Robot-assisted light-weight automobile front door interior trim part machining device and method

Abstract

The invention discloses a robot-assisted light-weight automobile front door interior trim part machining device and method.The machining device comprises a workbench, a flexible fixing assembly, a driving assembly, an execution mechanical arm, a grinding rod, a sleeving ring, a 3D vision camera and a dust collection assembly, and the workbench is used for supporting the whole machining device; the number of the flexible fixing assemblies is multiple, and the multiple flexible fixing assemblies are evenly arranged on the inner side of the workbench. The driving assembly is arranged at the rear end of the workbench. The execution mechanical arm is mounted on the driving assembly; the polishing rod is installed at the output end of the executing mechanical arm and detachably connected with the executing mechanical arm. The sleeving ring is fixed to the position, close to the output end, of the execution mechanical arm. The 3D visual camera is mounted on one side of the sleeving ring; and the dust collection assembly is installed on one side of the execution mechanical arm, and the dust suction end of the dust collection assembly is installed on the other side of the sleeving ring and is arranged close to the bottom of the polishing rod.

Description

Technical Field

[0001] This invention relates to the field of automotive interior parts processing technology, specifically to a robot-assisted lightweight automotive front door interior parts processing device and method. Background Technology

[0002] With the rapid development of the automotive industry towards lightweighting and energy conservation, lightweight materials such as aluminum alloys, magnesium alloys, and carbon fiber composites are increasingly used in automotive interior parts. Among these, the front door interior parts are crucial lightweight components, and their processing precision, surface quality, and production efficiency directly impact vehicle performance and production costs. While some processes in the manufacturing of lightweight automotive front door interior parts currently utilize robotic assistance, the role of robots is often limited to painting or loading / unloading, offering limited assistance and failing to meet the industry's evolving needs.

[0003] Currently, automotive front door interior trim is manufactured using injection molding machines to mold the front door interior panels. After molding, the interior panels need to be covered with leather. However, some vehicles now support customized interiors, so the leather used for interior trim often varies from vehicle to vehicle. Some users choose single-color leather to cover the front door interior panels, while others choose two-tone or multi-color leather. Before covering the front door interior panels with two-tone or multi-color leather, the leather needs to be spliced ​​and sewn. The sewn areas are thicker than other areas, so grooves need to be cut into the corresponding sewn areas of the leather on the front door interior panels to allow the sewn areas to fit into the grooves. This ensures a smoother finish for the leather covering the front door interior panels.

[0004] Due to the diverse types of leather coverings used in automotive front door interior panels, the location and direction of grooving during the covering process are not fixed. Therefore, there is currently no dedicated grooving equipment on the market specifically for automotive front door interior panels. In actual production, the location and direction of the grooving need to be marked on the automotive front door interior panel according to the stitching area of ​​the covered leather. This is then stabilized using a support structure that matches the automotive front door interior trim. Finally, workers manually use a grooving tool to create grooves along the planned route on the automotive front door interior panel. However, this grooving method is highly demanding on the worker's skills, and it is difficult to ensure that the depth and width of the grooves are consistent, thus affecting the subsequent leather covering effect. Furthermore, the grooving process generates a large amount of debris, which needs to be cleaned up after grooving, severely impacting the processing efficiency of automotive front door interior panels.

[0005] In summary, there is an urgent need in the market for a robot-assisted processing device and method that can support and fix automotive front door interior panels, plan grooving paths, grooving, and clean up debris, which is key to solving the current technical bottleneck. Summary of the Invention

[0006] The purpose of this invention is to provide a robot-assisted lightweight automotive front door interior panel processing device and method, which aims to improve the problem that existing automotive front door interior panels require manual grooving, resulting in low grooving efficiency and affecting the processing efficiency of automotive front door interior panels.

[0007] This invention is implemented as follows:

[0008] To achieve the above objectives, according to one aspect of the present invention, the present invention provides a robot-assisted lightweight automotive front door interior parts processing device, including a worktable, which is used to support the entire processing device and also to support the automotive front door interior parts.

[0009] A flexible fixing component is provided, and multiple flexible fixing components are evenly arranged inside the worktable. When the flexible fixing component is not working, its top surface is lower than the surface of the worktable.

[0010] A driving component, wherein the driving component is disposed at the rear end of the worktable;

[0011] An execution robotic arm is mounted on a drive assembly, which drives the execution robotic arm to adjust its position.

[0012] A grinding rod is installed at the output end of the executing robotic arm, and the grinding rod is detachably connected to the executing robotic arm;

[0013] A connecting ring, wherein the connecting ring is fixed at a position near the output end of the robotic arm;

[0014] A 3D vision camera, which is mounted on one side of the socket ring, is used to photograph the interior trim of the front door of a car.

[0015] A dust collection assembly is installed on one side of the robotic arm, and the suction end of the dust collection assembly is installed on the other side of the sleeve ring, with the suction end positioned near the bottom of the grinding rod.

[0016] Preferably, the worktable has a guide platform at its rear end, a guide groove in the middle of the guide sleeve, bearings at both ends of the guide groove, and multiple connecting slots on one side of the guide platform for connection to the drive assembly; multiple grooves are evenly distributed on the worktable, with through holes at the bottom of the grooves, and multiple connecting rods are provided on the bottom inner side of the worktable aligned with the grooves for electrical connection to the flexible fixing assembly; a temperature sensor and a light sensor are installed on the side of the worktable.

[0017] Preferably, the flexible fixing component includes an electric push rod and an electric suction cup. The electric push rod has a power connector at its bottom end and symmetrical fixing feet on both sides of its bottom. Each fixing foot has multiple fixing holes. The power connector is electrically connected to a wiring rod, and the electric push rod is fixed to the wiring rod by bolts passing through the fixing holes. The output end of the electric push rod has a telescopic rod, and the top end of the telescopic rod has a rotating joint. The bottom end of the electric suction cup has a connecting rod, and the bottom end of the connecting rod has an adapter ball joint. The adapter ball joint is rotatably connected to the rotating joint for multi-directional rotation of the electric suction cup, facilitating its adhesion to the front door interior panel of the car. A spring wire is connected to the bottom end of the electric suction cup, and the bottom end of the spring wire has a power connector.

