Automatic hanging method, system and device for automobile parts

Abstract

The invention relates to an automatic hanging method, system and device for automobile parts, and relates to the field of mechanical automation, and the method comprises the steps: collecting an overall image of a hanging rack, recognizing a mounting position set from the overall image, and determining an initial mounting position from the mounting position set; a manipulator is controlled to mount the workpiece to the initial mounting position, and whether a transverse secondary mounting position exists in the horizontal direction of the initial mounting position or not and whether a longitudinal secondary mounting position exists in the vertical direction or not are sequentially determined according to the overall image of the upper hanging frame; if the transverse secondary installation position exists, the transverse secondary installation position serves as the next round of installation position of the workpiece, and the initial installation position is replaced; and if the longitudinal secondary installation position exists, the longitudinal secondary installation position serves as the next round of installation position of the workpiece, and the initial installation position is replaced until the longitudinal secondary installation position does not exist in the vertical direction of the initial installation position. The mounting device has the effect of improving the mounting efficiency and the mounting precision of the upper hanger of the automobile part.

Description

Technical Field

[0001] The present invention relates to the field of mechanical automation, and in particular to a method, system and device for automatically hanging automobile parts. Background Art

[0002] In the production and manufacturing process of automotive parts, electroplating surface treatment is a crucial process. Its purpose is to improve the key performance of the product, such as corrosion resistance, wear resistance, conductivity and appearance quality, by forming a uniform and dense metal coating on the surface of the parts, thereby meeting the use requirements of automotive parts under complex working conditions. Before electroplating, auto parts processed in the previous processing station must be accurately and securely mounted on the upper rack. Once the upper rack is fully loaded with products, the entire rack is immersed in the electroplating bath to complete the electroplating process. Currently, this process of transferring products from the previous processing station to the upper rack and mounting them on it is primarily done manually.

[0003] However, manual picking and installation of spare parts one by one is slow and cannot meet the needs of large-scale production, becoming a bottleneck process in the electroplating process. In addition, the accuracy and position stability of manual installation are difficult to guarantee, and the product may fall off due to loose hanging, affecting the yield rate. Summary of the Invention

[0004] In order to improve the installation efficiency and installation accuracy of automobile spare parts, the present invention provides an automatic hanging method, system and device for automobile spare parts.

[0005] In a first aspect, the present invention provides a method for automatically hanging auto parts, which adopts the following technical solution: A method for automatically hanging automobile parts, comprising: S1: Collect the overall image of the upper rack; S2: identifying an installation position set according to the overall image of the upper rack, and determining a starting installation position from the installation position set; S3: Controlling a preset manipulator (2) to install the workpiece from the external material storage platform to the starting installation position, and synchronously determining whether there is a lateral secondary installation position in the horizontal direction of the starting installation position based on the overall image of the upper hanger; S4: If the transverse secondary installation position exists, use the transverse secondary installation position as the next installation position of the workpiece and replace the initial installation position; S5: If the horizontal secondary installation position does not exist, determine whether there is a vertical secondary installation position in the vertical direction of the initial installation position based on the overall image of the upper mounting rack; S6: If the longitudinal secondary installation position exists, the longitudinal secondary installation position is used as the next installation position of the workpiece and replaces the initial installation position until the longitudinal secondary installation position does not exist in the vertical direction of the initial installation position.

[0006] By adopting the above technical solution, when the robot installs the workpiece, it can simultaneously detect and locate the adjacent positions of the starting installation position in advance, so that the robot no longer needs to perform overall image recognition of the upper hanger in the next round of installation. Moreover, by adopting the method of first detecting the horizontal secondary installation position and then detecting the longitudinal secondary installation position, the robot can traverse all the installation positions of the upper hanger along the S-shaped path, so that the workpiece can be installed efficiently.

[0007] Optionally, the method for the manipulator to install the workpiece to the initial installation position includes: S30: contacting a preset installation fixture located at the initial installation position with a preset initial contact force; S31: gradually increasing the initial contact force by a preset contact force increment, and capturing an image of the mounting fixture; S32: When the image of the mounting fixture is consistent with the preset maximum deformation state, the workpiece is installed in place, and the current contact force is collected; S33: If the current contact force falls within the preset maximum contact force threshold, the clamping is defined as firm and the current clamping process is completed; S34: If the current contact force does not fall within the maximum contact force threshold and the current contact force is greater than the maximum value of the maximum contact force threshold, it is defined that the clamping is too tight, and the workpiece is loosened using a preset loosening method; S35: If the current contact force does not fall within the maximum contact force threshold and the current contact force is less than the minimum value of the maximum contact force threshold, it is defined that the clamping is too loose, and the workpiece is clamped using a preset tightening method.

[0008] Optionally, the method for determining the maximum contact force threshold and the maximum deformation state includes: S320: contacting the installation fixture at the initial installation position with the initial contact force, and collecting the deformation force of the installation fixture and a deformation state diagram of the fixture under the deformation force; S321: gradually increasing the initial contact force by the contact force increment, and forming a deformation force variation diagram according to a variation trend of the deformation force of the mounting fixture; S322: determining a maximum deformation force according to the deformation force variation diagram, and determining a maximum deformation state under the maximum deformation force according to the fixture deformation state diagram; S323: Determining a maximum contact force threshold according to the maximum deformation force and a preset deviation range; S324: Output the maximum contact force threshold and the maximum deformation state.

