the input driving information to form a positioning support surface with the target array rods. Then, the components to be combined are placed on the positioning support surface for assembly and adjustment. After the assembly and adjustment are completed, connection, detection or other service operations are carried out. After the relevant work is completed, the parts can be removed, and the equipment performs a reset operation.

[0119] In some embodiments, in step S10, obtaining the orthographic projection graph and the shape of the support surface of the components to be combined includes: S11, constructing a three-dimensional graph of the components to be combined in a three-dimensional coordinate system; S12, placing the three-dimensional graph of the components to be combined with the maximum orthographic projection graph in the Z direction of the components to be combined as the standard; S13, using the surface perpendicular to the Z direction of the components to be combined as the support surface of the components to be combined; S14, performing an orthographic projection in the Z direction to obtain the orthographic projection graph of the support surface of the components to be combined.

[0120] In this embodiment, the three-dimensional coordinate system includes an XYZ three-dimensional coordinate system. The dimensional data of the components to be combined are imported into the three-dimensional coordinate system, and a three-dimensional graph of the components to be combined is constructed in the three-dimensional coordinate system. Adjust the display angle of the three-dimensional graph of the components to be combined to maximize its orthographic projection graph in the Z direction, and use the surface perpendicular to the Z direction of the components to be combined as the support surface of the components to be combined, and perform an orthographic projection in the Z direction to obtain the orthographic projection graph of the support surface of the components to be combined. The orthographic projection graph of the support surface is the Z-direction contour projection of the components to be combined.

[0121] In some embodiments, in step S20, according to the orthographic projection graph of the support surface, determining the target array rod group covered by the orthographic projection graph of the support surface and the position information of each target array rod in the target array rod group on the array rod group 20 includes: constructing a three-dimensional graph of the array rod group 20 in a three-dimensional coordinate system; adjusting the constructed three-dimensional graph of the components to be combined so that the orthographic projection graph of the support surface of the components to be combined is projected onto the three-dimensional graph of the array rod group 20; determining that multiple array rods 21 covered by the orthographic projection graph of the support surface form a target array rod group, and obtaining the position information of each array rod in the target array rod group in the three-dimensional coordinate system. In this embodiment, the layout three-dimensional data of the array rod group 20 are imported into the three-dimensional coordinate system to construct a three-dimensional graph of the array rod group 20, that is, the three-dimensional graph of the array rod group 20 and the three-dimensional graph of the components to be combined are imported into the same three-dimensional coordinate system. The three-dimensional graph of the array rod group is placed in the three-dimensional coordinate system with the array rods parallel to the Z direction. The Z-direction orthographic projection graph of the support surface of the components to be combined is projected onto the three-dimensional graph of the array rod group, and then multiple array rods 21 covered by the orthographic projection graph of the support surface form a target array rod group.

[0122] In this embodiment, the placement position of the array rod group 20 in the three-dimensional drawing is consistent with the three-dimensional coordinate system of the array rod group 20 in the product component combination positioning device, so that the driving information of the obtained displacement driving mechanism 30 can be directly applied to the product component combination positioning device.

[0123] Optionally, the position information of each array rod in the target array rod group in the three-dimensional coordinate system includes coordinate information.

[0124] Optionally, while constructing the three-dimensional drawing of the array rod group 20 in the three-dimensional coordinate system, each array rod of the array rod group 20 is numbered; the position information of each target array rod in the target array rod group further includes the numbers of the respective target array rods.

[0125] Optionally, the position information of each target array rod in the target array rod group includes the number and coordinate information of the target array rod. In this embodiment, the numbers of the target array rods are associated with the coordinate information in a corresponding manner for easy control.

[0126] Optionally, while constructing the three-dimensional drawing of the array rod group 20 in the three-dimensional coordinate system, each array rod 21 of the array rod group 20 is numbered, and the coordinate information of each array rod 21 in the three-dimensional coordinate system is obtained. In this embodiment, when determining that the multiple array rods 21 covered by the orthographic projection pattern of the support surface form the target array rod group, the numbers and corresponding coordinate information of the respective target array rods in the target array rod group can be read and obtained.