[0018] Preferably, the drive assembly includes a drive screw, a support, and a servo motor. The drive screw is installed inside a guide groove, and both ends of the drive screw have adapters that are interference-fitted with bearings. The bottom surface of the support has a connecting block that is inserted into the guide groove, and the drive screw is threadedly connected to the connecting block. The top of the support has a support plate with through holes at its corners. The end of the servo motor that is in contact with the worktable has multiple connecting feet with connecting holes. The servo motor is fixed to the worktable by bolts passing through the connecting holes, and the output end of the servo motor is connected to the drive screw. The side of the servo motor has two connecting wires with connecting plugs at their ends, and the connecting plugs are electrically connected to the worktable. The end of the drive screw facing the servo motor has a drive slot.

[0019] Preferably, the bottom of the robotic arm is provided with a base, the side of which is provided with multiple mounting feet, and the mounting feet are provided with mounting holes in the middle. The bottom of the base is attached to a support plate, and the support plate and the mounting feet are connected by bolts. The robotic arm is provided with a junction box, and the side of the junction box is provided with a male connector. The end of the robotic arm is provided with a drive motor, the output end of which is provided with a transmission shaft, and the side of the transmission shaft is provided with a set screw. The grinding end of the grinding rod is arc-shaped, and the top of the grinding rod is provided with a connecting rod, the top of which is provided with a plug. The plug is inserted into the inside of the transmission shaft, and the set screw is pressed against the plug. The grinding rod integrates a force sensor and a lithium battery. The force signal collected by the force sensor is transmitted to the control terminal wirelessly.

[0020] Preferably, the sleeve is fitted onto the side of the drive motor, the side of the sleeve is provided with multiple clamping bolts, and one side of the sleeve is provided with a first connecting plate with a threaded connector, and the other side of the sleeve is provided with a second connecting plate with a positioning hole; the bottom of the 3D vision camera is provided with a threaded connection part, which is threadedly connected to the threaded connector; the shooting end of the 3D vision camera is located below the threaded connection part; the top of the 3D vision camera is provided with a wire, the end of which is provided with a female connector, which is connected to a male connector.

[0021] Preferably, the dust collection assembly includes a centrifugal fan, a filter element, a flow guide hood, a guide pipe, and a vent plate; the centrifugal fan is provided with a protective shell on its outer side, and the bottom of the protective shell, which is attached to the side of the robotic arm, is provided with a mounting plate, which is provided with multiple bolt holes; the suction end of the centrifugal fan is provided with a connecting cover, which extends out from the top of the protective shell, and the top of the connecting shaft is provided with an adapter ring; the protective shell is provided with a vent plate aligned with the exhaust end of the centrifugal fan; the top of the connecting cover is equipped with a filter element, the flow guide hood is fitted over the filter element, and the bottom end of the flow guide hood is threadedly connected to the adapter ring; the top center of the flow guide hood is provided with a hexagon, and the center of the hexagon is provided with a threaded adapter pipe; one end of the guide pipe is provided with a connecting part, which is threadedly connected to the threaded adapter pipe; the other end of the guide pipe is provided with a suction connector.

[0022] Preferably, the front end of the workbench is equipped with a control box, which integrates an MCU control module. The MCU control module contains an algorithm processing unit for real-time execution of positioning algorithms, path optimization algorithms, and force-position control algorithms. The MCU control module is connected to a 3D vision positioning module, a database, a path planning module, a flexible fixing module, a power supply module, and an execution module. The MCU control module processes data from the entire processing device and controls its operation. The 3D vision positioning module works with a 3D vision camera to photograph the front door interior panel of the car, thereby determining the model and location of the panel. The database contains a storage module for storing information on different models of interior panels. The system includes standard feature point sets, temperature-light distortion compensation parameters, substrate mechanical parameters, initial execution parameters, and other data required for the algorithm. It also stores various solutions for wrapping automotive front door interior panels with leather, along with the corresponding grooving paths. The path planning module retrieves the corresponding grooving path from the database based on the leather wrapping solution set by the operator, and determines the grooving reference point based on the position located by the 3D vision positioning module. The flexible fixing module controls the flexible fixing components to adsorb and fix the automotive front door interior parts. The power supply module connects to the power supply line to power the entire processing device. The execution module controls the entire processing device to groove the automotive front door interior panel according to the planned grooving path.

[0023] According to a second aspect of the present invention, the present invention provides a robot-assisted method for processing lightweight automotive front door interior parts, the specific steps of which are as follows:

[0024] S100, Intelligent Sorting and Feeding of Raw Materials: Using AGV handling robots to transfer the corresponding base materials and leather materials to the conveyor belt through a visual recognition system;

[0025] S200, Substrate Sheet Heating and Softening: An industrial robotic arm grasps the substrate sheet from the conveyor belt and feeds it into the heating furnace according to a preset trajectory; after heating, the robotic arm quickly removes the softened sheet.

[0026] S300, Compression Molding: The industrial robotic arm places the softened substrate into the positioning pin of the lower mold of the compression molding machine, and the compression molding machine closes the mold and maintains pressure; after molding is completed, the robotic arm grabs the molded substrate and transfers it to the cooling station;

[0027] S400 Precision Cutting and Trimming: The AGV robot transfers the cooled molded substrate to the cutting platform; the industrial robotic arm drives the laser cutting head to cut the interior panel along a preset path.

[0028] S500, Edge Grinding and Polishing: The robotic arm grips the workpiece, adjusts the grinding angle and pressure according to the edge contour, and completes rough grinding and fine grinding in sequence; the polishing wheel is replaced, and polishing wax is used to polish the edges;

[0029] S600, Grooving and Surface Covering: The sanded automotive front door interior panel is placed on the workbench and grooved using a robotic arm; after grooving, it is transferred to the covering station, where an AGV robot transports the cut and sewn leather material to the covering station, and a special adhesive is sprayed onto the material surface; an industrial robotic arm picks up the interior panel substrate and positions it to the covering fixture; another robotic arm picks up the covering material and precisely adheres it to the substrate surface;

[0030] S700, Drilling and Tapping: The robotic arm drives the drill bit to complete the drilling of the installation hole, and switches to the tap to complete the thread tapping;

[0031] S800, Full-process quality inspection: AGV robots transfer pre-assembled interior panels to the inspection platform; vision robots are used to conduct comprehensive inspection of the interior panels;

[0032] S900 Finished Product Palletizing and Warehousing: Qualified interior panels are packaged; AGV robots transfer the packaged finished products to the automated warehouse, and the warehouse management system automatically enters the finished product warehousing information.