[0009] Optionally, the tightening method includes: S350: Calculating a first contact force difference based on the minimum value of the maximum contact force threshold and the current contact force; S351: Matching a preset tightening ring to a preset tightening position of the expansion portion based on the first contact force difference; S352: Determining a pulling distance according to the clamping position and a preset initial position of the clamping ring; S353: Matching the traction magnetic force value according to the traction distance; S354: Calculate the sum of the traction magnetic force value and the first contact force difference to obtain a total traction magnetic force value; S355: When the workpiece is installed in place, the total traction magnetic force value is used to control the manipulator to generate magnetic force to pull the clamping ring from the initial position of the clamping ring to the preset gear slot of the clamping position.

[0010] Optionally, the loosening method includes: S340: Calculating a second contact force difference based on a maximum value of the current contact force and the maximum contact force threshold; S341: Matching a preset insertion depth of the inserting piece into a preset flaring gap based on the second contact force difference; S342: determining a repulsion distance based on the insertion depth; S343: Matching the repulsive magnetic force value according to the repulsive distance; S344: Calculate the sum of the repulsive magnetic force value and the second contact force difference value to obtain a total repulsive magnetic force value; S345: When the workpiece is installed in place, the robot arm is controlled to generate a repulsive force using the total repulsive magnetic force value to push the insertion piece into the flared gap.

[0011] Optionally, the method for withdrawing the workpiece from the mounting fixture includes: S36: Identifying a clamping position of the workpiece when it is installed in place from the image of the installation fixture; S360: Determining a compression distance based on the clamping position and a preset initial position of the tightening ring; S361: Matching the compression magnetic force according to the compression distance; S362: Calculate the sum of the compressive magnetic force and the current contact force to obtain a total compressive magnetic force; S363: Using the total compressive magnetic force, the manipulator is controlled to generate suction force on a preset clamping ring to drive a preset insert piece to abut against the workpiece and push the workpiece out.

[0012] In a second aspect, the present application provides an automatic hanging system for automobile parts, which adopts the following technical solutions: An automatic hanging system for automobile parts, comprising: An acquisition module is used to acquire the overall image of the upper rack; A memory for storing a program for an automatic hanging method of automobile spare parts; The program in the memory can be loaded and executed by the processor to realize an automatic hanging method for automobile spare parts.

[0013] In a third aspect, the present invention provides an automatic hanging device for automobile parts, which adopts the following technical solution: An automatic hanging device for automobile parts is controlled by an automatic hanging method for automobile parts, comprising an upper hanging rack for mounting a workpiece and a manipulator for clamping the workpiece and mounting the workpiece from an external material storage platform to the upper hanging rack; the upper hanging rack array is provided with a mounting fixture, the mounting fixture comprising a first elastic member and a second elastic member pressed and superimposed on the first elastic member, the first elastic member and the second elastic member being separated at an end away from the upper hanging rack to form an elastic gap for the workpiece to be clamped into; The manipulator is provided with a magnetic force generating device for generating magnetic attraction or magnetic repulsion; the mounting fixture is slidingly provided with an adjustment structure which is magnetically matched with the magnetic force generating device and is used to adjust the width of the elastic gap; the adjustment structure expands the elastic gap from the inside of the elastic gap under the repulsive force of the magnetic force generating device and contracts the elastic gap from the outside of the elastic gap under the attractive force of the magnetic force generating device.

[0014] By adopting the above technical solution, after the robot picks up a workpiece from the external material storage platform, it can automatically install the workpiece on any mounting fixture on the upper hanger. Due to the elasticity of the first and second elastic members, when the workpiece is inserted into the elastic gap, the first and second elastic members can clamp the workpiece, thereby fixing the workpiece on the upper hanger.

[0015] By cooperating with the magnetic force generating device and the adjustment structure, when the workpiece is stuck in the elastic gap, the adjustment structure can expand the elastic gap in advance, so that the workpiece can be installed into the elastic gap more quickly. At the same time, the robot can install the workpiece into the elastic gap without applying a large force on the workpiece, thereby protecting the workpiece.

[0016] Optionally, the adjustment structure includes a clamping ring, the clamping ring is slidably sleeved on an end of the mounting fixture away from the elastic gap, and the clamping ring is connected to the mounting fixture via a tension spring; The mounting fixture has outwardly expanding expansion parts on both sides of the elastic gap, and the expansion parts are spaced apart with shift grooves, and the clamping ring is clamped into the shift grooves under the suction force of the magnetic force generating device.

[0017] By adopting this technical solution, when the manipulator's magnetic force generating device and the clamping ring are magnetically attracted, the clamping ring is attracted and moves toward the manipulator, ultimately locking into the shift slot. When the clamping ring is locked into the shift slot, it squeezes both sides of the elastic gap, shrinking the elastic gap and thereby increasing the clamping force of the mounting fixture on the workpiece. This can also compensate for the elasticity of the mounting fixture when it weakens.

[0018] Optionally, the adjustment structure further includes an inserting piece, the inserting piece is fixedly connected to the clamping ring and is located in the elastic gap; the clamping ring has a magnetic ring, and the magnetic ring and the magnetic force generating device are magnetically repelled; The mounting fixture has a flared gap at the compression connection between the first elastic member and the second elastic member, and the flared gap is connected to the elastic gap; the clamping ring drives the insertion piece to be clamped into the flared gap under the repulsive force of the magnetic force generating device.

[0019] By adopting the above technical solution, when the clamping force of the installation fixture is too large, a repulsive force is generated by the magnetic force generating device, driving the clamping ring to move away from the manipulator. When the insert piece can be stuck in the flared gap, the width of the elastic gap can be expanded, thereby reducing the clamping force of the installation fixture and avoiding damage to the automotive plastic parts caused by excessive clamping force when the installation fixture is clamped.