[0127] Optionally, all or part of the array rods 21 covered by the orthographic projection pattern of the support surface form the target array rod group, which is determined according to the combination positioning operation purpose of the components to be combined.

[0128] Optionally, determining that the multiple array rods 21 covered by the orthographic projection pattern of the support surface form the target array rod group includes: determining the target array rod group according to the multiple array rods 21 covered by the orthographic projection pattern of the support surface and the support mode; wherein, the support mode includes a dense support mode, an interval support mode, a custom support mode or a hybrid mode. The dense support mode is to drive all the array rods 21 within the coverage of the orthographic projection pattern of the support surface to move for support; the interval support mode is to drive the spaced part of the array rods 21 within the coverage of the orthographic projection pattern of the support surface to move for support; the custom support mode is for the user to custom-determine the array rods 21 for support within the coverage of the orthographic projection pattern of the support surface; the hybrid mode includes a first hybrid mode of the dense support mode and the custom support mode and a second hybrid mode of the interval support mode and the custom support mode. In this embodiment, by introducing the support mode, the multiple array rods 21 covered by the orthographic projection pattern of the support surface are screened and determined to obtain a more suitable target array rod group.

[0129] In this embodiment, the dense support mode is applicable to the detection service mode. For example, dot detection or surface detection. In this dense support mode, all the multiple array rods within the range covered by the orthographic projection pattern of the support surface are raised.

[0130] In this embodiment, the spaced support mode is applicable to the connection service mode. To avoid clamping points, the array rods are raised at intervals, and the number of intervals of the array rods is selected by comprehensively considering the clamping requirements and the support needs.

[0131] In this embodiment, the custom support mode is that the user customizes and determines the array rods 21 for support within the range covered by the orthographic projection pattern of the support surface according to the actual service mode.

[0132] In this embodiment, the first hybrid mode includes the dense support mode and the custom support mode, that is, after executing the dense support mode, the user can perform custom editing.

[0133] In this embodiment, the second hybrid mode includes the spaced support mode and the custom support mode, that is, after executing the spaced support mode, the user can perform custom editing.

[0134] In some embodiments, in step S30, according to the shape of the support surface and the target array rod group, determine the target displacement height of each target array rod in the target array rod group; it includes: determining multiple contact points of each target array rod in the target array rod group with the support surface of the parts to be combined; taking the contact point with the lowest height (for example, the Z-axis coordinate value) as the reference contact point, and calculating the height difference between other contact points and the reference point; according to the reference point and the height difference, determine the target displacement height of each target array rod.

[0135] In some embodiments, in step S40, according to the position information and the target displacement height of each target array rod in the target array rod group, obtain the driving information of the displacement driving mechanism 30; it includes: establishing a two-dimensional movement trajectory of the displacement driving mechanism 30 in the horizontal plane according to the position information of each target array rod in the target array rod group; according to the two-dimensional movement trajectory, the position information of the target array rod and the target displacement height, obtain the driving information of the displacement driving mechanism 30. The driving information of this embodiment is defined as the first driving information. The two-dimensional movement trajectory of the displacement driving mechanism 30 moves to the corresponding positions of the target array rods in sequence, and pauses at the corresponding positions of each target array rod to drive the target array rods to move (rise) to the target displacement height. In this way, drive operations are performed on each target array rod one by one, so as to realize different moving heights of different target array rods, and make the target array rod group form a positioning support surface. The first driving information of this embodiment is applicable to the jacking mechanism or the lifting mechanism.

[0136] In some other embodiments, in step S40, according to the position information of each target array rod in the target array rod group and the target displacement height, the driving information of the displacement driving mechanism 30 is obtained, including: corresponding the position information of the target array rod with the target displacement height one by one to obtain the driving information of the displacement driving mechanism 30. The driving information in this embodiment is defined as the second driving information. In this embodiment, for the displacement driving mechanism 30 including a plurality of lifting driving mechanisms, a corresponding relationship is established between the lifting driving mechanism and its corresponding array rod.

