High-precision automobile bumper drilling equipment and method thereof

Abstract

The invention relates to the field of automobile part machining, in particular to high-precision automobile bumper hole forming equipment and a method thereof.The high-precision automobile bumper hole forming equipment comprises a box body, a mechanical arm is connected to the right side of the top of the box body, a top plate is connected to the top of the box body through a support, and a 3D vision camera is connected to the top of the inner wall of the top plate; a bumper positioning mechanism is installed on the left side of the top of the box body. Through the mechanical arm, the top plate, the 3D vision camera and the PLC, the workpiece is scanned and recognized in real time, the high-precision industrial robot is guided to conduct self-adaptive track correction, the final drilling position precision can be guaranteed while the initial positioning precision requirement of the workpiece is lowered, the problems that a traditional clamp depends on a production line, the rigidity is large, and the flexibility is poor are solved, and the production efficiency is improved. And for automobile bumpers of different models, production line production changing can be rapidly completed without replacing or greatly adjusting physical tools, and the product switching time is greatly shortened.

Description

Technical Field

[0001] This invention relates to the field of automotive parts processing, and more specifically, to a high-precision automotive bumper drilling device and method. Background Technology

[0002] When manufacturing car bumpers, the car is an organic combination of various parts, and various components are also installed on the bumper during production, such as ranging radar, driving recorder camera, etc. With the continuous development of technology, more and more devices that make driving more convenient are constantly emerging. These devices need to be installed by drilling holes in the bumper to complete the installation and fixation, or some devices need to pass through the bumper to connect with other devices.

[0003] The car bumper is fixed by manual clamping. The industrial robot on site uses a manual trajectory planning process strategy to drill holes, which will encounter the following core problems: (1) workpiece clamping error; (2) dynamic error cannot be compensated in real time; (3) there is a lot of manual intervention and the fault tolerance rate is low. After the on-site engineer makes technical modifications and uses 2D vision, the following problems will still be encountered: 1. lack of depth information, unable to compensate for Z-axis height and workpiece tilt; 2. unable to perform accurate positioning in the absence of feature points; 3. unable to offset the three-dimensional error caused by clamping.

[0004] Therefore, we have made improvements to this by proposing a high-precision automotive bumper drilling device and method. Summary of the Invention

[0005] The purpose of this invention is to address the problem that existing traditional hole-making equipment cannot perform precise positioning without feature points, and cannot compensate for the three-dimensional errors caused by clamping.

[0006] To achieve the above-mentioned objectives, the present invention provides a high-precision automotive bumper drilling device and method to improve the aforementioned problems.

[0007] The application is as follows: A high-precision car bumper drilling device includes a housing. A robotic arm is connected to the right side of the top of the housing. A top plate is connected to the top of the housing via a bracket. A 3D vision camera is connected to the top of the inner wall of the top plate. A bumper positioning mechanism is installed on the left side of the top of the housing. A high-frequency motor is connected to the left side of the robotic arm. A six-dimensional force sensor is connected to the bottom of the high-frequency motor. A drill bit is connected to the bottom of the six-dimensional force sensor via a connecting shaft. The 3D vision camera, robotic arm, high-frequency motor, and six-dimensional force sensor are electrically connected to a PLC controller, which is mounted on the surface of the housing.

[0008] As a preferred technical solution of this application, the top of the top plate is connected to a mounting plate, and both sides of the bottom of the mounting plate are connected to fixing tubes. The bottom of the mounting plate is in contact with a 3D vision camera. A spring telescopic rod is connected to the surface of the 3D vision camera. One end of the spring telescopic rod is connected to a connecting block. One side of the connecting block is connected to an air vent. A locking block is connected to the surface of the connecting block. The side of the locking block away from the connecting block extends into the inner cavity of the fixing tube.

[0009] As a preferred technical solution of this application, a first electric push rod is connected to the surface of the 3D vision camera, a first horizontal plate is connected to the bottom of the first electric push rod, a guide rod is connected through the surface of the first horizontal plate, a first spring is sleeved on both the upper and lower sides of the surface of the guide rod, a second horizontal plate is connected to the bottom of the guide rod, an inclined plate is connected to the bottom of the second horizontal plate through a pivot, a compression plate is connected to the bottom of the inclined plate through a pivot, an airbag is connected to one side of the compression plate, a fixing plate is connected to one side of the airbag, and a protective plate is connected to the bottom of the fixing plate.