[0020] In summary, this application includes at least one of the following beneficial technical effects: When the robot is installing a workpiece, it can simultaneously detect and locate the adjacent positions of the starting installation position in advance, so that the robot does not need to perform overall image recognition of the upper rack during the next installation. By first detecting the horizontal secondary installation position and then the vertical secondary installation position, the robot can traverse all the installation positions of the upper rack along an S-shaped path, thereby efficiently installing the workpiece. When the clamping force of the installation fixture on the workpiece is too small, the magnetic force generating device of the manipulator and the clamping ring are magnetically attracted, and the clamping ring can be attracted and moved toward the manipulator and stuck in the gear slot, so that the elastic gap is reduced, thereby compensating for the elasticity of the installation fixture; When the clamping force of the mounting fixture on the workpiece is too large, a repulsive force is generated by the magnetic force generating device, driving the clamping ring to move away from the robot arm. When the insert piece can be stuck into the flared gap, the width of the elastic gap can be expanded, thereby reducing the clamping force of the mounting fixture and avoiding damage to automotive plastic parts due to excessive clamping force when the mounting fixture is clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of an automatic hanging device for automobile parts according to an embodiment of the present invention; Figure 2 is a schematic structural diagram of a mounting fixture according to an embodiment of the present invention; Figure 3 is a schematic structural diagram of an adjustment structure according to an embodiment of the present invention; Figure 4 1 is a schematic diagram of a partial structure of a manipulator according to an embodiment of the present invention; Figure 5 The present invention is a flowchart of a method for automatically hanging automobile parts.

[0022] The names of the parts indicated by the numerical labels in the above drawings are as follows: 1. Upper bracket; 2. Manipulator; 21. Magnetic force generating device; 3. Mounting fixture; 31. First elastic member; 32. Second elastic member; 33. Elastic gap; 34. Expansion portion; 341. Gear slot; 35. Expansion gap; 36. Fixed section; 37. Clamping section; 4. Tightening ring; 41. Magnetic ring; 5. Tension spring; 6. Insert piece. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0024] The embodiment of the present application discloses an automatic hanging device for automobile parts.

[0025] Reference Figure 1 An automatic loading device for automotive parts includes an upper rack 1 and a manipulator 2. The upper rack 1 is used to mount a workpiece, and the manipulator 2 is used to clamp the workpiece from an external material storage platform and mount it on the upper rack 1. Once the workpiece is mounted on the upper rack 1, it can proceed to the next electroplating process.

[0026] A plurality of mounting fixtures 3 are arranged in an array on the upper rack 1 . The mounting fixtures 3 are connected to the upper rack 1 by welding. The mounting fixtures 3 are used to clamp the workpiece.

[0027] Reference Figure 1 and Figure 2The mounting fixture 3 is composed of a first elastic member 31 and a second elastic member 32. The first elastic member 31 and the second elastic member 32 are compressed and mounted on the upper hanger 1 by bolts. The end of the first elastic member 31 away from the upper hanger 1 is separated from the end of the second elastic member 32 away from the upper hanger 1 to form an elastic gap 33. The opening of the elastic gap 33 is opened in the direction away from the upper hanger 1, and the elastic gap 33 is used to allow a workpiece to be clamped.

[0028] To ensure a certain width for the elastic gap 33, outwardly expanding portions 34 are provided on both sides of the elastic gap 33, near the compressed area between the first and second elastic members 31, 32. This means that the first and second elastic members 31, 32 bend away from each other at the compressed area. Furthermore, the first and second elastic members 31, 32 have flared gaps 35 at the compressed area, which communicate with the elastic gap 33.

[0029] According to the connection method of the first elastic member 31 and the second elastic member 32 , the mounting fixture 3 is divided into a fixing section 36 and a clamping section 37 , and the elastic gap 33 is located in the clamping section 37 .

[0030] Reference Figure 2 and Figure 3 During use, the mounting fixture 3 may be too tight or too loose. To solve this problem, an adjustment structure is provided on the mounting fixture 3. The adjustment structure includes a clamping ring 4, a tension spring 5, and an insert 6.

[0031] The clamping ring 4 is annular and is sleeved on the outside of the fixed section 36 and can move at the fixed end. The clamping ring 4 is provided with a magnetic ring 41. In the present embodiment, the clamping ring 4 is a telescopic structure and is locked by a locking member. The width of the clamping ring 4 can be increased after unlocking.

[0032] One end of the tension spring 5 is connected to the fixed section 36 , and the other end is connected to the clamping ring 4 . The tension spring 5 can generate a pulling force or a pushing force on the clamping ring 4 .

[0033] The inserting piece 6 is integrally connected to the tightening ring 4 , and the inserting piece 6 is located in the elastic gap 33 , and the inserting piece 6 is directly opposite to the flared gap 35 .

[0034] The mounting fixture 3 has shift slots 341 spaced apart on the expansion portion 34 , and the shift slots 341 are used for the clamping ring 4 to be clamped in.

[0035] Reference Figure 1 and Figure 4 In this embodiment, the manipulator 2 is provided with a magnetic force generating device 21, which can generate attraction or repulsion.

[0036] Combine Figures 1 to 4When the mounting fixture 3 is clamped too loosely, suction is generated by the magnetic force generating device 21 of the manipulator 2. The magnetic force generating device 21 is magnetically attracted to the clamping ring 4. The clamping ring 4 can be attracted and move toward the manipulator 2 and be stuck in the gear slot 341. The clamping ring 4 generates pressure on the expansion part 34, causing the elastic gap 33 to shrink.