[0137] In this embodiment, the corresponding lifting driving mechanism is determined according to the position information of the target array rod, and the lifting driving mechanism drives the corresponding target array rod to move to the target displacement height according to the corresponding target displacement height. Each target array rod is driven one by one by its corresponding lifting driving mechanism, driving all the array rods simultaneously, with high driving efficiency and convenient reset, and can achieve one-key reset.

[0138] In some embodiments, in step S40, while obtaining the driving information of the displacement driving mechanism 30, reset information is also obtained. In this embodiment, the reset information is the information for driving the target array rod in the reverse direction to the initial position.

[0139] When the reset mechanism adopts a jacking mechanism, a lifting mechanism or includes a plurality of lifting driving mechanisms as the displacement driving mechanism 30, the difference between the reset information and the driving information is the moving direction of the target array rod. The moving direction of the target array rod in the driving information is upward, and the moving direction of the target array rod in the reset information is downward, and other information is the same. In specific applications, by controlling the rotation direction of the third motor 338, the telescopic end of the telescopic mechanism 33 is raised or lowered, so as to raise or lower the target array rod.

[0140] When the reset mechanism adopts the foregoing first reset mechanism, the reset information includes a pressing displacement and a rising displacement, and both the pressing displacement and the rising displacement are the distances between the waiting position of the lower pressing plate and the plane where the tops of the array rods are located when the array rod group 20 is in the initial position. That is, both the pressing displacement and the rising displacement are fixed values, and the reset operation is simple and effective.

[0141] In some embodiments, the control method further includes: S51. On the positioning support surface formed by placing the parts to be combined on the array rod group of the product parts combination positioning device, a plurality of first pressure information of the tops of the target array rods in the target array rod group are obtained. Optionally, the first pressure information is obtained by a first pressure sensor provided at the top of the array rod. S52. When the plurality of first pressure information are the same, it is determined that the parts to be combined are positioned in place; S53. When the plurality of first pressure information are different, the abnormal target array rod with an abnormality is determined, and the position of the abnormal target array rod is corrected; S54. According to the corrected target displacement height, corrected driving information is obtained.

[0142] In this embodiment, by adding a calibration step, the positioning support surface formed by the target array rod group fits better with the shape of the support surface of the parts to be combined, and the positioning is more reliable.

[0143] In some embodiments, the control method further includes: S61, obtaining a plurality of driving force values of each target array rod in the target array rod group driven by the displacement driving mechanism 30; S62, determining the corresponding target array rod as the array rod to be maintained when the driving force value is less than the preset damping force value; S63, displaying the position of the array rod to be maintained.

[0144] In this embodiment, when the displacement driving mechanism 30 is a jacking mechanism, a second pressure sensor is provided at the bottom end of the array rod. During the jacking process, the second pressure value detected by the second pressure sensor can reflect the driving force value. Of course, when the displacement driving mechanism 30 is a lifting mechanism or a plurality of lifting driving mechanisms, appropriate driving force detection devices can be provided. The preset damping force value is determined by comprehensively considering the weight of the positioning parts, the weight of the array rods, the number of array rods, etc.

[0145] Optionally, in step S63, the driving force value of the array rod to be maintained is also displayed to assist in determining the maintenance method.

[0146] The execution subject of the control method for the product part combination positioning device in the embodiments of the present disclosure can control the device, and the control device can be set independently or integrated into a server or a computer terminal, which is not limited and is determined according to the actual situation.

[0147] Next, in combination with Figure 6 as shown, the control method for the product part combination positioning device is specifically described, which involves automotive body part I 41 and automotive body part II 42, and includes the following steps:

[0148] Start; start the control program for the product part combination positioning device on the server or computer terminal.

[0149] Data preparation; in a three-dimensional coordinate system, import the data of part I 41 and part II 42 to construct three-dimensional drawings of part I 41 and part II 42; and adjust the combined three-dimensional drawing of part I 41 and part II 42 to the center position of the array rod group 20 platform, and place the combined three-dimensional drawing based on the principle of maximizing the Z-direction projection. Obtain the number and coordinate information of each array rod on each array rod group 20.