[0033] Preferably, the specific steps for slotting the front door interior panel in step S600 are as follows:

[0034] S610. Place the polished car front door interior panel on the workbench, activate the flexible fixing component under the car front door interior panel, so that the electric push rod drives the electric suction cup to rise. After the electric suction cup is attached to the car front door interior panel, the electric suction cup works and adheres to the interior panel; then the electric push rod drives the electric suction cup to move down, so that the bottom of the interior panel is against the workbench, thus stabilizing the interior panel.

[0035] S620: The robotic arm drives a 3D vision camera to capture and identify the interior panel of the front door of the car. The 3D vision positioning module determines the model and location of the interior panel of the front door of the car.

[0036] S630, then the path planning module retrieves the wrapping scheme of the front door interior panel of the corresponding car model from the database, as well as the grooving path corresponding to the scheme; and the path planning module plans the reference point for grooving based on the position determined by the 3D vision positioning module;

[0037] S640: The robotic arm drives the grinding rod to start grooving from the reference point of the planned path. At the same time as grooving, the dust collection component is activated. The centrifugal fan in the dust collection component sucks the debris generated during grooving into the drainage hood. The debris is filtered out by the filter element in the drainage hood. This avoids the need to clean the car's front door interior panel after grooving. In addition, if the position of the robotic arm is not suitable during grooving, the drive component drives the robotic arm to adjust its position to ensure that the robotic arm can successfully complete the grooving work.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] 1. The present invention has multiple flexible fixing components under the worktable. The flexible fixing components can be used to adsorb and fix lightweight automotive front door interior parts, ensuring their stability above the worktable. Moreover, the flexible fixing components can fix different models of automotive front door interior parts, avoiding the drawback of needing to use a special support device to support the automotive front door interior parts.

[0040] 2. The present invention is equipped with a 3D vision camera at the output end of the robotic arm. The 3D vision camera is used to scan the front door interior panel of the car to determine the position and model of the front door interior panel. Then, according to the leather wrapping type set in the program, the required grooving path for the leather wrapping type is retrieved from the database. Then, the robotic arm drives the polishing rod to groove the front door interior panel of the car according to the path.

[0041] 3. The present invention has a dust collection component on one side of the robotic arm. The air intake of the dust collection component is located near the output end of the robotic arm. In this way, the debris generated when the grinding rod grinds and grooves the front door interior panel of the car can be directly sucked into the dust collection component and filtered out, so as to facilitate the centralized processing of the debris and assist the workers in efficiently completing the processing of the front door interior panel of the car.

[0042] 4. The present invention has a guide platform at the rear end of the worktable, and a drive component is provided inside the guide platform. The drive component can drive the execution robot arm to adjust its position, which facilitates the flexible use of the execution robot arm and improves the applicability of the entire processing device. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0044] Figure 2 This is a schematic diagram of the structure of the worktable of the present invention from a front-end oblique downward view;

[0045] Figure 3 This is a schematic diagram of the structure of the worktable of the present invention from a front-end oblique tilting angle;

[0046] Figure 4 This is a schematic diagram of the flexible fixing component of the present invention;

[0047] Figure 5 This is a schematic diagram of the structure of the driving component of the present invention;

[0048] Figure 6 This is a schematic diagram of the structure of the robotic arm that performs the present invention;

[0049] Figure 7 This is a schematic diagram of the structure of the polishing rod of the present invention;

[0050] Figure 8 This is a schematic diagram of the structure of the sleeve ring of the present invention;

[0051] Figure 9 This is a schematic diagram of the structure of the 3D vision camera of the present invention;

[0052] Figure 10 This is a schematic diagram of the dust collection component of the present invention;

[0053] Figure 11 This is a structural block diagram of the internal structure of the control box of this invention;

[0054] Figure 12 This is a flowchart of the processing method of the present invention.

[0055] In the diagram: 1. Workbench; 11. Guide table; 12. Guide groove; 13. Connecting slot; 14. Bearing; 15. Groove; 16. Through hole; 17. Control box; 18. Connecting rod; 2. Flexible fixing component; 21. Electric push rod; 211. Telescopic rod; 212. Rotary joint; 213. Fixed foot; 214. Fixed hole; 215. Power connector; 22. Electric suction cup; 221. Connecting rod; 22. Adapter ball head; 223. Spring wire; 224. Power connector; 3. Drive component; 31. Drive screw; 311. Adapter part; 312. Drive slot; 32. Support platform; 321. Connecting block; 322. Support plate; 323. Through hole; 33. Servo motor; 331. Connecting foot; 332. Connecting hole; 333. Connecting wire; 334. Connecting plug; 4. Execution robot arm; 41. Bottom 42. Mounting foot; 43. Mounting hole; 44. Junction box; 45. Male connector; 46. Drive motor; 47. Drive shaft; 48. Set screw; 5. Grinding rod; 51. Connecting rod; 52. Plug; 6. Socket ring; 61. First connecting plate; 62. Threaded connector; 63. Clamping bolt; 64. Second connecting plate; 65. Positioning hole; 7. 3D vision camera; 71. Threaded connection; 72. Imaging end; 73. Wire; 74. Female connector; 8. Dust collection assembly; 81. Centrifugal fan; 811. Protective housing; 812. Mounting plate; 813. Bolt hole; 814. Connecting cover; 815. Adapter ring; 82. Filter element; 83. Drainage cover; 831. Hexagon; 832. Threaded adapter pipe; 84. Drainage pipe; 841. Connecting part; 842. Suction connector; 85. Ventilation plate. Detailed Implementation