[0037] When the mounting fixture 3 is clamped too tightly, a repulsive force is generated by the magnetic force generating device 21 of the manipulator 2. The magnetic force generating device 21 and the clamping ring 4 are magnetically repelled, and the clamping ring 4 is driven and moves away from the manipulator 2, so that the insert 6 is stuck in the flared gap 35, so that the width of the elastic gap 33 can be expanded.

[0038] Based on the same inventive concept, an embodiment of the present invention provides a method for automatically hanging automobile parts.

[0039] Reference Figure 5 A method for automatically hanging auto parts includes the following steps: Step S1: Acquire an overall image of the upper rack.

[0040] The overall image of the upper rack refers to an image captured by a camera of the entire upper rack 1. This image identifies all mounting locations on the upper rack 1. The camera is mounted on manipulator 2. When manipulator 2 grips a workpiece and prepares to mount it, the camera on manipulator 2 first captures the overall image of the upper rack 1. This facilitates overall positioning analysis of the upper rack 1 and forms a three-dimensional spatial coordinate system based on the position of the upper rack 1.

[0041] Step S2: identifying an installation position set according to the overall image of the upper rack, and determining a starting installation position from the installation position set.

[0042] The installation position set refers to the set of all installation positions on the upper rack 1, where each location of a mounting fixture 3 is considered an installation position. By identifying and analyzing the mounting fixtures 3 in the overall image of the upper rack, the position of each mounting fixture 3 on the upper rack 1 can be determined, thereby forming an installation position set.

[0043] The starting installation position is the first installation position for the workpiece to be installed on the upper rack 1. Since the installation position set is a square array, the starting installation position can be the four corners of the square array.

[0044] Step S3: Control the preset manipulator 2 to install the workpiece from the external material storage platform to the starting installation position, and synchronously determine whether there is a horizontal secondary installation position in the horizontal direction of the starting installation position based on the overall image of the upper hanger.

[0045] After determining the starting installation position, the robot arm 2 starts to install the workpiece at the starting installation position, and during the installation process, the robot arm 2 identifies and locates the installation position of the next workpiece in advance.

[0046] In this embodiment, an S-shaped path is used for installation, that is, after completing the installation of one row, the installation of the next row is continued, and each row is installed in sequence by connecting the end to the end.

[0047] The lateral secondary installation position refers to a position located in the horizontal direction of the initial installation position for the next workpiece to be installed.

[0048] By identifying the horizontal direction of the initial installation position from the overall image of the upper hanger, it is possible to determine whether there is a lateral secondary installation position.

[0049] Step S4: If the transverse secondary installation position exists, the transverse secondary installation position is used as the next installation position of the workpiece and replaces the initial installation position.

[0050] After the identification determines that there is a horizontal secondary installation position, the position is marked and used as the installation position of the next workpiece. This position is also the starting installation position of the next round of installation process.

[0051] Step S5: If the horizontal secondary installation position does not exist, determine whether there is a vertical secondary installation position in the vertical direction of the initial installation position based on the overall image of the upper hanger.

[0052] If no horizontal secondary installation positions are found after identification, it means that the installation positions in the previous row of upper hanger 1 may have been installed and the next row of installation positions needs to be installed. At this time, it is necessary to identify the vertical direction of the starting installation position to determine whether there are vertical secondary installation positions. The vertical secondary installation position refers to the position located in the vertical direction of the starting installation position for the next workpiece to be installed.

[0053] Step S6: If the longitudinal secondary installation position exists, the longitudinal secondary installation position is used as the next installation position of the workpiece and replaces the initial installation position until the longitudinal secondary installation position does not exist in the vertical direction of the initial installation position.

[0054] When it is determined that there is a longitudinal secondary installation position, it means that the installation position of the next row needs to be installed, and the position is marked and used as the installation position of the next workpiece. This position is also the starting installation position for the next round of installation process.

[0055] The installation and identification are performed in sequence according to the above method. When neither the horizontal secondary installation position nor the vertical secondary installation position exists, it indicates that all the installation position sets on the entire upper rack 1 have been installed.

[0056] The method for the manipulator 2 to install the workpiece to the initial installation position includes the following steps: Step S30: contacting the preset installation fixture 3 located at the initial installation position with a preset initial contact force.

[0057] The initial contact force is the force set by the technician when the manipulator 2 clamps the workpiece and contacts the mounting fixture 3, which is used to determine whether the workpiece abuts the mounting fixture 3. The manipulator 2 has a pressure sensor that can detect the reaction force, which will not be described here.

[0058] Step S31: gradually increasing the initial contact force by a preset contact force increment, and capturing an image of the mounting fixture.

[0059] When the workpiece contacts the mounting fixture 3 , the robot arm 2 begins to increase the initial contact force, thereby mounting the workpiece into the mounting fixture 3 .

[0060] The contact force increment is the increment of the initial contact force per unit time set by the technician, which will not be described in detail here.

[0061] As the workpiece is inserted into the elastic gap 33 of the mounting fixture 3, the gap 33 deforms. Therefore, real-time image capture and identification of the mounting fixture 3 are performed. The mounting fixture image refers to images continuously captured by the camera on the manipulator 2 while the workpiece is inserted into the elastic gap 33 of the mounting fixture 3. The deformation of the elastic gap 33 can be identified from the images.

[0062] Step S32: When the image of the mounting fixture is consistent with the preset maximum deformation state, the workpiece is installed in place, and the current contact force is collected.

[0063] The maximum deformation state is the maximum deformation degree of the elastic gap 33 obtained by technicians through pre-testing the installation fixture 3. The method for determining the maximum deformation state will be described in detail in subsequent embodiments and will not be elaborated here.