[0010] As a preferred technical solution of this application, the top of the protective plate is connected to a first U-shaped plate, the surface of the 3D vision camera is connected to a slider, the side of the slider away from the 3D vision camera passes through the first U-shaped plate and is movably connected to the first U-shaped plate, the surface of the fixed plate is respectively connected to a one-way air outlet valve and a one-way air inlet valve, the one-way air outlet valve is connected to an air outlet hose at the end away from the fixed plate, the end of the air outlet hose away from the one-way air outlet valve is connected to an air outlet cover, and the surface of the 3D vision camera is inlaid with a mesh plate.

[0011] As a preferred technical solution of this application, a second spring is connected to the surface of the fixing plate, the side of the second spring away from the fixing plate is connected to the compression plate, and a support frame is connected to the inner wall of the airbag.

[0012] As a preferred technical solution of this application, the bumper positioning mechanism includes a base plate, the bottom of which is connected to the top of the housing, a support plate connected to the top of the base plate, a drive motor connected to the surface of the support plate, the shaft of the drive motor passing through the support plate and connected to a U-shaped frame, a second U-shaped plate connected to the top of the U-shaped frame, a second electric push rod connected to the inner wall of the second U-shaped plate, and a clamping plate connected to one end of the second electric push rod.

[0013] As a preferred technical solution of this application, the bottom of the U-shaped frame is provided with an elongated hole, the bottom of the second U-shaped plate is connected to a threaded rod, the bottom of the threaded rod passes through the elongated hole and is movably connected to the elongated hole, and a nut is threaded onto the surface of the threaded rod.

[0014] As a preferred technical solution of this application, a dust collection mechanism is installed on the surface of the robotic arm. The dust collection mechanism includes a support block, a third electric push rod connected to the bottom of the support block, a dust collection head connected to the bottom of the third electric push rod, a dust collection hose connected to the top of the dust collection head, a dust collection hose passing through the support block and connected to a dust collection box, and an exhaust fan connected to the surface of the dust collection box.

[0015] As a preferred technical solution of this application, the bottom of both the dust collection box and the exhaust fan are connected to the robotic arm, the inner cavity of the dust collection box is provided with a filter frame, and the surface of the dust collection box is connected with a sealing plate by screws.

[0016] A method for using a high-precision automotive bumper drilling device includes the following steps: S1. Fix the 3D vision camera on the top plate so that its field of view can completely cover the car bumper workpiece on the fixture. The PLC controller controls the robot to move in multiple different poses. The 3D vision camera collects images one by one. The precise transformation relationship from the camera coordinate system to the robot base coordinate system is obtained by calculation. The standard sample is scanned to obtain its high-precision point cloud data. The features of the mounting hole group are extracted by the PLC controller to establish a benchmark digital model and plan the robot's motion trajectory. S2. During drilling, the bumper to be processed is clamped onto the second U-shaped plate. The second electric push rod is controlled to move the clamping plate, which clamps and positions the bumper. The 3D vision camera scans the workpiece, and the real-time point cloud data is intelligently matched and compared with the pre-stored reference model to accurately calculate the current position of the actual workpiece relative to the reference model in three-dimensional space. The real-time point cloud is matched with the reference model to calculate the three-dimensional position and attitude deviation matrix of the actual workpiece relative to the reference model, and trajectory correction is performed. S3 and PLC controller read the deviation matrix, perform real-time spatial transformation on all pre-programmed theoretical drilling coordinates, generate a machining trajectory that perfectly matches the actual workpiece pose, perform real-time, fully automatic coordinate transformation and compensation, generate the optimal working path adapted to the current actual workpiece pose, control the robot to drive the drill bit to accurately complete the machining of each hole according to the corrected path, and the high-frequency motor drives the drill bit to rotate and drill.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: In the scheme of this application: 1. This application uses a robotic arm, top plate, 3D vision camera and PLC controller to scan and identify workpieces in real time, guiding a high-precision industrial robot to perform adaptive trajectory correction. It can relax the initial positioning accuracy requirements of the workpiece while ensuring the final drilling position accuracy. It solves the problem of high rigidity and poor flexibility of traditional fixture-dependent production lines, and significantly improves production efficiency and changeover convenience: For different models of car bumpers, there is no need to replace or significantly adjust the physical tooling to quickly complete the production line changeover, which greatly shortens the product changeover time and adapts to the flexible manufacturing needs of small batches and multiple varieties.

