A method, system and device for automatically mounting automotive parts

Abstract

This invention relates to an automatic mounting method, system, and apparatus for automotive parts, belonging to the field of mechanical automation. It includes: acquiring an overall image of the mounting bracket and identifying a set of installation positions from it; determining a starting installation position from the set of installation positions; controlling a robotic arm to install the workpiece to the starting installation position; and, based on the overall image of the mounting bracket, sequentially determining whether a secondary horizontal installation position exists in the horizontal direction and whether a secondary vertical installation position exists in the vertical direction of the starting installation position; if a secondary horizontal installation position exists, using that position as the next installation position for the workpiece and replacing the starting installation position; if a secondary vertical installation position exists, using that position as the next installation position for the workpiece and replacing the starting installation position, until no secondary vertical installation position exists in the vertical direction of the starting installation position. This application improves the installation efficiency and accuracy of automotive parts mounting.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation, and in particular to a method, system and device for automatically attaching automotive parts. Background Technology

[0002] In the manufacturing process of automotive parts, electroplating surface treatment is a crucial step. Its purpose is to improve the key properties 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 requirements of automotive parts under complex working conditions. Before electroplating, the automotive parts processed at the previous workstation need to be accurately and securely installed onto the upper rack. Once the upper rack is full of products, it is then immersed in the electroplating bath to complete the electroplating process. Currently, this process of transferring products from the previous workstation to the upper rack is mainly done manually.

[0003] However, manually picking up and installing parts one by one is slow and cannot meet the needs of large-scale production, becoming a bottleneck process in the electroplating process. Furthermore, the accuracy and positional stability of manual installation are difficult to guarantee, and products may fall off due to loose attachment, affecting the yield rate. Summary of the Invention

[0004] To improve the installation efficiency and accuracy of automotive parts mounting, this invention provides an automatic mounting method, system, and device for automotive parts.

[0005] In a first aspect, the present invention provides an automatic hanging method for automotive parts, employing the following technical solution: A method for automatically mounting automotive parts includes: S1: Acquire an overall image of the upper mounting bracket; S2: Identify the installation position set based on the overall image of the upper bracket, and determine the starting installation position from the installation position set; S3: Control the preset robotic arm (2) to install the workpiece from the external 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 according to the overall image of the upper hanging frame; S4: If the lateral secondary mounting position exists, the lateral secondary mounting position is used as the next mounting position of the workpiece, and the initial mounting position is replaced. 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 starting installation position based on the overall image of the upper bracket; S6: If the longitudinal secondary installation position exists, the longitudinal secondary installation position is used as the next round installation position of the workpiece, and the starting installation position is replaced until there is no longitudinal secondary installation position in the vertical direction of the starting installation position.

[0006] By adopting the above technical solution, when the robot arm installs the workpiece, it can simultaneously detect and locate the adjacent positions of the initial installation position in advance. This eliminates the need for the robot arm to perform overall image recognition of the upper frame in the next round of installation. Furthermore, by adopting the method of first detecting the horizontal secondary installation position and then detecting the vertical secondary installation position, the robot arm can traverse all installation positions of the upper frame along the S-shaped path, thereby enabling efficient installation of the workpiece.

[0007] Optionally, the method by which the robotic arm installs the workpiece to the initial installation position includes: S30: The preset initial contact force abuts against the preset mounting clamp located at the initial mounting position; S31: Gradually increase the initial contact force by a preset contact force increment, and acquire an image of the installation fixture; S32: When the image of the mounting fixture matches 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 into the preset maximum contact force threshold, the clamping is defined as secure, and the current clamping process is completed; S34: If the current contact force does not fall below the maximum contact force threshold and the current contact force is greater than the maximum value of the maximum contact force threshold, the clamping is defined as 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, the clamping is defined as 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: The initial contact force is used to abut against the mounting fixture at the initial installation position, and the deformation force of the mounting fixture and the deformation state diagram of the fixture under the deformation force are collected. S321: Gradually increase the initial contact force with the contact force increment, and form a deformation force variation diagram according to the deformation force variation trend of the mounting fixture; S322: Determine the maximum deformation force based on the deformation force variation diagram, and analyze and determine the maximum deformation state under the maximum deformation force based on the fixture deformation state diagram; S323: Determine the maximum contact force threshold based on the maximum deformation force and the preset deviation range; S324: Output the maximum contact force threshold and the maximum deformation state.