[0064] The installation fixture image is compared with the maximum deformation state. If it is identified in the installation fixture image that the current deformation of the installation fixture 3 is consistent with the maximum deformation state, it means that the workpiece has been installed in place.

[0065] The current contact force refers to the force applied by the manipulator 2 when the deformation of the mounting fixture 3 reaches the maximum deformation state. The current contact force is acquired by a pressure sensor provided on the manipulator 2.

[0066] Step S33: If the current contact force falls within the preset maximum contact force threshold, the clamping is defined as firm, and the current clamping process is completed.

[0067] The maximum contact force threshold is the normal range of force applied by the manipulator 2 when the mounting fixture 3 reaches the maximum deformation state, which is measured in advance by technicians. The maximum contact force threshold is used to determine whether the mounting fixture 3 is clamped too tightly or too loosely. The method for determining the maximum contact force threshold is introduced in detail in subsequent embodiments and will not be repeated here.

[0068] If the manipulator 2 detects that the current contact force falls within the maximum contact force threshold, it means that the mounting fixture 3 has just the right clamping force on the workpiece, neither too tight nor too loose, and the workpiece will not fall off or be damaged.

[0069] Step S34: If the current contact force does not fall within the maximum contact force threshold and the current contact force is greater than the maximum value of the maximum contact force threshold, it is defined that the clamping is too tight, and the workpiece is loosened using a preset loosening method.

[0070] If the current contact force does not fall within the maximum contact force threshold and is greater than the maximum value of the maximum contact force threshold, it means that the current contact force that the robot 2 needs to apply when clamping the workpiece into the mounting fixture 3 is too large. When the workpiece is clamped in the elastic gap 33, the workpiece is easily compressed and damaged. At this time, the system adjusts the elastic gap 33 by loosening the workpiece.

[0071] Step S35: If the current contact force does not fall within the maximum contact force threshold and the current contact force is less than the minimum value of the maximum contact force threshold, it is defined that the clamping is too loose, and the workpiece is clamped using a preset tightening method.

[0072] If the current contact force does not fall within the maximum contact force threshold and is less than the minimum value of the maximum contact force threshold, it means that the robot 2 can easily fit the workpiece into the elastic gap 33. The elastic gap 33 exerts little pressure on the workpiece, making it easy for the workpiece to fall off the mounting fixture 3. Therefore, the elasticity of the mounting fixture 3 is too loose. In this case, the system tightens the elastic gap 33.

[0073] The method for determining the maximum contact force threshold and the maximum deformation state includes the following steps: Step S320: contacting the installation fixture 3 at the initial installation position with the initial contact force, and collecting the deformation force of the installation fixture 3 and a fixture deformation state diagram under the deformation force.

[0074] Similar to step S30 , the workpiece is first probed with an initial contact force.

[0075] The deformation force of mounting fixture 3 refers to the force applied to mounting fixture 3 when manipulator 2 inserts a workpiece into elastic gap 33. Mounting fixture 3 here is a qualified, standard fixture 3. Deformable plates are provided on mounting fixture 3 to collect this deformation force. The fixture deformation state diagram refers to an image captured by the camera on manipulator 2 of mounting fixture 3. The deformation of mounting fixture 3 after being subjected to the deformation force can be identified in the image.

[0076] Step S321 : gradually increasing the initial contact force with the contact force increment, and forming a deformation force variation diagram according to the variation trend of the deformation force of the mounting fixture 3 .

[0077] Similar to step S31, the initial contact force is increased, and the workpiece is gradually clamped into the elastic gap 33 by the robot 2. Deformation force is a variable force. This force is continuously collected and integrated, ultimately storing it in the form of a graph. The deformation force variation graph is a graph showing the changes in the deformation force of the mounting fixture 3 from the initial contact of the workpiece to its full engagement. The deformation force is displayed as a curve in the graph.

[0078] Step S322: determining the maximum deformation force according to the deformation force variation diagram, and determining the maximum deformation state under the maximum deformation force according to the fixture deformation state diagram analysis.

[0079] The maximum deformation force refers to the maximum deformation force of the mounting fixture 3 . The maximum deformation force can be identified from the deformation force variation diagram, and is the maximum value of the curve in the deformation force variation diagram.

[0080] After the maximum deformation force is determined, the maximum deformation state of the mounting fixture 3 corresponding to the maximum deformation force can be identified from the fixture deformation state diagram.

[0081] Step S323: determining a maximum contact force threshold according to the maximum deformation force and a preset deviation range.

[0082] The deviation range is the allowable deviation range set by technical personnel and will not be elaborated here.

[0083] After the maximum deformation force is determined, the maximum contact force threshold can be obtained by taking the maximum deformation force as the median value and the deviation range as the fluctuation range.

[0084] Step S324: outputting the maximum contact force threshold and the maximum deformation state.

[0085] The determined maximum contact force threshold and maximum deformation state are output.

[0086] The tightening method includes the following steps: Step S350: Calculating a first contact force difference based on the minimum value of the maximum contact force threshold and the current contact force.

[0087] The first contact force difference is the amount of clamping force that needs to be adjusted when the mounting fixture 3 is too loose to meet the workpiece clamping requirement. The first contact force difference is the difference between the minimum value of the maximum contact force threshold and the current contact force.

[0088] Step S351 : matching a preset tightening ring 4 to a preset tightening position of the expansion portion 34 based on the first contact force difference.

[0089] The tightening position is the position of the tightening ring 4 in different gear slots 341 of the expansion portion 34. In this embodiment, the expansion portion 34 has a gear slot 341. By tightening the tightening ring 4 in different positions of the gear slot 341 of the expansion portion 34, the tightening ring 4 applies different forces to the elastic gap 33.