[0056] 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 or an electrical connection; 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. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0057] The following description, in conjunction with the accompanying drawings and specific embodiments, provides further details:

[0058] Example 1

[0059] like Figure 1As shown, a robot-assisted lightweight automotive front door interior trim processing device includes a worktable 1, a flexible fixing component 2, a drive component 3, an execution robotic arm 4, a grinding rod 5, a connecting ring 6, a 3D vision camera 7, and a dust collection component 8. The worktable 1 supports the entire processing device and also supports the automotive front door interior trim, facilitating the extraction and fixing of the trim. Multiple flexible fixing components 2 are evenly distributed inside the worktable 1, with their top surfaces lower than the surface of the worktable 1 when not in operation. The flexible fixing components 2 adhere to the automotive front door interior trim, thus fixing it in place. The drive component 3 is located at the rear end of the worktable 1. The execution robotic arm 4 is mounted on the drive component 3, and its position is adjusted by the drive component 3, facilitating the flexible use of the execution robotic arm 4. A polishing rod 5 is installed at the output end of the robotic arm 4, and the polishing rod 5 is detachably connected to the robotic arm 4. This facilitates the use of the robotic arm to drive the polishing rod 5 to polish and groove the interior trim of the car's front door, making it easier to subsequently wrap the interior trim with leather. A connecting ring 6 is fixed to the robotic arm 4 near the output end. A 3D vision camera 7 is installed on one side of the connecting ring 6 for photographing the interior trim of the car's front door. A dust collection assembly 8 is installed on one side of the robotic arm 4, with its suction end installed on the other side of the connecting ring 6, and the suction end is positioned near the bottom of the polishing rod 5. This allows the dust collection assembly 8 to absorb and collect the debris generated during the grooving process. The connecting ring 6 facilitates the installation and removal of the 3D vision camera 7 and the suction end of the dust collection assembly 8, enabling flexible use of the entire device.

[0060] like Figure 2 and Figure 3 As shown, the worktable 1 has a guide platform 11 at its rear end, and a guide groove 12 in the middle of the guide sleeve. Bearings 14 are located at both ends of the guide groove 12. The guide platform 11, in conjunction with the guide groove 12, facilitates the installation of the drive assembly 3, allowing the drive assembly 3 to adjust the position of the robotic arm 4, thus facilitating the flexible use of the robotic arm 4. The bearings 14 facilitate the rotation and use of the drive assembly 3. Multiple connecting slots 13 are located on one side of the guide platform 11 for connecting to the drive assembly 3, facilitating its power supply and operation. Multiple grooves 15 are evenly distributed on the worktable 1, with through holes 16 at the bottom of each groove. The grooves 15 and through holes 16 facilitate the installation of the flexible fixing assembly 2, enabling its use. Multiple connecting rods 18 are located on the inner bottom of the worktable 1, aligned with the grooves 15, for electrical connection to the flexible fixing assembly 2. Temperature sensors and light sensors are installed on the sides of the worktable 1.

[0061] like Figure 4As shown, the flexible fixing component 2 includes an electric push rod 21 and an electric suction cup 22. The bottom end of the electric push rod 21 has a power connector 215, which facilitates connection between the electric push rod 21 and the wiring rod 18, enabling easy fixing and use of the electric push rod 21. The bottom of the electric push rod 21 has symmetrical fixing feet 213 on both sides, each with multiple fixing holes 214. The power connector 215 is electrically connected to the wiring rod 18, and the electric push rod 21 is fixed to the wiring rod 18 by bolts passing through the fixing holes 214, ensuring stable use of the entire electric push rod 21. The output end of the electric push rod 21 has a telescopic rod 211, with a rotating joint 212 at its top. The telescopic rod 211 facilitates the extension and retraction of the electric suction cup 22, enabling its use. The rotating joint 212, in conjunction with the electric suction cup 22, allows the electric suction cup 22 to rotate, ensuring it remains adhered to the surface of the car's front door interior panel even when tilted. The electric suction cup 22 has a connecting rod 221 at its bottom end, and an adapter ball head 222 at its bottom end. The adapter ball head 222 is rotatably connected to the rotary joint 212 for multi-directional rotation of the electric suction cup 22, which facilitates the electric suction cup 22 to be attached to the interior panel of the front door of the car. The bottom end of the electric suction cup 22 is connected to a spring wire 223, and the bottom end of the spring wire 223 is provided with a power connector 224. The spring wire 223 and the power connector 224 facilitate the electric suction cup 22 to be electrically connected to the wiring rod 18, which facilitates the power control of the electric suction cup 22.

[0062] like Figure 5As shown, the drive assembly 3 includes a drive screw 31, a support 32, and a servo motor 33. The drive screw 31 is installed inside the guide groove 12, and both ends of the drive screw 31 are provided with adapters 311. The adapters 311 are interference-fitted with the bearings 14, facilitating the rotation of the drive screw 31 and making it easy to use. The bottom surface of the support 32 is provided with a connecting block 321, which is inserted into the guide groove 12, and the drive screw 31 is threadedly connected to the connecting block 321. This facilitates the movement of the support 32 by rotating the drive screw 31, making it easy to adjust and use the position of the support 32. The top of the support 32 is provided with a support plate 322, and each corner of the support plate 322 is provided with a through hole 323. The fit between the support plate 322 and the through holes 323 facilitates the connection with the robotic arm 4 by bolts, making it easy to install and fix the robotic arm 4. The servo motor 33 has multiple connecting feet 331 at one end that contacts the worktable 1. Each connecting foot 331 has a connecting hole 332. The servo motor 33 is fixed to the worktable 1 by bolts passing through the connecting holes 332, ensuring stable installation and use. The output end of the servo motor 33 is connected to the drive screw 31, facilitating the rotation of the drive screw 31 by the servo motor 33. Two connecting wires 333 are located on the side of the servo motor 33, with connecting plugs 334 at their ends. The connecting plugs 334 are electrically connected to the worktable 1. The two connecting wires 333 serve as the power supply line and signal transmission line for the servo motor 33, respectively, facilitating forward or reverse rotation of the servo motor 33. The end of the drive screw 31 facing the servo motor 33 has a drive slot 312, allowing the output end of the servo motor 33 to be inserted into the drive slot 312.