[0150] Data programming; After adjusting the position of the combined 3D drawing, perform a Z - direction projection calculation on the maximum boundary to determine all the array rods in the 3D drawing of the array rod group 20 covered by the positive Z - direction projection of the combined parts. Assume that the business operation mode is to perform hole position detection on the combination of part Ⅰ 41 and part Ⅱ 42. Therefore, in the dense support mode, the rods are lifted densely. After selecting the mode, perform program calculation. During the calculation process, it is found that there are multiple array rods that cannot touch the parts (that is, there is no contact point between the array rods in the target array rod group and the support surface of the combined parts). After analysis, it is found that due to the presence of holes on the parts, some array rods pass through the holes in the parts and cannot touch. According to the reported array rod numbers, manually cancel these array rod numbers, re - perform the rod - lifting calculation and generate a program (i.e., drive information). Further, after the program is generated, perform a fitting test on the generated program to check the integrity of the part features and the spatial feasibility of subsequent process operations, etc. Finally, freeze the program and output it as drive information. The actual reference positions of the motors in the displacement drive mechanism are consistent with the program.

[0151] Device startup; Start the product component combination positioning device.

[0152] Program import; Import the drive information (or, also including the reset information) into the product component combination positioning device or its controller.

[0153] Device initialization; Initialize the product component combination positioning device, that is, ensure that the array rod group 20 and the displacement drive mechanism 30 are in the initial position.

[0154] Device runs according to the program; Specifically, taking the displacement drive mechanism 30 as the lifting mechanism as an example, control and drive the first motor, the second motor, and the third motor, so that the movable lifting end of the lifting mechanism is below the first array rod to be lifted and lift it to the corresponding target displacement height. After the array rod reaches the predetermined position, the movable lifting end descends in the Z - direction to the reference position to prepare for lifting the next array rod. And so on, gradually lift each array rod to be lifted to the target displacement height position set by the program.

[0155] Array rod forming; The end faces of the target array rods in the target array rod group form positioning support surfaces.

[0156] Part installation and adjustment; Place part Ⅰ 41 and part Ⅱ 42 on the positioning support surfaces of the target array rod group and perform installation and adjustment.

[0157] Connect / Detect business operation.

[0158] Remove parts; Remove part Ⅰ 41 and part Ⅱ 42 from the array rod assembly.

[0159] Device reset.

[0160] End.

[0161] The control method provided by the embodiment of the present disclosure for a product component combination positioning device can be based on Computer Aided Tri-Dimensional Interactive Application (CATIA).

[0162] Combined Figure 7 As shown, the embodiment of the present disclosure provides a control device 100 for a product component combination positioning device, including a processor 100 and a memory 101. Optionally, the device may further include a communication interface 102 and a bus 103. Among them, the processor 100, the communication interface 102, and the memory 101 can complete mutual communication through the bus 103. The communication interface 102 can be used for information transmission. The processor 100 can call the logical instructions in the memory 101 to execute the control method for the product component combination positioning device in the above embodiment, so as to obtain the driving information of the displacement driving mechanism 30.

[0163] In addition, when the logical instructions in the above-mentioned memory 101 are implemented in the form of software function units and sold or used as an independent product, they can be stored in a computer-readable storage medium.

[0164] The memory 101, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as the program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 100 executes functional applications and data processing by running the program instructions / modules stored in the memory 101, that is, implements the control method for the product component combination positioning device in the above embodiment.

[0165] The memory 101 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the terminal device, etc. In addition, the memory 101 may include a high-speed random access memory and may also include a non-volatile memory.

[0166] An embodiment of the present disclosure provides a positioning device for product component combination, including the positioning device for product component combination in any of the foregoing embodiments and a controller. The controller is configured to obtain the driving information of the displacement driving mechanism 30 obtained by the control method in any of the foregoing embodiments; and drive the displacement driving mechanism 30 to drive each target array rod in the target array rod group to move to the target displacement height according to the driving information of the displacement driving mechanism 30.