[0009] Optionally, the tightening method includes: S350: Calculate the first contact force difference based on the minimum value of the maximum contact force threshold and the current contact force; S351: Based on the first contact force difference, a preset clamping ring is matched to a preset clamping position of the expansion portion; S352: Determine the traction distance based on the clamping position and the preset initial position of the clamping ring; S353: Match 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 value to obtain the total traction magnetic force value; S355: When the workpiece is installed in place, the total traction magnetic force value is used to control the robot arm to generate magnetic force to pull the clamping ring from the initial position of the clamping ring to the preset position slot of the clamping position.

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

[0011] Optionally, the method for removing the workpiece from the mounting fixture includes: S36: Identify the snap-fit ​​position of the workpiece when it is installed in place from the image of the mounting fixture; S360: Determine the compression distance based on the snap-fit ​​position and the preset initial position of the clamping ring; S361: Match the compressive magnetic force according to the compression distance; S362: Calculate the sum of the compressive magnetic force and the current contact force to obtain the total compressive magnetic force; S363: The total magnetic force of the compression is used to control the robot arm to generate a suction force on the preset clamping ring, so as to drive the preset insert piece to abut against the workpiece and push the workpiece out.

[0012] Secondly, this application provides an automatic attachment system for automotive parts, which adopts the following technical solution: An automatic attachment system for automotive parts, comprising: The acquisition module is used to acquire overall images of the upper mounting bracket; A memory used to store a program for an automatic mounting method for automotive parts; The processor can load and execute programs in memory to implement a method for automatically attaching automotive parts.

[0013] Thirdly, the present invention provides an automatic attachment device for automotive parts, which adopts the following technical solution: An automatic loading device for automotive parts is controlled by an automatic loading method for automotive parts. It includes an upper mounting frame for mounting workpieces and a robotic arm for clamping the workpieces and loading them from an external storage platform onto the upper mounting frame. The upper mounting frame array is provided with mounting fixtures, each fixture including a first elastic element and a second elastic element that presses against and overlaps the first elastic element. The first and second elastic elements are separated at an end away from the upper mounting frame to form an elastic gap for workpiece insertion. The robotic arm is equipped with a magnetic force generating device for generating magnetic attraction or repulsion; the mounting fixture is slidably equipped with an adjustment structure that magnetically engages 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 under the repulsion of the magnetic force generating device and closes the elastic gap from the outside under the attraction of the magnetic force generating device.

[0014] By adopting the above technical solution, after the robot arm picks up the workpiece from the external storage platform, it can automatically install the workpiece onto any of the mounting fixtures on the upper hanger. Because the first and second elastic elements are elastic, when the workpiece is engaged in the elastic gap, the first and second elastic elements can clamp the workpiece, thereby fixing it to the upper hanger.

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

[0016] Optionally, the adjustment structure includes a clamping ring, which is slidably sleeved in the mounting fixture at one end away from the elastic gap, and the clamping ring is connected to the mounting fixture by a tension spring; The mounting clamp has outwardly expanding portions on both sides of the elastic gap, and the expanding portions are spaced apart with positioning grooves. The clamping ring is engaged in the positioning grooves under the attraction of the magnetic force generating device.

[0017] By adopting the above technical solution, when the magnetic force generating device of the robot arm is magnetically attracted to the clamping ring, the clamping ring can be attracted and move towards the robot arm, eventually locking into the stop groove. When the clamping ring is locked into the stop groove, it can squeeze both sides of the elastic gap, reducing the elastic gap and increasing the clamping force of the mounting fixture on the workpiece. This can compensate for the elasticity of the mounting fixture when it weakens.

[0018] Optionally, the adjustment structure further includes an insert piece, which is fixedly connected to the clamping ring and located within the elastic gap; the clamping ring has a magnetic ring, which is magnetically repelled by the magnetic force generating device; The mounting clamp has a flared gap at the pressing connection between the first elastic element and the second elastic element, and the flared gap is in communication with the elastic gap; the clamping ring drives the insert piece 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 mounting fixture is too large, a repulsive force is generated by the magnetic force generator, which drives the clamping ring to move away from the robot arm. When the insert can be inserted 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 caused by excessive clamping force.