[0063] like Figure 6 and Figure 7As shown, the bottom of the robotic arm 4 is equipped with a base 41, which supports the entire robotic arm 4 and facilitates its rotation. The base 41 has multiple mounting feet 42 on its side, each with a mounting hole 43 in the center. The bottom of the base 41 is attached to a support plate 322, and the support plate 322 and the mounting feet 42 are connected by bolts. This ensures the base 41 is stably connected to the support plate 322 and facilitates the stable use of the robotic arm 4. The robotic arm 4 is equipped with a junction box 44, with a male connector 45 on its side. The junction box 44 and the male connector 45 facilitate electrical connection to the 3D vision camera 7. The end of the robotic arm 4 is equipped with a drive motor 46, which drives the grinding rod 5 to rotate, facilitating its use. The output end of the drive motor 46 is equipped with a transmission shaft 47, with a set screw 48 on its side. The transmission shaft 47, in conjunction with a timing mechanism, facilitates the assembly and disassembly of the grinding rod 5, allowing for flexible use. The polishing end of the polishing rod 5 is arc-shaped, which facilitates polishing of the interior trim panel of the car's front door. The top of the polishing rod 5 is equipped with a connecting rod 51, and the top of the connecting rod 51 has a connector 52. The connector 52 is inserted into the inside of the drive shaft 47, and a set screw 48 presses it firmly onto the connector 52. This structure facilitates the stable mounting of the polishing rod 5 on the drive shaft 47, allowing the drive shaft 47 to drive the polishing rod 5 to rotate. The polishing rod 5 integrates a force sensor and a lithium battery. The lithium battery powers the force sensor, facilitating signal acquisition and transmission. The force signal acquired by the force sensor is transmitted wirelessly to the control terminal.

[0064] like Figure 8 and Figure 9As shown, the collar 6 is fitted onto the side of the drive motor 46. Multiple clamping bolts 63 are provided on the side of the collar 6, facilitating the fixing of the collar's position and ensuring stable use. A first connecting plate 61 is provided on one side of the collar 6, with a threaded connector 62. The first connecting plate 61, in conjunction with the threaded connector 62, facilitates the installation, fixing, and use of the 3D vision camera 7. A second connecting plate 64 is provided on the other side of the collar 6, with a positioning hole 65. The second connecting plate 64 and the positioning hole 65 facilitate the installation of the suction end of the dust collection assembly 8, ensuring stable use. A threaded connection part 71 is provided at the bottom of the 3D vision camera 7, which is threadedly connected to the threaded connector 62, facilitating the installation and disassembly of the 3D vision camera 7 and its flexible use. The imaging end 72 of the 3D vision camera 7 is located below the threaded connection part 71; the imaging head facilitates the imaging and recognition of the car's front door interior panel. The 3D vision camera 7 has a wire 73 on the top, and a female connector 74 at the end of the wire 73. The female connector 74 is connected to the male connector 45. The wire 73 and the female connector 74 are used to facilitate connection with the male connector 45, so that the captured information can be transmitted smoothly to the control terminal. The 3D vision camera 7 is a binocular structured light camera.

[0065] like Figure 10As shown, the dust collection assembly 8 includes a centrifugal fan 81, a filter element 82, a flow guide hood 83, a flow guide pipe 84, and a permeable plate 85. The centrifugal fan 81 facilitates airflow, allowing the airflow to enter the flow guide hood 83 through the flow guide pipe 84, and then be filtered by the filter element 82 before being discharged from the centrifugal fan 81. A protective shell 811 is provided on the outside of the centrifugal fan 81 to protect it. A mounting plate 812 is provided on the bottom side of the protective shell 811, which is attached to the side of the robotic arm 4. The mounting plate 812 has multiple bolt holes 813 for fixing the centrifugal fan 81 to the robotic arm 4. A connecting cover 814 is provided at the suction end of the centrifugal fan 81, which extends from the top of the protective shell 811. A transition ring 815 is provided at the top of the connecting shaft. The connecting cover 814 facilitates the connection between the filter element 82 and the suction end of the centrifugal fan 81, allowing the filter element 82 to filter the airflow driven by the centrifugal fan 81. The protective housing 811 is equipped with a vent plate 85 aligned with the exhaust end of the centrifugal fan 81; the vent plate 85 facilitates smooth exhaust from the centrifugal fan 81. A filter element 82 is installed at the top of the connecting cover 814, which filters out debris generated during the grooving of the automotive front door interior panel. A flow guide shroud 83 is fitted over the filter element 82, and its bottom end is threadedly connected to the adapter ring 815, facilitating installation and fixation. A hexagonal body 831 is located at the center of the top of the flow guide shroud 83, allowing for easy unscrewing and disassembly. A threaded adapter tube 832 is located in the center of the hexagonal body 831, and a connecting part 841 is located at one end of the guide tube 84, which is threadedly connected to the threaded adapter tube 832. This structure facilitates smooth connection between the guide tube 84 and the threaded adapter tube 832, simplifying the assembly and disassembly of the flow guide shroud 83 and the guide tube 84. The other end of the guide tube 84 is equipped with a suction connector 842, which is used to easily remove the debris generated during grinding.

[0066] like Figure 11 As shown, a control box 17 is provided on the front face of the workbench 1. The control box 17 integrates an MCU control module. The MCU control module is used to process the data of the entire processing device and control the operation of the processing device. The MCU control module is equipped with an algorithm processing unit, which is used to run the positioning algorithm, path optimization algorithm and force-position control algorithm in real time. The MCU control module is connected to a 3D vision positioning module, a database, a path planning module, a flexible fixing module, a power supply module and an execution module.