[0167] Optionally, the controller is further configured to obtain the reset information of the displacement driving mechanism 30 obtained by the control method in any of the foregoing embodiments; and drive the reset mechanism to drive each target array rod in the target array rod group to reset to the initial position according to the reset information of the displacement driving mechanism 30.

[0168] An embodiment of the present disclosure provides a sheet metal part combination positioning system, including: the positioning device for product component combination in any of the foregoing embodiments and the control device for the positioning device for product component combination in any of the foregoing embodiments, which is configured to implement the control method for the positioning device for product component combination in any of the foregoing embodiments to obtain the driving information of the displacement driving mechanism. The positioning device for product component combination responds to the driving information of the displacement driving mechanism to implement the displacement driving mechanism 30 to drive each target array rod in the target array rod group to move to the target displacement height.

[0169] An embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, and the computer-executable instructions are configured to execute the above control method for the positioning device for product component combination.

[0170] The above computer-readable storage medium may be a transient computer-readable storage medium or a non-transient computer-readable storage medium.

[0171] The technical solution of the embodiment of the present disclosure may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The foregoing storage medium may be a non-transient storage medium, including: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program codes, or may also be a transient storage medium.

[0172] The above description and the accompanying drawings sufficiently illustrate the embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, process, and other changes. Embodiments merely represent possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terms used in this application are only for describing embodiments and do not limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to also include the plural forms. Similarly, as used in this application, the term "and / or" refers to any and all possible combinations including one or more of the associated listed items. Additionally, when used in this application, the term "comprise" and its variants "comprises" and / or "comprising" etc. mean the presence of the stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or groups thereof. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, or apparatus comprising the element. Herein, each embodiment may focus on the differences from other embodiments, and the same or similar parts among the embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, the relevant parts may refer to the description of the method part.

[0173] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner may depend on the specific application and design constraints of the technical solution. The technical personnel can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the embodiments of the present disclosure. The technical personnel can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0174] In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units can be merely a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Additionally, the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms. The units described as separate components can be or can not be physically separated. The components displayed as units can be or can not be physical units, that is, they can be located in one place, or can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to implement this embodiment. Additionally, in the embodiments of the present disclosure, the various functional units can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit.

[0175] 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 embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the blocks can occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, which can depend on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks can also occur in a different order than that disclosed in the description. Sometimes, there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, which can depend on the functions involved. Each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A positioning device for product component combination, characterized in that, Comprising: A positioning base; An array rod group, including a plurality of array rods, each array rod being vertically arranged on the positioning base; and the array rods can move vertically when driven by an external force; A displacement driving mechanism for driving each target array rod in the target array rod group to move to a target displacement height; Wherein, the target array rod group is composed of the array rods covered by the orthographic projection pattern of the supporting surface of the parts to be combined, and the target displacement height of each target array rod is determined according to the shape of the supporting surface.

2. The product parts combination positioning device according to claim 1, characterized in that The displacement driving mechanism includes a jacking mechanism, and the jacking mechanism includes a movable jacking end, which is located below the array rod group and can be driven to move below the target array rod and can move vertically; Or, the displacement driving mechanism includes a lifting mechanism, and the lifting mechanism includes a movable lifting end, which is located above the array rod group and can be driven to move above the target array rod and can move vertically; Or, the displacement driving mechanism includes a plurality of lifting driving mechanisms, which are arranged in one-to-one correspondence with the array rods of the array rod group, and the lifting driving mechanism drives the corresponding target array rod to move to the target displacement height.

3. The product parts combination positioning device according to claim 2, characterized in that The displacement driving mechanism includes a jacking mechanism, and the jacking mechanism includes: A horizontal movement mechanism, including a horizontal movement end, which can move within a horizontal plane to a target position corresponding to the target array rod; A telescopic mechanism, which is vertically arranged at the horizontal movement end of the horizontal movement mechanism and moves to the target position along with the movement end of the horizontal movement mechanism; the telescopic end of the telescopic mechanism extends to jack the target array rod at the target position to the target displacement height.