[0018] 2. This application reduces the overall system cost and deployment complexity: By reducing the reliance on ultra-high precision customized fixtures, it saves related design, manufacturing and maintenance costs. The 3D vision guidance scheme adopted has a high degree of standardization and mature integration with the robot, which reduces the overall system deployment difficulty and cycle.

[0019] 3. This application improves the reliability and consistency of the process: The entire "identification-positioning-compensation-processing" process is completed automatically by the system, avoiding human error and ensuring the consistency and stability of the work results. The vision system is compatible with slight deformation and color difference on the workpiece surface and can form a quality closed loop through subsequent vision inspection stations, improving the product qualification rate and laying the foundation for digital and intelligent manufacturing. This solution generates recordable and analyzable process data, providing a data foundation for process optimization, quality traceability and predictive maintenance, and is a core component of the intelligent manufacturing unit.

[0020] 4. This application, through the combination of a base plate, a support plate, a drive motor, a U-shaped frame, a second U-shaped plate, a second electric push rod, and a clamping plate, can achieve precise positioning of the car bumper. The drive motor can drive the U-shaped frame to rotate and adjust the angle of the bumper. The second electric push rod pushes the clamping plate to clamp and fix the bumper, ensuring the stability of the bumper position during the hole-making process and improving the hole-making accuracy. Attached Figure Description

[0021] Figure 1 A schematic diagram of the high-precision automotive bumper drilling equipment provided in this application; Figure 2 A side view of the high-precision automotive bumper drilling equipment provided for this application; Figure 3 A cross-sectional schematic diagram of the U-shaped frame and the second U-shaped plate of the high-precision automotive bumper drilling equipment provided in this application; Figure 4 An exploded view of the dust collection box and filter frame of the high-precision automotive bumper drilling equipment provided in this application; Figure 5A schematic diagram of the 3D vision camera and mounting plate of the high-precision automotive bumper drilling equipment provided in this application; Figure 6 An exploded view of the clamping block and fixing tube of the high-precision automotive bumper drilling equipment provided in this application; Figure 7 A cross-sectional schematic diagram of the extrusion plate and airbag of the high-precision automotive bumper drilling equipment provided in this application.

[0022] The image shows: 1. Housing; 2. Robotic arm; 3. Top plate; 4. 3D vision camera; 5. High-frequency motor; 6. Six-dimensional force sensor; 7. Drill bit; 8. PLC controller; 9. Mounting plate; 10. Fixing pipe; 11. Spring telescopic rod; 12. Connecting block; 13. Air vent; 14. Clamping block; 15. First electric push rod; 16. First horizontal plate; 17. Guide rod; 18. First spring; 19. Second horizontal plate; 20. Inclined plate; 21. Extrusion plate; 22. Airbag; 23. Fixing plate; 24. Protective plate; 25. First U-shaped plate; 26. Slider; 27. One-way air vent valve; 28. 29. One-way air intake valve; 30. Air outlet hose; 31. Second spring; 32. Support frame; 33. Bumper positioning mechanism; 34. Base plate; 35. Support plate; 36. Drive motor; 37. U-shaped frame; 38. Second U-shaped plate; 39. Second electric push rod; 30. Clamping plate; 31. Long hole; 322. Threaded rod; 333. Nut; 34. Dust collection mechanism; 35. Support block; 36. Third electric push rod; 37. Dust collection head; 38. Dust collection hose; 39. Dust collection box; 30. Exhaust fan; 31. Filter frame; 32. Mesh plate. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4A high-precision car bumper drilling device includes a housing 1, a robotic arm 2 connected to the right side of the top of the housing 1, a top plate 3 connected to the top of the housing 1 via a bracket, a 3D vision camera 4 connected to the top of the inner wall of the top plate 3, a bumper positioning mechanism 32 installed on the left side of the top of the housing 1, a high-frequency motor 5 connected to the left side of the robotic arm 2, a six-dimensional force sensor 6 connected to the bottom of the high-frequency motor 5, and a drill bit 7 connected to the bottom of the six-dimensional force sensor 6 via a connecting shaft. The 3D vision camera 4, robotic arm 2, high-frequency motor 5 and six-dimensional force sensor 6 are electrically connected to a PLC controller 8, which is mounted on the surface of the housing 1.

[0025] Using a robotic arm 2, a top plate 3, a 3D vision camera 4, and a PLC controller 8, the workpiece is scanned and identified in real time, guiding a high-precision industrial robot to perform adaptive trajectory correction. This allows for relaxed initial workpiece positioning accuracy requirements while ensuring final drilling position accuracy. It solves the problems of high rigidity and poor flexibility in traditional fixture-dependent production lines, significantly improving production efficiency and changeover convenience. For different models of car bumpers, production line changeover can be completed quickly without replacing or significantly adjusting physical tooling, greatly shortening product changeover time and adapting to the flexible manufacturing needs of small batches and multiple varieties.