[0067] The 3D vision positioning module works with the 3D vision camera 7 to photograph the interior trim panels of the car's front doors, thereby determining the model and location of the panels. The 3D vision positioning module is based on an adaptive positioning algorithm using feature point matching. Specifically, it combines the geometric features (edge ​​contours, mounting holes, preset marker points) and texture features (surface patterns, material textures) of the trim panels, extracting stable feature points through an improved SIFT (Scale Invariant Feature Transform) algorithm, eliminating interference from reflective points, noise points, and other interference. Simultaneously, a real-time distortion correction model is introduced, dynamically adjusting camera parameters based on ambient temperature and light intensity to compensate for optical distortion. The specific steps of this algorithm are as follows:

[0068] T100, Feature point extraction: Preprocess the point cloud data captured by the 3D vision camera (filtering, noise reduction), and use an adaptive threshold segmentation algorithm to separate the interior panel area from the background;

[0069] T110. Extracting geometric feature points: Identifying the edge contour of the interior panel through the edge detection operator (Canny operator), and detecting the coordinates of the center of the mounting hole by combining Hough transform;

[0070] T120. Extract texture feature points: Improve the SIFT algorithm to enhance the feature point detection capability in low-texture areas (such as solid color leather bonding surfaces) and ensure that the number of feature points is ≥50 (to meet the matching stability requirements).

[0071] T200, Feature Point Matching and Localization: Establish a standard model feature library for interior panels (store standard feature point sets for different models of interior panels), and use the K-nearest neighbor matching algorithm (K=2) to perform feature point matching, with the matching threshold set to 0.6 (to eliminate incorrect matches);

[0072] T210. Based on the RANSAC (Random Sample Consensus) algorithm, outliers are eliminated, the rotation matrix and translation vector of the matching feature points are calculated, and the actual posture (position + angle) of the interior panel is obtained.

[0073] T220, Dynamic Distortion Correction: Environmental data is collected using temperature and light sensors, and then substituted into the distortion correction model (as shown in the following formula) to adjust the three-dimensional coordinate calculation results.

[0074]

[0075] in: Ambient temperature (°C) Light intensity (lux) , , This is the temperature-light coupling distortion compensation amount (obtained through experimental calibration).

[0076] The above algorithm further reduces the positioning error and is suitable for positioning interior panels with reflective surfaces, minor damage, and tilt angles ≤15°, thus solving the drawbacks of traditional visual positioning which has high requirements for working conditions.

[0077] The database has an internal storage module for storing standard feature point sets, temperature-light distortion compensation parameters, substrate mechanical parameters, initial execution parameters, and other data required by the algorithm for different models of interior panels; it is also used to store various solutions for wrapping leather materials for automotive front door interior panels, as well as the corresponding grooving paths.

[0078] The path planning module retrieves the corresponding grooving path from the database based on the interior panel leather wrapping plan set by the staff, and determines the grooving reference point based on the location determined by the 3D vision positioning module. The path planning module is based on a dynamic path optimization algorithm with multiple constraints. The core constraints of this algorithm include:

[0079] Geometric constraints: The grooving path must conform to the contour of the leather seam area, and the groove width and depth error should be ≤ ±0.03mm;

[0080] Motion constraints: The angular velocity of the robotic arm joints is ≤5 rad / s and the angular acceleration is ≤10 rad / s², to avoid motion shock;

[0081] Material constraints: Adjust the path curvature according to the interior panel substrate (aluminum alloy / carbon fiber composite material). The path curvature radius of carbon fiber composite material is ≥5mm (to prevent material cracking).

[0082] The specific steps of the algorithm are as follows:

[0083] K100, Initial Path Generation: The standard grooving path of the corresponding model interior panel is retrieved from the database, and the coordinates of the reference point are adjusted based on the 3D visual positioning results to generate the initial path.

[0084] K200 Path Optimization: The initial path is smoothed using the B-spline curve interpolation algorithm to eliminate path inflection points (curvature abrupt change points) and ensure the continuity of the first derivative of the path;

[0085] K210 establishes a kinematic model of the robotic arm and calculates the joint motion parameters (angular velocity and angular acceleration) corresponding to the initial path. If the motion constraints are exceeded, the motion parameters are optimized by adjusting the coordinates of the path nodes in segments (each segment length ≤ 10mm).

[0086] K220 Material Adaptation Adjustment: Query the mechanical parameters (elastic modulus, tensile strength) of the current interior panel substrate in the database and dynamically correct the path curvature. For example, the radius of curvature of the slotted path of carbon fiber composite material = standard radius of curvature × 1.2.

[0087] K300 Path Smoothness Verification: Calculate the curvature change rate of the optimized path. If the curvature change rate is ≤0.1rad / mm, the path is qualified; otherwise, repeat the interpolation optimization until the requirements are met.

[0088] Using this algorithm for path planning has the following advantages:

[0089] 1. Dynamically adapt to interior panel posture deviation: When the actual position of the interior panel deviates from the standard position by ≤5mm, there is no need to call the path again. The path nodes are directly adjusted by the algorithm, with a response time of ≤0.1s.

[0090] 2. Avoid the limits of robotic arm movement: Through motion constraint verification, the robotic arm jamming rate is reduced from ≤1% to 0, extending the service life of the equipment;

[0091] 3. Reduce the risk of material damage: Optimize the path for different substrates, and the cracking rate of the interior panel after grooving is ≤0.5%.

[0092] The flexible fixing module is used to control the flexible fixing component 2 to adsorb and fix the interior trim of the front door of the car.

[0093] The power supply module is used to connect to the power supply line, thereby supplying power to the entire processing device;

[0094] The execution module controls the entire processing device to slot the automotive front door interior panel according to the planned slotting path; the execution module uses a closed-loop algorithm for slotting parameters based on force-position hybrid control. The principle of this algorithm is to install a force sensor at the grinding rod connecting rod to collect the slotting cutting force in real time. , , (corresponding to the X, Y, and Z axes respectively), combined with the position feedback of the robotic arm, a force-position hybrid control model is constructed to dynamically adjust the execution parameters. The specific steps of the algorithm are as follows:

[0095] R100, Parameter Initialization: Based on the interior panel substrate type, retrieve the initial execution parameters (feed speed) from the database. Grinding rod speed Target cutting force );

[0096] R200, Real-time detection and feedback: The force sensor sampling frequency is set to 100Hz to collect the real-time value of the cutting force F; the robotic arm position sensor provides feedback on the real-time value of the actual grooving depth h.