4. The product component combination positioning device according to claim 3, wherein, The horizontal movement mechanism includes: A first-direction movement structure, including a first moving member capable of moving along a first direction; A second-direction movement structure, including a second moving member capable of moving along a second direction; the second-direction movement structure is arranged on the first moving member; the second-direction movement structure can move along the first direction along with the first moving member; The telescopic mechanism is vertically arranged on the second moving member of the second-direction movement structure.

5. The product component combination positioning device according to claim 3, characterized in that, The telescopic mechanism includes a multi-stage screw telescopic rod, and the multi-stage screw telescopic rod includes: A base, constructed as an open-ended cylinder; A screw group, including a plurality of screws, one of which is used as a first-stage screw and passes through the bottom wall of the open-ended cylinder into the interior of the open-ended cylinder and is movably connected to the bottom wall, and the remaining screws are hollow screws and are sleeved and thread-connected step by step, and a stop structure is provided at the telescopic end of each screw to prevent the hollow screw from coming out; the hollow screws are defined as the second-stage screw to the N-stage screw from the inside to the outside in sequence, and the lengths of the hollow screws are shortened step by step to form a stepped screw group; The telescopic joint group includes a plurality of telescopic joints. The plurality of telescopic joints are slidably sleeved, and a limiting and guiding structure along the axial direction is provided on the sleeving surfaces of two adjacent telescopic joints to limit the axial sliding of the telescopic joints. The plurality of telescopic joints are defined as the first-stage telescopic joint to the N-stage telescopic joint in sequence from the outside to the inside. The telescopic joint group is slidably received in the base body, and the outer end surface of the first-stage telescopic joint is slidably connected to the inner wall of the base body, and a limiting and guiding structure is provided on the connection surface to limit the axial sliding of the first-stage telescopic joint. Each stage of telescopic joint is screwed to the corresponding stage of lead screw.

6. The product component combination positioning device according to any one of claims 1 to 5, characterized in that The positioning base includes: A first substrate, on which a first array hole group is provided; A second substrate, which is spaced from the first substrate, On which a second array hole group is provided; The first array hole group and the second array hole group are vertically corresponding one by one; The array rods of the array rod group are movably inserted through the first array holes and the second array holes in the same vertical direction; A damping structure is provided between the array rod and the array hole. Under the action of an external force, the array rod can move vertically.

7. The combined positioning device for product parts according to any one of claims 1 to 5, characterized in that An electromagnetic structure member is provided on some or all of the array rods of the array rod group; and / or An anti-slip structure is provided at the top of some or all of the array rods of the array rod group; and / or A first pressure sensor is provided at the top of the array rod for detecting the first pressure value between the parts to be combined and the top of the array rod; and / or A second pressure sensor is provided at the bottom of the array rod for detecting the driving force of the displacement driving mechanism for driving the target array rod.

8. The product component combination positioning device according to any one of claims 1 to 5, characterized in that, It further includes: A reset mechanism for resetting each array rod of the target array rod group to the initial position.

9. A control method for a product component combination positioning device, characterized in that, The control method includes: Obtaining the orthographic projection graph and the shape of the support surface of the parts to be combined; According to the orthographic projection graph of the support surface, determining the target array rod group covered by the orthographic projection graph on the array rod group and the position information of each target array rod in the target array rod group; According to the shape of the support surface and the target array rod group, determining the target displacement height of each target array rod in the target array rod group; According to the position information and the target displacement height of each target array rod in the target array rod group, obtaining the driving information of the displacement driving mechanism.

10. The control method according to claim 9, characterized in that Obtaining the orthographic projection graph and the shape of the support surface of the parts to be combined; includes: Constructing a three-dimensional model of the parts to be combined in a three-dimensional coordinate system; Placing the three-dimensional model of the parts to be combined with the maximized orthographic projection graph in the Z direction of the parts to be combined; Taking the surface perpendicular to the Z direction of the parts to be combined as the support surface of the parts to be combined; Performing a Z-direction orthographic projection to obtain the orthographic projection graph of the support surface of the parts to be combined.