[0090] The clamping position is related to the first contact force difference. The larger the first contact force difference is, the farther the clamping position is from the upper hanger 1 . Therefore, the specific gear slot 341 clamped by the clamping ring 4 can be determined.

[0091] Step S352: determining a pulling distance according to the clamping position and a preset initial position of the clamping ring.

[0092] The initial position of the clamping ring refers to the position of the clamping ring 4 in the fixing section 36 when the tension spring 5 is in a natural state, that is, when no force is applied. This position is determined by the structure of the mounting fixture 3 and will not be described in detail here.

[0093] The pulling distance refers to the distance between the initial position and the tightening position of the tightening ring. When the initial position and the tightening position of the tightening ring are both determined, the pulling distance between the two can be determined based on the coordinates of the two points.

[0094] Step S353: Matching the traction magnetic force value according to the traction distance.

[0095] When the clamping ring 4 is stretched from its initial position to the tightening position, the tension of the tension spring 5 must be overcome. The traction magnetic force value is the magnitude of the magnetic force required by the magnetic force generating device 21 of the manipulator 2 to overcome the tension. The traction magnetic force value is proportional to the traction distance; the greater the traction distance, the greater the traction magnetic force value.

[0096] Step S354: Calculate the sum of the traction magnetic force value and the first contact force difference value to obtain a total traction magnetic force value.

[0097] The clamping ring 4 needs to overcome a force of the magnitude of the first contact force difference when it is clamped into the gear slot 341 at the clamping position. This force also needs to be overcome by the magnetic force generating device 21 .

[0098] The total traction magnetic force value refers to the total magnetic force required by the magnetic force generating device 21 to pull the clamping ring 4 from the initial position to the gear slot 341 of the clamping position. The total traction magnetic force value is the sum of the traction magnetic force value and the first contact force difference.

[0099] Step S355 : When the workpiece is installed in place, the manipulator 2 is controlled to generate magnetic force using the total traction magnetic force value to pull the clamping ring 4 from the clamping ring initial position to the preset gear slot 341 of the clamping position.

[0100] In this embodiment, after the workpiece is completely installed, if the manipulator 2 detects that the mounting fixture 3 is too loose, the manipulator 2 generates a magnetic force with a total pulling magnetic force value through the magnetic force generating device 21 of the manipulator 2. This magnetic force acts as an attractive force. Through magnetic attraction with the clamping ring 4, the clamping ring 4 is pulled from its initial position to the gear slot 341 in the tightening position. The clamping ring 4 then applies force to the elastic gap 33, so that the clamping force of the mounting fixture 3 on the workpiece reaches a preset range.

[0101] The loosening method includes the following steps: Step S340: Calculating a second contact force difference based on the maximum value of the current contact force and the maximum contact force threshold.

[0102] The second contact force difference is the amount of clamping force that needs to be adjusted when the fixture 3 is too tight, so as to prevent the fixture 3 from damaging the workpiece. The second contact force difference is the difference between the current contact force and the maximum value of the maximum contact force threshold.

[0103] Step S341 : matching a preset insertion depth of the inserting piece 6 into the flared gap 35 based on the second contact force difference.

[0104] The insertion depth refers to the depth to which the insert piece 6 is inserted into the flared gap 35. When the insert piece 6 is inserted into the flared gap 35, the first elastic member 31 and the second elastic member 32 are able to separate to a certain extent, thereby expanding the elastic gap 33. The deeper the insert piece 6 is inserted into the flared gap 35, the wider the elastic gap 33 becomes. The first contact force difference is related to the width of the elastic gap 33, so the second contact force difference is proportional to the insertion depth. The greater the second contact force difference, the deeper the insert piece 6 is inserted into the flared gap 35.

[0105] Step S342: Determine the repulsion distance based on the insertion depth.

[0106] Since the inserting piece 6 is integrally connected to the clamping ring 4 , when the inserting piece 6 is inserted into the flared gap 35 , the clamping ring 4 moves toward the upper hanger 1 , and at this time, the tension spring 5 is compressed.

[0107] The repulsion distance is the distance that the tightening ring 4 compresses the tension spring 5. The repulsion distance is consistent with the insertion depth and can be determined according to the insertion depth.

[0108] Step S343: matching the repulsive magnetic force value according to the repulsive distance.

[0109] The repulsive magnetic force value refers to the magnitude of the repulsive force that the magnetic force generating device 21 of the manipulator 2 needs to exert to overcome the compression force of the tension spring 5. The repulsive distance is proportional to the repulsive magnetic force value. The larger the repulsive distance, the larger the repulsive magnetic force value.

[0110] Step S344: Calculate the sum of the repulsive magnetic force value and the second contact force difference value to obtain a total repulsive magnetic force value.

[0111] Inserting the insert piece 6 into the flared gap 35 requires overcoming a force of the second contact force difference, and this force also needs to be overcome by the magnetic force generating device 21 .

[0112] The total repulsive magnetic force value refers to the magnitude of the total repulsive force required to insert the insert piece 6 into the flared gap 35. The total repulsive magnetic force value is the sum of the repulsive magnetic force value and the second contact force difference.

[0113] Step S345 : When the workpiece is installed in place, the robot arm 2 is controlled to generate a repulsive force using the total repulsive magnetic force value to push the inserting piece 6 into the flared gap 35 .