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0027] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0028] Example 1, please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7A high-precision car bumper drilling device includes a housing 1. A robotic arm 2 is connected to the right side of the top of the housing 1. A top plate 3 is connected to the top of the housing 1 via a bracket. A 3D vision camera 4 is connected to the top of the inner wall of the top plate 3. A bumper positioning mechanism 32 is installed on the left side of the top of the housing 1. A high-frequency motor 5 is connected to the left side of the robotic arm 2. A six-dimensional force sensor 6 is connected to the bottom of the high-frequency motor 5. A drill bit 7 is connected to the bottom of the six-dimensional force sensor 6 via a connecting shaft. The 3D vision camera 4, robotic arm 2, high-frequency motor 5, and six-dimensional force sensor 6 are electrically connected to a PLC controller 8. The PLC controller 8 is installed on the surface of the housing 1. Through the robotic arm 2, top plate 3, 3D vision camera 4, and PLC controller 8, the device scans and identifies the workpiece in real time, guiding the high-precision industrial robot to perform adaptive trajectory correction. The six-dimensional force sensor 6 can relax the initial positioning accuracy requirements of the workpiece while ensuring the final drilling position accuracy. It solves the problem of high rigidity and poor flexibility of traditional fixture-dependent production lines, and significantly improves production efficiency and changeover convenience. For different models of car bumpers, the production line can be quickly changed without replacing or significantly adjusting the physical tooling, which greatly shortens the product changeover time and adapts to the flexible manufacturing needs of small batches and multiple varieties. The six-dimensional force sensor 6 can simultaneously measure forces and torques in multiple directions in space. During the drilling process of the car bumper, the drill bit 7 will generate complex force and torque changes when it comes into contact with the bumper. The six-dimensional force sensor 6 can perceive these changes in real time and accurately, providing comprehensive and accurate force feedback data to the PLC controller 8, and accurately controlling the speed and feed torque parameters of the high-frequency motor 5.

[0029] A mounting plate 9 is connected to the top of the top plate 3. Fixing tubes 10 are connected to both sides of the bottom of the mounting plate 9. The bottom of the mounting plate 9 is in contact with the 3D vision camera 4. A spring telescopic rod 11 is connected to the surface of the 3D vision camera 4. A connecting block 12 is connected to one end of the spring telescopic rod 11. An air vent 13 is connected to one side of the connecting block 12. A locking block 14 is connected to the surface of the connecting block 12. The side of the locking block 14 away from the connecting block 12 extends into the inner cavity of the fixing tube 10. By setting the spring telescopic rod 11, a pulling force is generated on the connecting block 12, so that the connecting block 12 drives the locking block 14 to engage with the fixing tube 10, thereby fixing the 3D vision camera 4 and improving the stability of the 3D vision camera 4. At the same time, it is convenient to disassemble the 3D vision camera 4.

[0030] A first electric push rod 15 is connected to the surface of the 3D vision camera 4. A first horizontal plate 16 is connected to the bottom of the first electric push rod 15. A guide rod 17 is connected through the surface of the first horizontal plate 16. A first spring 18 is sleeved on both the upper and lower sides of the surface of the guide rod 17. A second horizontal plate 19 is connected to the bottom of the guide rod 17. An inclined plate 20 is connected to the bottom of the second horizontal plate 19 via a pivot. A compression plate 21 is connected to the bottom of the inclined plate 20 via a pivot. An airbag 22 is connected to one side of the compression plate 21. A fixing plate 23 is connected to one side of the airbag 22. The bottom of the fixing plate 23... The device is connected to a protective plate 24. By setting a first electric push rod 15 and a first horizontal plate 16, the first horizontal plate 16 moves upward to push the connecting block 12 to move. The connecting block 12 drives the locking block 14 to move, which facilitates the disassembly of the 3D vision camera 4. By setting a first spring 18, the first horizontal plate 16 is tensioned and supported. By setting a guide rod 17, the first horizontal plate 16 is guided to facilitate the vertical movement of the first horizontal plate 16. By setting a protective plate 24, the lens at the bottom of the 3D vision camera 4 is protected when not in use to prevent external dust from adhering to the lens surface.