11. The control method according to claim 9, wherein According to the orthographic projection graph of the support surface, determining the target array rod group covered by the orthographic projection graph on the array rod group; includes: Constructing a three-dimensional model of the array rod group in a three-dimensional coordinate system; Adjusting and constructing the three-dimensional model of the parts to be combined so that the orthographic projection graph of the support surface of the parts to be combined is projected onto the three-dimensional model of the array rod group; Determining that a plurality of array rods covered by the orthographic projection graph of the support surface form a target array rod group, and obtaining the position information of each target array rod in the target array rod group.

12. The control method according to claim 11, wherein Determining that a plurality of array rods covered by the orthographic projection graph of the support surface form a target array rod group, includes: Determine a target array rod group according to a plurality of array rods covered by the orthographic projection pattern of the support surface and the support mode; Among them, the support mode includes a dense support mode, a spaced support mode, a custom support mode or a hybrid mode. The dense support mode is to drive all the array rods within the coverage of the orthographic projection pattern of the support surface to move for support; the spaced support mode is to drive some spaced array rods within the coverage of the orthographic projection pattern of the support surface to move for support; the custom support mode is for the user to custom-determine the array rods for support within the coverage of the orthographic projection pattern of the support surface; the hybrid mode includes a first hybrid mode of the dense support mode and the custom support mode and a second hybrid mode of the spaced support mode and the custom support mode.

13. The control method according to claim 9, characterized in that Determine the target displacement height of each target array rod in the target array rod group according to the shape of the support surface and the target array rod group; including: Determine multiple contact points of each target array rod in the target array rod group with the support surface of the parts to be combined; Use the contact point with the lowest height as the reference contact point, and calculate the height difference between other contact points and the reference point; Determine the target displacement height of each target array rod according to the reference point and the height difference.

14. The control method according to claim 9, wherein Obtain the driving information of the displacement driving mechanism according to the positions and target displacement heights of the target array rods in the target array rod group; including: Establish a two-dimensional motion trajectory in the horizontal plane of the displacement driving mechanism according to the positions of the target array rods in the target array rod group; Obtain the motion driving program of the displacement driving mechanism according to the two-dimensional motion trajectory, the positions of the target array rods and the target displacement heights; Alternatively, obtain the driving information of the displacement driving mechanism according to the positions and target displacement heights of the target array rods in the target array rod group; including: one-to-one correspondence of the position information of the target array rods and the target displacement heights to obtain the driving information of the displacement driving mechanism.

15. The control method according to any one of claims 9 to 14, characterized in that, Further include: Obtain multiple first pressure information of each target array rod in the target array rod group; When the multiple first pressure information is the same, determine that the parts to be combined are positioned in place; When the multiple first pressure information is different, determine the abnormal target array rod with an abnormality and perform position correction on the abnormal target array rod; according to the corrected target displacement height, obtain the corrected driving information.

16. The control method according to any one of claims 9 to 14, characterized in that, Further include: Obtain multiple driving force values of the displacement driving mechanism driving each target array rod in the target array rod group; When the driving force value is less than the preset damping force value, determine that the corresponding target array rod is an array rod to be maintained; Display the position of the array rod to be maintained.

17. A control device for a product component combination positioning device, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to execute the control method for the product parts combination positioning device according to any one of claims 9 to 16 when executing the program instructions.

18. A product component combination positioning device, characterized in that, Include: The product parts combination positioning device according to any one of claims 1 to 8; A controller, configured to obtain the driving information of the displacement driving mechanism obtained by the control method according to any one of claims 9 to 16; according to the driving information of the displacement driving mechanism, drive the displacement driving mechanism to drive each target array rod in the target array rod group to move to the target displacement height.

19. A product component combination positioning system, characterized in that, Include: The product component combination positioning device according to any one of claims 1 to 8, or the product component combination positioning device according to claim 18; The control device for the product component combination positioning device according to claim 17, which is used to implement the control method for the product component combination positioning device according to any one of claims 9 to 16, and obtain the driving information of the displacement driving mechanism; The product component combination positioning device responds to the driving information of the displacement driving mechanism, and realizes that the displacement driving mechanism drives each target array rod in the target array rod group to move to the target displacement height.

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