[0114] In this embodiment, after the workpiece is completely installed, if the manipulator 2 detects that the mounting fixture 3 is clamped too tightly, the manipulator 2 generates a magnetic force with a repulsive total magnetic force value through the magnetic force generating device 21 of the manipulator 2. This magnetic force is called a repulsive force. By magnetically repelling the magnetic ring 41 of the clamping ring 4, the clamping ring 4 is driven to move toward the upper hanger 1, so that the insert 6 is inserted into the flared gap 35, thereby expanding the elastic gap 33, so that the clamping force of the mounting fixture 3 on the workpiece reaches a preset range.

[0115] The method for withdrawing the workpiece from the mounting fixture 3 comprises the following steps: S36: Identify the clamping position of the workpiece when it is installed in place from the installation fixture image.

[0116] The engaging position is the actual position of the workpiece on the mounting fixture 3 when the workpiece is engaged with the elastic gap 33. When the manipulator 2 installs the workpiece in place, the position of the workpiece on the mounting fixture 3 is identified from the captured image of the mounting fixture, and the engaging position is determined through image analysis.

[0117] S360: Determine a compression distance based on the clamping position and a preset initial position of the tightening ring.

[0118] The compression distance is the distance between the clamping position and the initial position of the clamping ring. When the coordinate positions of the clamping position and the initial position of the clamping ring are determined, the compression distance is determined based on the positions of the two.

[0119] S361: Matching the compression magnetic force according to the compression distance.

[0120] The compressive magnetic force refers to the magnitude of the magnetic force required to drive the inserting piece 6 to move away from the upper hanger 1 and abut against the workpiece.

[0121] In this embodiment, since the distance between the insert piece 6 and the workpiece is proportional to the compressing magnetic force, the compressing distance is also proportional to the compressing magnetic force. The greater the compressing distance, the greater the compressing magnetic force.

[0122] S362: Calculate the sum of the compressive magnetic force and the current contact force to obtain the total compressive magnetic force.

[0123] The total compressive magnetic force refers to the magnitude of the magnetic force required for the magnetic force generating device 21 to generate magnetic force and drive the inserting piece 6 to push the workpiece out of the elastic gap 33 .

[0124] Moving insert 6 to abut the workpiece requires pulling on clamping ring 4, thereby stretching tension spring 5. This process requires overcoming the spring's tension. Pushing the workpiece out of elastic gap 33 via insert 6 requires overcoming the clamping force of the current contact force. Therefore, the total compressive magnetic force is composed of two components: the sum of the compressive magnetic force and the front contact force.

[0125] S363: Using the total compressive magnetic force, the manipulator 2 is controlled to generate suction force on the preset clamping ring 4 to drive the preset inserting piece 6 to abut against the workpiece and push the workpiece out.

[0126] After the workpiece is processed, the robot 2 is brought close to the mounting fixture 3 and applies a magnetic force equal to the total compressive magnetic force to the clamping ring 4, which acts as an attractive force. As the clamping ring 4 moves away from the upper hanger 1, the insert 6 is able to move within the elastic gap 33 and abut the workpiece, thereby pushing the workpiece out of the elastic gap 33. As the clamping ring 4 moves away from the upper hanger 1, the robot 2 first unlocks the clamping ring 4, allowing it to expand and contract without becoming stuck in the expansion portion 34.

[0127] Based on the same inventive concept, an embodiment of the present invention provides an automatic hanging system for automobile parts.

[0128] An automatic hanging system for automobile parts, comprising: The acquisition module is used to collect the overall image of the upper rack, the image of the installation fixture, and the deformation state diagram of the fixture under deformation force.

[0129] The memory is used to store a program for an automatic hanging method of automobile spare parts.

[0130] The program in the memory can be loaded and executed by the processor to realize an automatic hanging method for automobile spare parts.

[0131] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for automatically hanging auto parts, characterized in that: include: S1: Collect the overall image of the upper rack; S2: identifying an installation position set according to the overall image of the upper rack, and determining a starting installation position from the installation position set; S3: Controlling a preset manipulator (2) to install the workpiece from the external material storage platform to the starting installation position, and synchronously determining whether there is a lateral secondary installation position in the horizontal direction of the starting installation position based on the overall image of the upper hanger; S4: If the transverse secondary installation position exists, use the transverse secondary installation position as the next installation position of the workpiece and replace the initial installation position; S5: If the horizontal secondary installation position does not exist, determine whether there is a vertical secondary installation position in the vertical direction of the initial installation position based on the overall image of the upper mounting rack; S6: If the longitudinal secondary installation position exists, the longitudinal secondary installation position is used as the next installation position of the workpiece and replaces the initial installation position until the longitudinal secondary installation position does not exist in the vertical direction of the initial installation position.

2. The method for automatically hanging auto parts according to claim 1, characterized in that: The method for the manipulator (2) to install the workpiece to the initial installation position comprises: S30: contacting a preset installation fixture (3) located at the initial installation position with a preset initial contact force; S31: gradually increasing the initial contact force by a preset contact force increment, and capturing an image of the mounting fixture; S32: When the image of the mounting fixture is consistent with the preset maximum deformation state, the workpiece is installed in place, and the current contact force is collected; S33: If the current contact force falls within the preset maximum contact force threshold, the clamping is defined as firm and the current clamping process is completed; S34: If the current contact force does not fall within the maximum contact force threshold and the current contact force is greater than the maximum value of the maximum contact force threshold, it is defined that the clamping is too tight, and the workpiece is loosened using a preset loosening method; S35: If the current contact force does not fall within the maximum contact force threshold and the current contact force is less than the minimum value of the maximum contact force threshold, it is defined that the clamping is too loose, and the workpiece is clamped using a preset tightening method.