[0020] In summary, this application includes at least one of the following beneficial technical effects: When the robot arm installs a workpiece, it can simultaneously detect and locate the adjacent positions of the starting installation position in advance. This means that the robot arm does not need to perform overall image recognition of the upper frame in the next round of installation. Furthermore, by adopting the method of first detecting the horizontal secondary installation position and then detecting the vertical secondary installation position, the robot arm can traverse all installation positions of the upper frame along the S-shaped path, thereby enabling efficient installation of the workpiece. When the clamping force of the fixture on the workpiece is too small, the magnetic force generating device of the robot arm attracts the clamping ring magnetically, and the clamping ring can be attracted and moved towards the robot arm and locked into the stop groove, so that the elastic gap is reduced, thereby compensating for the elasticity of the fixture. When the clamping force of the mounting fixture on the workpiece is too large, a repulsive force is generated by the magnetic force generator, which drives the clamping ring to move away from the robot arm. When the insert can fit 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 caused by excessive clamping force. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of an automatic loading device for automotive parts according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the installation fixture according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the adjustment structure according to an embodiment of the present invention; Figure 4 This is a partial structural schematic diagram of the robotic arm according to an embodiment of the present invention; Figure 5 This is a flowchart of an automatic mounting method for automotive parts according to an embodiment of the present invention.

[0022] The parts referred to by the numbers in the above attached figures are as follows: 1. Upper hanger; 2. Robotic arm; 21. Magnetic force generating device; 3. Mounting fixture; 31. First elastic element; 32. Second elastic element; 33. Elastic gap; 34. Expansion section; 341. Gear slot; 35. Flaring gap; 36. Fixing section; 37. Clamping section; 4. Hoop ring; 41. Magnetic ring; 5. Tension spring; 6. Insertion plate. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the 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 merely illustrative and not intended to limit the invention.

[0024] This application discloses an automatic attachment device for automotive parts.

[0025] Reference Figure 1 An automatic mounting device for automotive parts includes a mounting frame 1 and a robotic arm 2. The mounting frame 1 is used for mounting workpieces, and the robotic arm 2 is used to clamp the workpieces from an external storage platform and mount them onto the mounting frame 1. After the workpieces are mounted on the mounting frame 1, the next electroplating process can be performed on the workpieces.

[0026] Multiple mounting fixtures 3 are arranged in an array on the upper hanger 1. The mounting fixtures 3 are connected to the upper hanger 1 by welding and are used to clamp the workpiece.

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

[0028] To ensure that the elastic gap 33 has a certain width, the two sides of the elastic gap 33, near the pressing points of the first elastic member 31 and the second elastic member 32, have outwardly expanding portions 34, that is, the first elastic member 31 and the second elastic member 32 are bent in a direction away from each other at the pressing points. Furthermore, the first elastic member 31 and the second elastic member 32 have flared gaps 35 at the pressing points, and the flared gaps 35 are connected to the elastic gap 33.

[0029] According to the connection method of the first elastic member 31 and the second elastic member 32, the mounting clamp 3 is divided into a fixed 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 clamp 3 may experience situations where it is too tight or too loose. To address these issues, the mounting clamp 3 is equipped with an adjustment structure. The adjustment structure includes a clamping ring 4, a tension spring 5, and an insertion plate 6.

[0031] The clamping ring 4 is annular and is fitted around the outside of the fixed section 36, allowing it to move at the fixed end. A magnetic ring 41 is provided on the clamping ring 4. In this embodiment, the clamping ring 4 is a telescopic structure, locked by a locking member, and its width can increase 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 tension or thrust on the clamping ring 4.

[0033] The insert 6 is integrally connected to the clamping ring 4, and the insert 6 is located within the elastic gap 33, and the insert 6 is directly opposite the flared gap 35.

[0034] The mounting clamp 3 has a stop groove 341 spaced apart in the expansion part 34, and the stop groove 341 is used for the clamping ring 4 to be inserted.

[0035] Reference Figure 1 and Figure 4 In this embodiment, the robotic arm 2 is equipped with a magnetic force generating device 21, which can generate attractive or repulsive forces.

[0036] Combination Figures 1 to 4When the clamping fixture 3 is too loose, the magnetic force generating device 21 of the robot arm 2 generates an attractive force. The magnetic force generating device 21 is magnetically attracted to the clamping ring 4, and the clamping ring 4 can be attracted and moved in the direction of the robot arm 2 and locked into the gear slot 341. The clamping ring 4 exerts pressure on the expansion part 34, causing the elastic gap 33 to shrink.

[0037] When the clamping fixture 3 clamps too tightly, the magnetic force generating device 21 of the robot arm 2 generates a repulsive force. The magnetic force generating device 21 and the clamping ring 4 are magnetically repelled, and the clamping ring 4 is driven to move away from the robot arm 2, so that the insert piece 6 is inserted into the flared gap 35, and the width of the elastic gap 33 can be expanded.