[0031] The top of the protective plate 24 is connected to a first U-shaped plate 25. A slider 26 is connected to the surface of the 3D vision camera 4. The side of the slider 26 away from the 3D vision camera 4 passes through the first U-shaped plate 25 and is movably connected to the first U-shaped plate 25. The surface of the fixed plate 23 is connected to a one-way air outlet valve 27 and a one-way air inlet valve 28, respectively. The one-way air outlet valve 27 and the end away from the fixed plate 23 are connected to an air outlet hose 29. The end of the air outlet hose 29 away from the one-way air outlet valve 27 is connected to the air outlet cover 13. A mesh plate 34 is embedded in the surface of the 3D vision camera 4. The cooperation of the first U-shaped plate 25 and the slider 26 enables the protective plate 24 and the 3D vision camera 4 to work together. The protective plate 24 and the airbag 22 are connected to each other, which ensures that the protective plate 24 has a certain amount of room to move relative to the 3D vision camera 4, while also limiting the range of movement of the protective plate 24 to a certain extent. This facilitates the lateral movement of the protective plate 24. The one-way exhaust valve 27 and the one-way intake valve 28 enable the unidirectional flow of gas. During the compression or expansion of the airbag 22, the direction of gas in and out can be controlled to ensure the normal operation of the airbag 22. The connection between the exhaust hose 29 and the exhaust cover 13 can guide the gas discharged from the airbag 22 into the 3D vision camera 4 for ventilation and heat dissipation, thus extending the service life of the 3D vision camera 4.

[0032] A second spring 30 is connected to the surface of the fixed plate 23. The side of the second spring 30 away from the fixed plate 23 is connected to the extrusion plate 21. A support frame 31 is connected to the inner wall of the airbag 22. The second spring 30 provides a buffering force when the extrusion plate 21 extrudes the airbag 22, making the extrusion process more stable, avoiding excessive impact force from the extrusion plate 21 on the airbag 22, and extending the service life of the airbag 22. The support frame 31 supports the inner wall of the airbag 22, keeping the airbag 22 in an open state when stretched.

[0033] Example 2 further optimizes the high-precision automotive bumper drilling equipment provided in Example 1, specifically, as follows: Figure 2 and Figure 3 The bumper positioning mechanism 32 shown includes a base plate 320, the bottom of which is connected to the top of the housing 1. A support plate 321 is connected to the top of the base plate 320. A drive motor 322 is connected to the surface of the support plate 321. The shaft of the drive motor 322 passes through the support plate 321 and is connected to a U-shaped frame 323. A second U-shaped plate 324 is connected to the top of the U-shaped frame 323. A second electric push rod 325 is connected to the inner wall of the second U-shaped plate 324. One end of the second electric push rod 325... The device is connected to a clamping plate 326. Through the combination of a base plate 320, a support plate 321, a drive motor 322, a U-shaped frame 323, a second U-shaped plate 324, a second electric push rod 325, and the clamping plate 326, it can achieve precise positioning of the car bumper. The drive motor 322 can drive the U-shaped frame 323 to rotate and adjust the angle of the bumper. The second electric push rod 325 pushes the clamping plate 326 to clamp and fix the bumper, ensuring that the position of the bumper is stable during the hole-making process and improving the hole-making accuracy.

[0034] The bottom of the U-shaped frame 323 has an elongated hole 327. The bottom of the second U-shaped plate 324 is connected to a threaded rod 328. The bottom of the threaded rod 328 passes through the elongated hole 327 and is movably connected to the elongated hole 327. A nut 329 is threaded onto the surface of the threaded rod 328. The arrangement of the elongated hole 327, the threaded rod 328, and the nut 329 allows the position of the second U-shaped plate 324 on the U-shaped frame 323 to be adjusted and fixed. By loosening the nut 329, the second U-shaped plate 324 can be moved along the elongated hole 327, thereby adjusting the position of the clamping plate 326 to adapt to car bumpers of different sizes and shapes, improving the versatility and adaptability of the positioning mechanism.