3. The method for automatically hanging auto parts according to claim 2, characterized in that: The method for determining the maximum contact force threshold and the maximum deformation state includes: S320: contacting the installation fixture (3) at the initial installation position with the initial contact force, and collecting the deformation force of the installation fixture (3) and a deformation state diagram of the fixture under the deformation force; S321: gradually increasing the initial contact force with the contact force increment, and forming a deformation force change diagram according to the change trend of the deformation force of the installation fixture (3); S322: determining a maximum deformation force according to the deformation force variation diagram, and determining a maximum deformation state under the maximum deformation force according to the fixture deformation state diagram; S323: Determining a maximum contact force threshold according to the maximum deformation force and a preset deviation range; S324: Output the maximum contact force threshold and the maximum deformation state.

4. The method for automatically hanging auto parts according to claim 2, characterized in that: The tightening method includes: S350: Calculating a first contact force difference based on the minimum value of the maximum contact force threshold and the current contact force; S351: matching a preset clamping ring (4) to a preset clamping position of the expansion portion (34) based on the first contact force difference; S352: Determining a pulling distance according to the clamping position and a preset initial position of the clamping ring; S353: Matching the traction magnetic force value according to the traction distance; S354: Calculate the sum of the traction magnetic force value and the first contact force difference to obtain a total traction magnetic force value; S355: When the workpiece is installed in place, the manipulator (2) is controlled to generate magnetic force using the total traction magnetic force value to pull the clamping ring (4) from the clamping ring initial position to the preset gear slot (341) of the clamping position.

5. The method for automatically hanging auto parts according to claim 2, characterized in that: The loosening method comprises: S340: Calculating a second contact force difference based on a maximum value of the current contact force and the maximum contact force threshold; S341: Matching a preset insertion depth of the inserting piece (6) into a preset flaring gap (35) based on the second contact force difference; S342: determining a repulsion distance based on the insertion depth; S343: Matching the repulsive magnetic force value according to the repulsive distance; S344: Calculate the sum of the repulsive magnetic force value and the second contact force difference value to obtain a total repulsive magnetic force value; S345: When the workpiece is installed in place, the robot arm (2) is controlled to generate a repulsive force using the total repulsive magnetic force value to push the inserting piece (6) into the flared gap (35).

6. The method for automatically hanging auto parts according to claim 2, characterized in that: The method for withdrawing the workpiece from the mounting fixture (3) comprises: S36: Identifying a clamping position of the workpiece when it is installed in place from the image of the installation fixture; S360: Determining a compression distance based on the clamping position and a preset initial position of the tightening ring; S361: Matching the compression magnetic force according to the compression distance; S362: Calculate the sum of the compressive magnetic force and the current contact force to obtain a total compressive magnetic force; S363: Using the total compressive magnetic force, the manipulator (2) is controlled to generate suction force on the preset clamping ring (4) to drive the preset inserting piece (6) to abut against the workpiece and push the workpiece out.

7. An automatic hanging system for automobile parts, characterized in that: include: An acquisition module is used to acquire the overall image of the upper rack; A memory for storing a program for the method for automatically hanging automobile parts according to claim 1; The program in the memory can be loaded and executed by the processor to realize an automatic hanging method for automobile spare parts.

8. An automatic hanging device for automobile parts, controlled by an automatic hanging method for automobile parts according to any one of claims 1 to 6, characterized in that: The invention comprises an upper hanger (1) for installing a workpiece and a manipulator (2) for clamping the workpiece and installing the workpiece from an external material storage platform to the upper hanger (1); the upper hanger (1) is provided with an array of mounting fixtures (3), the mounting fixture (3) comprising a first elastic member (31) and a second elastic member (32) pressed and overlapped with the first elastic member (31); the first elastic member (31) and the second elastic member (32) are separated at an end away from the upper hanger (1) to form an elastic gap (33) for the workpiece to be clamped; The manipulator (2) is provided with a magnetic force generating device (21) for generating magnetic attraction or magnetic repulsion; the mounting fixture (3) is provided with a sliding adjustment structure that is magnetically matched with the magnetic force generating device (21) and is used to adjust the width of the elastic gap (33); the adjustment structure expands the elastic gap (33) from the inside of the elastic gap (33) under the repulsive force of the magnetic force generating device (21) and closes the elastic gap (33) from the outside of the elastic gap (33) under the attractive force of the magnetic force generating device (21).

9. The automatic hanging device for automobile parts according to claim 8, characterized in that: The adjustment structure comprises a clamping ring (4), the clamping ring (4) being slidably sleeved on one end of the mounting fixture (3) away from the elastic gap (33), and the clamping ring (4) and the mounting fixture (3) being connected via a tension spring (5); The mounting fixture (3) has outwardly expanding expansion portions (34) on both sides of the elastic gap (33), and the expansion portions (34) are spaced apart with shift slots (341), and the clamping ring (4) is clamped into the shift slots (341) under the suction force of the magnetic force generating device (21).

10. The automatic hanging device for automobile parts according to claim 9, characterized in that: The regulating structure further comprises an inserting piece (6), the inserting piece (6) being fixedly connected to the clamping ring (4) and being located in the elastic gap (33); the clamping ring (4) having a magnetic ring (41), the magnetic ring (41) and the magnetic force generating device (21) being magnetically repelled; The mounting fixture (3) has a flared gap (35) at the compression connection between the first elastic member (31) and the second elastic member (32), and the flared gap (35) is connected to the elastic gap (33); the clamping ring (4) drives the inserting piece (6) to be clamped into the flared gap (35) under the repulsive force of the magnetic force generating device (21).

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