[0097] R300, Dynamic parameter adjustment:

[0098] If F > 1.2 (Excessive cutting force may cause material damage): Reduce the feed rate v= ×( / F), while increasing the grinding rod speed n= ×(F / )^0.5;

[0099] If F < 0.8 (Insufficient cutting force may lead to under-wear): Increase the feed rate v= ×( / F), keep the grinding rod speed constant;

[0100] If |h- |>0.02mm( (For the target grooving depth): Adjust the Z-axis position of the robotic arm and correct the feed speed to ensure that the depth deviation is ≤ ±0.01mm;

[0101] R400, closed-loop iteration: a detection-adjustment iteration is completed every 10ms until the slotting is completed.

[0102] The algorithm described above ensures that the uniformity error of the groove depth is ≤ ±0.01 mm and the uniformity error of the groove width is ≤ ±0.02 mm, thus solving the problem of inconsistent depth / width caused by traditional fixed parameter grooving. It is especially suitable for grooving of brittle materials such as carbon fiber composites.

[0103] Example 2

[0104] like Figure 12 As shown, a robot-assisted lightweight automotive front door interior trim component processing method is described, and the specific steps of the processing method are as follows:

[0105] S100, Intelligent Sorting and Feeding of Raw Materials: Rolled composite panels, leather-covered rolls, and reinforcing rib prefabricated parts are placed on the raw material rack in the raw material area; AGV handling robots read the raw material barcodes through a vision recognition system and sort the interior panel base material and covering material of the corresponding vehicle model; a 6-axis industrial robotic arm equipped with a vacuum suction cup clamp accurately transports the base material to the conveyor belt, while simultaneously sorting and classifying the reinforcing rib prefabricated parts;

[0106] S200, Substrate Sheet Heating and Softening: The hot air circulating heating furnace is preheated to 180-200℃; the industrial robotic arm grabs the substrate sheet from the conveyor belt and feeds it into the heating furnace according to a preset trajectory, calibrating the sheet's posture through an in-furnace vision positioning system; after heating, the robotic arm quickly removes the softened sheet to avoid cooling and hardening, and directly transfers it to the molding station.

[0107] S300, Compression Molding: The upper and lower molds of the compression molding machine are preheated to 120-140℃, and a release agent is sprayed into the mold cavity; the industrial robotic arm places the softened substrate into the positioning pin of the lower mold of the compression molding machine, and a vision robot detects the positioning accuracy of the sheet in real time; the compression molding machine closes the mold and holds pressure; after molding is completed, the robotic arm grabs the molded substrate and transfers it to the cooling station;

[0108] S400 Precision Cutting and Trimming: The robot is equipped with a fiber laser cutting head, imports the CAD cutting drawings of the interior panel, and sets the cutting path; the AGV robot transfers the cooled molded substrate to the cutting platform; the industrial robotic arm drives the laser cutting head to cut the door and window openings, mounting holes 43 positions, and edge allowance of the interior panel along the preset path; after the cutting is completed, the robotic arm grabs the workpiece and blows away the cutting debris with a high-pressure air gun.

[0109] S500 Edge Grinding and Polishing: The robot's end effector is equipped with a sandpaper grinding wheel. The robotic arm grips the workpiece and adjusts the grinding angle and pressure according to the edge contour to complete rough grinding and fine grinding in sequence. The robot's end effector is then replaced with a polishing wheel, which, along with polishing wax, polishes the edges. A vision robot monitors the grinding effect in real time to avoid over-grinding or under-grinding.

[0110] S600, Grooving and Surface Covering: The sanded automotive front door interior panel is placed on workbench 1, and grooving is performed using robotic arm 4. After grooving, it is transferred to the covering station. Then, an AGV robot transports the cut and sewn leather material to the covering station, and a special adhesive is sprayed onto the material surface. An industrial robotic arm picks up the interior panel substrate and positions it to the covering fixture. Another robotic arm picks up the covering material and precisely adheres it to the substrate surface. The roller pressure head presses it along a preset path to achieve edge flanging and covering. For complex areas such as armrests and storage boxes, the robot uses a hot press head for heating and bonding. The specific steps for grooving the automotive front door interior panel are as follows:

[0111] S610. Place the polished car front door interior panel on the workbench 1, activate the flexible fixing component 2 under the car front door interior panel, so that the electric push rod 21 drives the electric suction cup 22 to rise. After the electric suction cup 22 is attached to the car front door interior panel, the electric suction cup 22 works and adheres to the interior panel. Then the electric push rod 21 drives the electric suction cup 22 to move down, so that the bottom of the interior panel is against the workbench 1, thus stabilizing the interior panel.

[0112] S620, the robotic arm 4 drives the 3D vision camera 7 to capture and identify the interior trim panel of the car's front door. The 3D vision positioning module determines the model and location of the interior trim panel. The 3D vision camera 7 is a binocular structured light camera. The formula for calculating the three-dimensional coordinates of the spatial points in the 3D vision positioning module is as follows:

[0113]

[0114] in: The focal length of a binocular camera; The baseline distance of the binocular camera (distance between the optical centers of the left and right cameras); The x-coordinate of the target point on the left / right camera imaging plane; The vertical coordinate of the target point on the left camera's imaging plane; The three-dimensional coordinates of the target point in the world coordinate system;

[0115] Function: Based on the principle of binocular stereo vision triangulation, it calculates the three-dimensional coordinates of feature points on the surface of lightweight interior parts ring material, and combines the calibration data of auxiliary positioning targets to eliminate visual distortion of the processing environment and obtain accurate pose information (position + attitude) of the blank.

[0116] Results: The blank positioning error is controlled within ±0.02mm, solving the problems of "insufficient mechanical positioning accuracy and inability to compensate for the initial position deviation of the blank" in traditional processing, and providing data support for position compensation in subsequent processing; moreover, the positioning calculation method combined with multi-feature fusion matching and dynamic distortion correction algorithm solves the problem of decreased positioning accuracy under complex working conditions (such as surface reflection of interior panels, slight damage, and tilt).