[0035] Example 3 further optimizes the high-precision automotive bumper drilling equipment provided in Example 1 or 2, specifically as shown in the figure. Figure 2 and Figure 4As shown, a dust collection mechanism 33 is mounted on the surface of the robotic arm 2. The dust collection mechanism 33 includes a support block 330. A third electric push rod 331 is connected to the bottom of the support block 330. A dust collection head 332 is connected to the bottom of the third electric push rod 331. A dust collection hose 333 is connected to the top of the dust collection head 332. The top of the dust collection hose 333 passes through the support block 330 and is connected to a dust collection box 334. An exhaust fan 335 is connected to the surface of the dust collection box 334. By setting up the dust collection head 332, the dust collection hose 333, the dust collection box 334, and the exhaust fan 335, the exhaust fan 335 generates suction when it operates, which can be used to make holes. During the process, dust and debris generated are promptly removed to prevent dust from flying and polluting the working environment, reducing the harm of dust to the health of operators, and preventing dust from entering the equipment and affecting its normal operation and service life. The third electric push rod 331 can adjust the position of the dust suction head 332 to bring it closer to the hole-making area, improving the dust suction effect. The position of the dust suction head 332 can be flexibly adjusted according to different hole-making positions and working conditions to ensure the comprehensiveness and effectiveness of dust suction. At the same time, it is convenient to clean and collect impurities at different positions on the top of the box 1, keeping the working environment clean and tidy and reducing the workload of operators.

[0036] The bottoms of the dust collection box 334 and the exhaust fan 335 are both connected to the robotic arm 2. The inner cavity of the dust collection box 334 is equipped with a filter frame 336, and the surface of the dust collection box 334 is connected to a sealing plate by screws. The filter frame 336 can filter the sucked-in dust and debris to prevent them from entering the exhaust fan 335 and damaging the equipment. It is also easy to clean and replace. The sealing plate is connected by screws, which makes it easy to open the dust collection box 334 to clean and maintain the filter frame 336, ensuring the long-term effective operation of the dust collection mechanism 33.

[0037] The usage process of the high-precision car bumper drilling equipment provided by this invention is as follows: S1. The 3D vision camera 4 is fixedly installed on the top plate 3 so that its field of view can completely cover the car bumper workpiece located on the fixture. The PLC controller 8 controls the robot to move in multiple different poses. The 3D vision camera 4 collects images one by one. The precise transformation relationship from the camera coordinate system to the robot base coordinate system is obtained by calculation. The standard sample is scanned to obtain its high-precision point cloud data. The features of the mounting hole group are extracted by the PLC controller 8 to establish a benchmark digital model and plan the robot's motion trajectory. S2. During the drilling operation, the bumper to be processed is clamped on the second U-shaped plate 324. The second electric push rod 325 is controlled to move the clamping plate 326. The clamping plate 326 clamps and positions the bumper. The 3D vision camera 4 scans the workpiece. The point cloud data acquired in real time is intelligently matched and compared with the pre-stored reference model. The position of the actual workpiece relative to the reference model in three-dimensional space is accurately calculated. The real-time point cloud is matched with the reference model to calculate the three-dimensional position and attitude deviation matrix of the actual workpiece relative to the reference model, and trajectory correction is performed. S3 and PLC controller 8 read the deviation matrix, perform real-time spatial transformation on all pre-programmed theoretical drilling coordinates, generate a machining trajectory that perfectly matches the actual workpiece pose, perform real-time, fully automatic coordinate transformation and compensation, generate the optimal working path that is adapted to the current actual workpiece pose, control the robot to drive the drill bit 7 to accurately complete the machining of each hole according to the corrected path, and the high-frequency motor 5 drives the drill bit 7 to rotate and drill. S4. During the drilling process, the PLC controller 8 controls the third electric push rod 331 to move the dust suction head 332 downward. The dust suction head 332 approaches the drilling position, and the exhaust fan 335 is controlled to run to absorb dust. The dust floating in the air passes through the dust suction head 332, the dust suction hose 333 and the dust collection box 334 in sequence, and finally enters the inner cavity of the filter frame 336 for collection. When cleaning the workbench, the robot arm 2 is controlled to move the dust suction head 332 to various positions on the top of the box 1 to collect the debris falling from the top of the box 1. The screws on the surface of the sealing plate are removed, the sealing plate is removed, and the filter frame 336 is taken out to pour out the impurities. S5. By controlling the operation of the drive motor 322, the U-shaped frame 323 is driven to rotate, and the U-shaped frame 323 drives the bumper to rotate. The angle of the bumper can be adjusted, and the bumper can be precisely drilled. The distance between the two second U-shaped plates 324 is moved, and the nut 329 is threadedly connected to the threaded rod 328, so that the nut 329 is pressed against the U-shaped frame 323 to fix the second U-shaped plates 324, thereby adapting to bumpers of different widths. S6. When using the 3D vision camera 4, the first electric push rod 15 is extended, causing the first horizontal plate 16 to move downwards. The first horizontal plate 16 pushes the second horizontal plate 19 downwards via the first spring 18. The second horizontal plate 19 pushes the extrusion plate 21 downwards via the inclined plate 20. The extrusion plate 21 pushes the fixing plate 23 downwards via the second spring 30. The fixing plate 23 moves the protective plate 24, causing the two protective plates 24 to separate, exposing the lens at the bottom of the 3D vision camera 4 to capture the bumper image. When the 3D vision camera 4 is working, heat is generated inside, causing the first electric push rod 15 to continue extending, driving the first horizontal plate... 16 moves downwards, and the first horizontal plate 16 pushes the extrusion plate 21 to move through the first spring 18. The extrusion plate 21 compresses the airbag 22, and the air pressure inside the airbag 22 increases. The one-way exhaust valve 27 opens, and the gas inside the airbag 22 passes through the one-way exhaust valve 27, the exhaust hose 29, the exhaust hood 13, and the mesh plate 34 in sequence, and finally enters the 3D vision camera 4. The hot air inside the 3D vision camera 4 is discharged through the mesh plate 34 at the bottom of the surface, realizing the ventilation and heat dissipation of the 3D vision camera 4. When the extrusion plate 21 returns to its original position, it stretches the airbag 22, and the one-way intake valve 28 opens. External gas enters the airbag 22 through the one-way intake valve 28, and the cycle repeats. S7. When disassembling the 3D vision camera 4, the first electric push rod 15 is controlled to retract, which drives the first horizontal plate 16 to move upward. The two sides of the first horizontal plate 16 press the connecting block 12, causing the connecting block 12 to drive the locking block 14 to move. The locking block 14 separates from the fixing tube 10, thereby separating and disassembling the 3D vision camera 4 from the mounting plate 9.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] Obviously, the embodiments described above are merely some embodiments of the present invention, not all embodiments. The accompanying drawings show preferred embodiments of the present invention, but do not limit the patent scope of the present invention. The present invention can be implemented in many different forms; rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this invention.