[0038] Based on the same inventive concept, embodiments of the present invention provide a method for automatically mounting automotive parts.

[0039] Reference Figure 5 An automatic mounting method for automotive parts includes the following steps: Step S1: Acquire an overall image of the upper mounting bracket.

[0040] The overall image of the upper hanger refers to the image obtained by taking a picture of the entire upper hanger 1 through a camera. The image can identify all the installation positions on the upper hanger 1. The camera is mounted on the robot arm 2. When the robot arm 2 clamps the workpiece and is ready to hang it, the camera on the robot arm 2 first takes a picture of the upper hanger 1 to obtain an overall image of the upper hanger, so as to perform overall positioning analysis of the upper hanger 1 and form a three-dimensional coordinate system based on the position of the upper hanger 1.

[0041] Step S2: Identify the set of installation positions based on the overall image of the upper bracket, and determine the starting installation position from the set of installation positions.

[0042] The installation location set refers to the collection of all installation locations on the upper bracket 1, with each installation fixture 3 located at a specific installation location. By identifying and analyzing the installation fixtures 3 from the overall image of the upper bracket, the position of each installation fixture 3 on the upper bracket 1 can be determined, thus forming the installation location set.

[0043] The initial installation position is the first position on the upper hanger 1 where the workpiece is first installed. Since the set of installation positions is a square array, the initial installation position can be one of the four corners of the square array.

[0044] Step S3: Control the preset robot arm 2 to install the workpiece from the external storage platform to the starting installation position, and synchronously determine whether there is a lateral secondary installation position in the horizontal direction of the starting installation position according to the overall image of the upper frame.

[0045] After determining the initial installation position, the robot arm 2 begins to install the workpiece at the initial installation position. During the installation process, the robot arm 2 identifies and positions 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 continues, and each row is installed sequentially by connecting the beginning and end.

[0047] The lateral secondary mounting position refers to the horizontal position located at the initial mounting position for the installation of the next workpiece.

[0048] By identifying the horizontal direction of the initial installation position from the overall image of the upper mounting bracket, it is possible to determine whether there are any secondary horizontal installation positions.

[0049] Step S4: If the lateral secondary mounting position exists, use the lateral secondary mounting position as the next mounting position of the workpiece and replace the initial mounting position.

[0050] After identifying and confirming the existence of a secondary horizontal installation position, the position is marked and used as the installation position for the next workpiece. This position also serves as the starting installation position for the next round of installation processes.

[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 starting installation position based on the overall image of the upper bracket.

[0052] If no horizontal secondary installation position is found after identification, it indicates that the installation position of the previous row of the upper bracket 1 may have been completed, and the installation of the next row needs to be carried out. At this time, it is necessary to identify the vertical direction of the starting installation position to determine whether there is a vertical secondary installation position. The vertical secondary installation position refers to the position in the vertical direction of the starting installation position for the installation of the next workpiece.

[0053] Step S6: If the longitudinal secondary installation position exists, use the longitudinal secondary installation position as the next installation position of the workpiece and replace the starting installation position until there is no longitudinal secondary installation position in the vertical direction of the starting installation position.

[0054] Once a secondary installation position in the vertical direction is identified, it indicates that the installation position in the next row needs to be installed. This position is then marked and used as the installation position for the next workpiece. This position also serves as the starting installation position for the next round of installation processes.

[0055] Install and identify the installation positions sequentially using the method described above. When there are no horizontal or vertical secondary installation positions, it means that all installation positions on the entire upper bracket 1 have been installed.

[0056] The method by which robot arm 2 installs the workpiece to the initial installation position includes the following steps: Step S30: The preset installation clamp 3 located at the initial installation position is abutted with a preset initial contact force.

[0057] The initial contact force is the force set by the technician when the robot arm 2 clamps the workpiece and comes into contact with the mounting fixture 3. It is used to determine whether the workpiece abuts against the mounting fixture 3. The robot arm 2 has a pressure sensor that can detect the reaction force, which will not be described in detail here.

[0058] Step S31: Gradually increase the initial contact force by a preset contact force increment, and acquire an image of the installation fixture.

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

[0060] The contact force increment is the increment by which the initial contact force is increased per unit time, as set by the technician, and will not be elaborated here.