Claims

1. A high-precision automobile bumper hole making apparatus, characterized by, The utility model provides a kind of 3D vision camera positioning device, including box (1), the right side of the top of the box (1) is connected with manipulator (2), the top of the box (1) is connected with top plate (3) by support, the top of the inner wall of top plate (3) is connected with 3D vision camera (4), the left side of the top of the box (1) is installed with bumper positioning mechanism (32), the left side of manipulator (2) is connected with high-frequency motor (5), the bottom of high-frequency motor (5) is connected with six-dimensional force sensor (6), the bottom of six-dimensional force sensor (6) is connected with drill bit (7) by connecting shaft, 3D vision camera (4), manipulator (2), high-frequency motor (5) and six-dimensional force sensor (6) are electrically connected with PLC controller (8), and PLC controller (8) is installed on the surface of box (1).

2. The high-precision automobile bumper hole making device according to claim 1, characterized in that, The top of top plate (3) is connected with mounting plate (9), both sides of the bottom of mounting plate (9) are connected with fixed tube (10), the bottom of mounting plate (9) is in contact with 3D vision camera (4), the surface of 3D vision camera (4) is connected with spring telescopic rod (11), one end of spring telescopic rod (11) is connected with connecting block (12), one side of connecting block (12) is connected with air outlet cover (13), the surface of connecting block (12) is connected with clamping block (14), one side of clamping block (14) away from connecting block (12) extends to the inner cavity of fixed tube (10).

3. The high-precision automobile bumper hole making device according to claim 2, characterized in that, The surface of 3D vision camera (4) is connected with first electric push rod (15), the bottom of first electric push rod (15) is connected with first cross plate (16), the surface of first cross plate (16) is connected with guide rod (17), the upper and lower sides of the surface of guide rod (17) are both sleeved with first spring (18), the bottom of guide rod (17) is connected with second cross plate (19), the bottom of second cross plate (19) is connected with inclined plate (20) by pivot, the bottom of inclined plate (20) is connected with extrusion plate (21) by pivot, one side of extrusion plate (21) is connected with air bag (22), one side of air bag (22) is connected with fixed plate (23), the bottom of fixed plate (23) is connected with protection plate (24).