[0061] During the process of the workpiece being inserted into the elastic gap 33 of the mounting fixture 3, the elastic gap 33 will deform. Therefore, the mounting fixture 3 is image captured and recognized in real time. The mounting fixture image refers to the image continuously captured by the camera on the robot arm 2 during the process of the workpiece being inserted into the elastic gap 33 of the mounting fixture 3. The deformation of the elastic gap 33 can be identified from the image.

[0062] Step S32: When the image of the mounting fixture matches 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 degree of deformation of the elastic gap 33 obtained by the technician in advance through testing of the installation fixture 3. The method for determining the maximum deformation state will be described in detail in subsequent embodiments and will not be repeated here.

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

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

[0066] Step S33: If the current contact force falls within the preset maximum contact force threshold, define the clamping as secure and complete the current clamping process.

[0067] The maximum contact force threshold is the normal range of force applied by the robot arm 2 when the mounting fixture 3 reaches its maximum deformation state, as determined 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 will be described in detail in subsequent embodiments and will not be repeated here.

[0068] If the robot arm 2 detects that the current contact force falls into the maximum contact force threshold, it means that the clamping force of the mounting fixture 3 on the workpiece is just right, neither too tight nor too loose, so that the workpiece will not fall off or be damaged.

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

[0070] If the current contact force does not fall below 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 required by the robot arm 2 to clamp 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.

[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, the clamping is defined as too loose, and the workpiece is clamped using a preset tightening method.

[0072] If the current contact force does not fall below the maximum contact force threshold and is less than the minimum value of the maximum contact force threshold, it means that the robot arm 2 can easily clamp the workpiece into the elastic gap 33. The pressure of the elastic gap 33 on the workpiece is relatively small, and the workpiece is easy to fall off the mounting fixture 3. Therefore, the elasticity of the mounting fixture 3 is too loose. In response to the above situation, the system uses a tightening method to process 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: The initial contact force is used to abut against the mounting fixture 3 at the initial installation position, and the deformation force of the mounting fixture 3 and the deformation state diagram of the fixture under the deformation force are collected.

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

[0075] The deformation force of the mounting fixture 3 refers to the force exerted on the mounting fixture 3 when the robot arm 2 inserts the workpiece into the elastic gap 33. Here, the mounting fixture 3 is a standard, qualified mounting fixture 3. The deformation force of the mounting fixture 3 is collected by setting deformation plates on it. The fixture deformation state diagram refers to the image obtained by connecting and capturing the mounting fixture 3 through a camera on the robot arm 2. After the mounting fixture 3 is subjected to deformation force, its deformation can be identified in the image.

[0076] Step S321: Gradually increase the initial contact force with the contact force increment, and form a deformation force change diagram according to the deformation force change trend 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 arm 2. The deformation force is a changing force. By continuously collecting and integrating the deformation force, it is finally stored in the form of a graph. The deformation force variation graph refers to the graph formed by the change of deformation force during the intermediate process of installing the fixture 3 from the beginning of contact with the workpiece to its complete positioning. The deformation force is displayed in the graph as a curve.

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

[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, which is the maximum value of the curve in the deformation force variation diagram.

[0080] After determining the maximum deformation force, 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: Determine the maximum contact force threshold based on the maximum deformation force and the preset deviation range.

[0082] The deviation range is the allowable range of deviation set by the technicians, which will not be elaborated here.

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

[0084] Step S324: Output 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: Calculate the 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 magnitude of the clamping force that needs to be adjusted when the mounting fixture 3 is too loose, in order to meet the requirements for clamping the workpiece. 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: Based on the first contact force difference, match the preset clamping ring 4 to the preset clamping position of the expansion portion 34.

[0089] The clamping position refers to the position of the clamping ring 4 in different slots 341 of the expansion portion 34. In this embodiment, the expansion portion 34 has slots 341. By clamping the clamping ring 4 in different positions of the slots 341 of the expansion portion 34, the clamping 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, the farther the clamping position is from the upper bracket 1. Therefore, the specific clamping groove 341 clamped by the clamping ring 4 can be determined.

[0091] Step S352: Determine the traction distance based on the clamping position and the 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 fixed section 36 when the tension spring 5 is in its natural state, that is, when it is not under force. This position is determined by the structure of the mounting clamp 3, which will not be elaborated here.

[0093] Traction distance refers to the distance between the initial position and the clamping position of the clamping ring. When both the initial position and the clamping position of the clamping ring are determined, the traction distance between them can be determined based on the coordinates of the two points.

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

[0095] When the clamping ring 4 is stretched from its initial position to its clamped position, it needs to overcome the tension of the tension spring 5. The traction magnetic force value is the magnitude of the magnetic force required by the magnetic force generating device 21 of the robot arm 2 to overcome the tension. The traction magnetic force value is directly 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 the total traction magnetic force value.

[0097] The clamping ring 4 needs to overcome the force of the first contact force difference when it is inserted into the clamping position groove 341, which 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 its initial position to the clamping position slot 341. The total traction magnetic force value is the sum of the traction magnetic force value and the difference between the first contact force and the traction magnetic force value.

[0099] Step S355: When the workpiece is installed in place, the total traction magnetic force value is used to control the robot arm 2 to generate magnetic force to pull the clamping ring 4 from the initial position of the clamping ring to the preset stop groove 341 of the clamping position.

[0100] In this embodiment, after the workpiece is fully installed, when the robot arm 2 detects that the clamping fixture 3 is too loose, the magnetic force generating device 21 of the robot arm 2 generates a magnetic force equal to the total magnetic force value of the traction force. This magnetic force is an attractive force. By magnetically attracting the clamping ring 4, the clamping ring 4 is pulled from its initial position to the clamping position slot 341. Thus, the clamping ring 4 applies force to the elastic gap 33, so that the clamping force of the clamping fixture 3 on the workpiece reaches the preset range.

[0101] The loosening method includes the following steps: Step S340: Calculate the 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 magnitude of the clamping force that needs to be adjusted when the mounting fixture 3 is too tight, so as to ensure that the mounting fixture 3 does not easily damage 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: Based on the second contact force difference, the preset insertion depth of the insert 6 is matched to the flared gap 35.

[0104] The insertion depth refers to the depth to which the insert 6 is inserted into the flared gap 35. When the insert 6 is inserted into the flared gap 35, the first elastic element 31 and the second elastic element 32 can be separated to a certain extent, causing the elastic gap 33 to expand. The deeper the insert 6 is inserted into the flared gap 35, the wider the elastic gap 33. The first contact force difference is related to the width of the elastic gap 33, therefore the second contact force difference is proportional to the insertion depth; the larger the second contact force difference, the deeper the insert 6 is inserted into the flared gap 35.

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

[0106] Since the insert plate 6 is integrally connected with the clamping ring 4, when the insert plate 6 is inserted into the flared gap 35, the clamping ring 4 moves toward the upper bracket 1, at which time the tension spring 5 is compressed.

[0107] The repulsion distance is the distance compressed by the clamping ring 4 and the tension spring 5. The repulsion distance is consistent with the insertion depth, and the repulsion distance can be determined based on the insertion depth.

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

[0109] The repulsive magnetic force value refers to the magnitude of the repulsive force required by the magnetic force generating device 21 of the robotic arm 2 to overcome the compressive force of the tension spring 5. The repulsive distance is directly proportional to the repulsive magnetic force value; the greater the repulsive distance, the greater 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 the total repulsive magnetic force value.

[0111] The insertion of the insert 6 into the flared gap 35 requires overcoming the force of the second contact force difference, which also needs to be overcome by the magnetic force generating device 21.

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

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

[0114] In this embodiment, after the workpiece is fully installed, when the robot arm 2 detects that the mounting fixture 3 is clamping too tightly, the magnetic force generating device 21 of the robot arm 2 generates a repulsive magnetic force. This magnetic force is repulsive. By repelling the magnetic ring 41 of the clamping ring 4, the clamping ring 4 is driven to move closer to the upper bracket 1, so that the insert piece 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 the preset range.

[0115] The method for removing the workpiece from the mounting fixture 3 includes the following steps: S36: Identify the snap-fit ​​position of the workpiece when it is installed in place from the image of the mounting fixture.

[0116] The snap-fit ​​position is the actual position of the workpiece on the mounting fixture 3 when it snaps into the elastic gap 33. When the robot arm 2 installs the workpiece into place, the position of the workpiece on the mounting fixture 3 is identified from the captured image of the mounting fixture, thereby determining the snap-fit ​​position through image analysis.

[0117] S360: Determine the compression distance based on the snap-fit ​​position and the preset initial position of the clamping ring.

[0118] The compression distance is the distance between the snap-fit ​​position and the initial position of the clamping ring. Once the coordinates of the snap-fit ​​position and the initial position of the clamping ring are determined, the compression distance is determined based on their positions.

[0119] S361: Match the compressive magnetic force according to the compressive distance.