4. The high-precision automobile bumper hole making device according to claim 3, characterized in that, The top of protection plate (24) is connected with first U-shaped plate (25), the surface of 3D vision camera (4) is connected with sliding block (26), one side of sliding block (26) away from 3D vision camera (4) penetrates first U-shaped plate (25) and is movably connected with first U-shaped plate (25), the surface of fixed plate (23) is respectively connected with one-way air outlet valve (27) and one-way air inlet valve (28), one end away from fixed plate (23) of one-way air outlet valve (27) is connected with air outlet hose (29), one end of air outlet hose (29) away from one-way air outlet valve (27) is communicated with air outlet cover (13), the surface of 3D vision camera (4) is embedded with mesh plate (34).

5. The high-precision automobile bumper hole making device according to claim 4, characterized in that, The surface of the fixed plate (23) is connected with a second spring (30), one side of the second spring (30) away from the fixed plate (23) is connected with the extrusion plate (21), and the inner wall of the air bag (22) is connected with a supporting frame (31).

6. The high-precision automobile bumper hole making device according to claim 5, characterized in that, The bumper positioning mechanism (32) comprises a bottom plate (320), the bottom of the bottom plate (320) is connected with the top of the box body (1), the top of the bottom plate (320) is connected with a supporting plate (321), the surface of the supporting plate (321) is connected with a driving motor (322), the rotating shaft of the driving motor (322) penetrates through the supporting plate (321) and is connected with a U-shaped frame (323), the top of the U-shaped frame (323) is connected with a second U-shaped plate (324), the inner wall of the second U-shaped plate (324) is connected with a second electric push rod (325), and one end of the second electric push rod (325) is connected with a clamping plate (326).

7. The high-precision automobile bumper hole making device according to claim 6, characterized in that, The bottom of the U-shaped frame (323) is provided with a long hole (327), the bottom of the second U-shaped plate (324) is connected with a threaded rod (328), the bottom of the threaded rod (328) penetrates through the long hole (327) and is movably connected with the long hole (327), and the surface of the threaded rod (328) is threadedly sleeved with a nut (329).

8. The high-precision automobile bumper hole making device according to claim 7, characterized in that, The surface of the mechanical arm (2) is provided with a dust collection mechanism (33), the dust collection mechanism (33) comprises a supporting block (330), the bottom of the supporting block (330) is connected with a third electric push rod (331), the bottom of the third electric push rod (331) is connected with a dust collection head (332), the top of the dust collection head (332) is connected with a dust collection hose (333), the top of the dust collection hose (333) penetrates through the supporting block (330) and is connected with a dust collection box (334), and the surface of the dust collection box (334) is connected with an air suction fan (335).

9. The high-precision automobile bumper hole making device according to claim 8, characterized in that, The bottom of the dust collection box (334) and the air suction fan (335) is connected with the mechanical arm (2), the inner cavity of the dust collection box (334) is provided with a filter frame (336), and the surface of the dust collection box (334) is connected with a sealing plate through screws.

10. The method of using a high-precision automobile bumper hole making apparatus according to claim 9, wherein, The method comprises the following steps: S1, the 3D vision camera (4) is fixedly installed on the top plate (3), the field of view thereof can completely cover the automobile bumper workpiece on the clamp, the PLC controller (8) controls the robot to move multiple different poses, the 3D vision camera (4) acquires images one by one, the accurate conversion relationship from the camera coordinate system to the robot base coordinate system is obtained by solving, the standard sample is scanned, the high-precision point cloud data thereof is acquired, the mounting hole group features are extracted by the PLC controller (8), and a reference digital model is established, and the robot motion trajectory is planned; S2, in the drilling operation, the bumper to be processed is clamped on the second U-shaped plate (324), the clamping plate (326) is moved by controlling the second electric push rod (325) to drive the clamping plate (326) to move, the clamping plate (326) clamps and positions the bumper, the 3D vision camera (4) scans the workpiece, the real-time point cloud data obtained is matched and compared with the pre-stored reference model, the position of the current actual workpiece in the three-dimensional space relative to the reference model is accurately calculated, the real-time point cloud is matched with the reference model, the three-dimensional position and attitude deviation matrix of the actual workpiece relative to the reference model is calculated, and the trajectory is corrected; S3, the PLC controller (8) reads the deviation matrix, performs real-time spatial transformation on all pre-programmed theoretical drilling coordinates, generates a processing trajectory that completely matches the actual workpiece pose, performs real-time and fully automatic coordinate transformation and compensation, generates an optimal operation path that adapts to the actual pose of the current workpiece, controls the robot to drive the drill bit (7) to accurately complete the processing of each hole position according to the corrected path, and the high-frequency motor (5) drives the drill bit (7) to rotate and drill.

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