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

[0121] In this embodiment, since the distance between the insert 6 and the workpiece is proportional to the pressing magnetic force, the pressing distance is also proportional to the pressing magnetic force. The greater the pressing distance, the greater the pressing 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 insert plate 6 to push the workpiece out of the elastic gap 33.

[0124] Moving the insert plate 6 to abut the workpiece requires pulling the clamping ring 4, which in turn stretches the tension spring 5. This process requires overcoming the spring's tension. Pushing the workpiece out of the elastic gap 33 via the insert plate 6 requires overcoming the clamping force equal to the current contact force. Therefore, the total compressive magnetic force consists of two parts: the compressive magnetic force and the initial contact force.

[0125] S363: The total magnetic force of the compression controls the robot arm 2 to generate a suction force on the preset clamping ring 4 to drive the preset insert 6 to abut against the workpiece and push the workpiece out.

[0126] After the workpiece is processed, the robot arm 2 is brought close to the mounting fixture 3, and then a magnetic force equal to the total magnetic force is applied to the clamping ring 4, which is an attractive force. When the clamping ring 4 moves away from the upper bracket 1, the insert 6 can move within the elastic gap 33 and abut against the workpiece, thereby pushing the workpiece out of the elastic gap 33. When the clamping ring 4 moves away from the upper bracket 1, the robot arm 2 first unlocks the clamping ring 4 so that the clamping ring 4 can extend and retract without easily getting stuck in the expansion part 34.

[0127] Based on the same inventive concept, embodiments of the present invention provide an automatic loading system for automotive parts.

[0128] An automatic attachment system for automotive parts, comprising: The acquisition module is used to acquire overall images of the upper frame, images of the installed fixtures, and images of the fixture deformation state under deformation force.

[0129] A memory used to store a program for an automatic mounting method for automotive parts.

[0130] The processor can load and execute programs in memory to implement a method for automatically attaching automotive 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 embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing 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 mounting automotive parts, characterized in that, include: S1: Acquire an overall image of the upper mounting bracket; S2: Identify the installation position set based on the overall image of the upper bracket, and determine the starting installation position from the installation position set; S3: Control the preset robotic arm (2) to install the workpiece from the external 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 according to the overall image of the upper hanging frame; S4: If the lateral secondary mounting position exists, the lateral secondary mounting position is used as the next mounting position of the workpiece, and the initial mounting position is replaced. 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 starting installation position based on the overall image of the upper bracket; S6: If the longitudinal secondary installation position exists, the longitudinal secondary installation position is used as the next round installation position of the workpiece, and the starting installation position is replaced until the longitudinal secondary installation position does not exist in the vertical direction of the starting installation position. The method by which the robotic arm (2) installs the workpiece to the initial installation position includes: S30: The preset initial contact force abuts against the preset installation clamp (3) located at the initial installation position; S31: Gradually increase the initial contact force by a preset contact force increment, and acquire an image of the installation 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. The current contact force refers to the force applied by the robot (2) when the deformation of the preset mounting fixture (3) reaches the maximum deformation state. S33: If the current contact force falls into the preset maximum contact force threshold, the clamping is defined as firm and the current clamping process is completed; the maximum contact force threshold refers to the normal range of force applied by the robot (2) when the installation fixture (3) reaches the maximum deformation state, and is used to determine whether the installation fixture (3) is clamped too tightly or too loosely; S34: If the current contact force does not fall below the maximum contact force threshold and the current contact force is greater than the maximum value of the maximum contact force threshold, the clamping is defined as 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, the clamping is defined as too loose, and the workpiece is clamped using a preset tightening method.

2. The automatic hanging method for automotive parts according to claim 1, characterized in that, The methods for determining the maximum contact force threshold and the maximum deformation state include: S320: The initial contact force is used to abut against the installation fixture (3) at the initial installation position, and the deformation force of the installation fixture (3) and the deformation state diagram of the fixture under the deformation force are collected. The deformation force of the installation fixture (3) refers to the force that causes the installation fixture (3) to deform when the robot (2) inserts the workpiece into the preset elastic gap (33). S321: Gradually increase the initial contact force with the contact force increment, and form a deformation force change diagram according to the deformation force change trend of the mounting fixture (3); S322: Determine the maximum deformation force based on the deformation force variation diagram, and analyze and determine the maximum deformation state under the maximum deformation force based on the fixture deformation state diagram; S323: Determine the maximum contact force threshold based on the maximum deformation force and the preset deviation range; S324: Output the maximum contact force threshold and the maximum deformation state.

3. The automatic hanging method for automotive parts according to claim 1, characterized in that, The tightening method includes: S350: Calculate the first contact force difference based on the minimum value of the maximum contact force threshold and the current contact force; S351: Based on the first contact force difference, the preset clamping ring (4) is matched at the preset clamping position of the expansion part (34); S352: Determine the traction distance based on the clamping position and the preset initial position of the clamping ring; S353: Match 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 value to obtain the total traction magnetic force value; S355: When the workpiece is installed in place, the total magnetic force value of the traction is used to control the robot (2) to generate magnetic force to pull the clamping ring (4) from the initial position of the clamping ring to the preset stop groove (341) of the clamping position.

4. The automatic hanging method for automotive parts according to claim 1, characterized in that, The loosening method includes: S340: Calculate the second contact force difference based on the maximum value of the current contact force and the maximum contact force threshold; S341: Based on the second contact force difference, the preset insertion depth of the insert (6) into the preset flared gap (35) is matched; S342: Determine the repulsion distance based on the insertion depth; S343: Match the repulsive magnetic force value according to the repulsion distance; S344: Calculate the sum of the repulsive magnetic force value and the second contact force difference value to obtain the total repulsive magnetic force value; S345: When the workpiece is installed in place, the total repulsive magnetic force value is used to control the robot (2) to generate a repulsive force to push the insert (6) into the flared gap (35).

5. The automatic hanging method for automotive parts according to claim 1, characterized in that, The method for removing the workpiece from the mounting fixture (3) includes: S36: Identify the snap-fit ​​position of the workpiece when it is installed in place from the image of the mounting fixture; S360: Determine the compression distance based on the snap-fit ​​position and the preset initial position of the clamping ring; S361: Match the compressive magnetic force according to the compression distance; S362: Calculate the sum of the compressive magnetic force and the current contact force to obtain the total compressive magnetic force; S363: The total magnetic force of the compression controls the manipulator (2) to generate a suction force on the preset clamping ring (4) to drive the preset insert (6) to abut against the workpiece and push the workpiece out.

6. An automatic loading system for automotive parts, characterized in that, include: The acquisition module is used to acquire overall images of the upper mounting bracket; A memory for storing a program for an automatic mounting method for automotive parts as described in claim 1; The processor can load and execute programs in memory to implement a method for automatically attaching automotive parts.

7. An automatic attachment device for automotive parts, controlled by an automatic attachment method for automotive parts as described in any one of claims 1 to 5, characterized in that, It includes an upper hanger (1) for mounting workpieces and a robot (2) for clamping workpieces and mounting them from an external storage platform to the upper hanger (1); the upper hanger (1) is arrayed with mounting fixtures (3), the mounting fixtures (3) including a first elastic element (31) and a second elastic element (32) pressing and overlapping the first elastic element (31), the first elastic element (31) and the second elastic element (32) being separated at one end away from the upper hanger (1) to form an elastic gap (33) for workpiece insertion; The robotic arm (2) is provided with a magnetic force generating device (21) for generating magnetic attraction or repulsion; the mounting fixture (3) is slidably provided with an adjustment structure that magnetically engages 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 under the repulsion of the magnetic force generating device (21) and closes the elastic gap (33) from the outside under the attraction of the magnetic force generating device (21).

8. The automatic loading device for automotive parts according to claim 7, characterized in that, The adjustment structure includes a clamping ring (4), which is slidably sleeved in the mounting clamp (3) at one end away from the elastic gap (33), and the clamping ring (4) is connected to the mounting clamp (3) by a tension spring (5); The mounting clamp (3) has outwardly expanding portions (34) on both sides of the elastic gap (33), and the expanding portions (34) are spaced apart by a stop groove (341). The clamping ring (4) is inserted into the stop groove (341) under the attraction of the magnetic force generating device (21).

9. An automatic attachment device for automotive parts according to claim 8, characterized in that, The adjustment structure further includes an insert (6), which is fixedly connected to the clamping ring (4) and located within the elastic gap (33); the clamping ring (4) has a magnetic ring (41), which is magnetically repelled by the magnetic force generating device (21); The mounting clamp (3) has a flared gap (35) at the pressing connection between the first elastic element (31) and the second elastic element (32), and the flared gap (35) is connected to the elastic gap (33); the clamping ring (4) drives the insert (6) to be inserted into the flared gap (35) under the repulsive force of the magnetic force generating device (21).

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