[0117] S630, then the path planning module will retrieve the wrapping scheme of the front door interior panel of the corresponding car model from the database, as well as the corresponding grooving path of the scheme; and the path planning module will plan the reference point for grooving based on the position determined by the 3D vision positioning module;

[0118] S640, the robotic arm 4 drives the grinding rod 5 to start grooving from the reference point of the planned path, and at the same time the grooving is started, the dust collection component 8 is activated, the centrifugal fan 81 in the dust collection component 8 will suck the debris generated by grooving into the guide hood 83, and the debris is filtered out by the filter element 82 in the guide hood 83. This can avoid the problem of cleaning the car front door interior panel after grooving. In addition, if the position of the robotic arm 4 is not suitable during the grooving process, the drive component 3 will drive the robotic arm 4 to adjust its position to ensure that the robotic arm 4 can successfully complete the grooving work.

[0119] S700, Drilling and Tapping: The robot's end effector is equipped with a drilling bit. A vision robot identifies the drilling positioning marks on the interior panel and guides the robotic arm to accurately position the hole. The robotic arm drives the drilling bit to complete the drilling of the mounting hole 43 and switches to a tap to complete the thread tapping. During the drilling process, high-pressure cooling air continuously blows away iron filings to prevent the accumulation of filings in the hole.

[0120] S800, Full-Process Quality Inspection: The vision inspection robot imports standard parameters for interior panel inspection, and the AGV robot transfers the pre-assembled interior panels to the inspection platform; the vision robot completes full dimensional inspection through 3D scanning, performs surface defect detection through 2D vision, and detects the assembly firmness of pre-assembled components through force sensors; non-conforming products are sorted to the rework area by the robotic arm, and qualified products are transferred to the finished product area; the formula for calculating dimensional deviation during inspection is:

[0121]

[0122] in: This refers to the three-dimensional dimensional deviation value of the detection point; The three-dimensional scan coordinates of the finished product inspection points; These are the three-dimensional coordinates of the points corresponding to the standard model.

[0123] Function: Compare the coordinate data of the finished product obtained by 3D visual scanning with the coordinates of a preset standard model, calculate the deviation value in three-dimensional space, and determine whether the finished product is qualified.

[0124] Effect: Set deviation threshold To ensure compliance, real-time online inspection of finished products is implemented, replacing the traditional offline inspection mode. This reduces the time for detecting defective products by 80%, prevents defective products from flowing into subsequent processes, and lowers costs.

[0125] S900 Finished Product Palletizing and Warehousing: Industrial robotic arms pick up qualified interior panels and place them in anti-static packaging bags; AGV robots transfer the packaged finished products to the automated warehouse, and palletize them to designated shelf positions according to vehicle model and batch information; the warehouse management system automatically enters the finished product warehousing information.

[0126] Working principle: The worktable 1 provides support and a foundation for the entire processing. Multiple flexible fixing components 2 are driven by electric push rods 21 to lift electric suction cups 22 and adsorb the interior trim parts of the car front door. Then, the electric push rods 21 are moved down to make the interior trim parts firmly fit the worktable 1, which can meet the fixing requirements of different models of interior trim parts. The drive component 3 at the rear of the worktable 1 is driven by servo motor 33 to drive screw 31 to rotate, thereby adjusting the position of the execution robot arm 4 and improving its flexibility of use. When the robotic arm 4 is in operation, the interior trim is first photographed by the 3D vision camera on the socket ring 6. The 3D vision positioning module determines the model and position of the interior trim based on this. The path planning module retrieves the corresponding leather wrapping scheme and grooving path from the database and determines the grooving reference point based on the positioning results. Then, the robotic arm 4 drives the polishing rod 5 to complete the grooving operation according to the planned path. During the grooving process, the centrifugal fan 81 of the dust collection component 8 is started. The generated debris is sucked into the drainage hood 83 through the guide pipe 84 and the suction connector 842. After being filtered by the filter element 82, the debris is centrally processed to avoid additional cleaning later. The processing method follows an automated process. First, AGV handling robots and industrial robotic arms complete the sorting and loading of raw materials. The substrate is then heated and softened in a hot air circulating heating furnace, molded by a molding machine, laser-cut and trimmed, and the edges are treated by sandpaper grinding wheels and polishing wheels. After that, it enters the grooving and surface coating stage. Subsequently, drilling and tapping are completed in sequence, and vision robots perform full-process quality inspection. Finally, industrial robotic arms and AGV robots complete the palletizing and warehousing of finished products. All components and processes work together to achieve efficient and precise processing of lightweight automotive front door interior parts.

[0127] In summary, compared with the prior art, this application provides multiple flexible fixing components 2 below the worktable 1. These flexible fixing components 2 can be used to adsorb and fix lightweight automotive front door interior trim parts, ensuring their stability above the worktable 1. Furthermore, the flexible fixing components 2 can fix different models of automotive front door interior trim parts, avoiding the drawback of needing a dedicated support device. A 3D vision camera 7 is installed at the output end of the robotic arm 4. The 3D vision camera 7 scans and photographs the automotive front door interior trim panel to determine its position and model. Then, based on the leather wrapping type set in the program, the required grooving path for that leather wrapping type is retrieved from the database. The robotic arm 4 then drives the polishing rod 5 to groove the automotive front door interior trim panel according to the path. A dust collection assembly 8 is provided on one side of the robotic arm 4. The suction port of the dust collection assembly 8 is located near the output end of the robotic arm. This allows the debris generated when the grinding rod 5 grinds and grooves the automotive front door interior panel to be directly sucked into the dust collection assembly 8 and filtered out, facilitating centralized processing of the debris and assisting the operator in efficiently completing the processing of the automotive front door interior panel. A guide table 11 is provided at the rear end of the worktable 1. A drive assembly 3 is located inside the guide table 11. The drive assembly 3 can be used to adjust the position of the robotic arm 4, facilitating its flexible use and improving the applicability of the entire processing device.

[0128] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A robot-assisted lightweight automotive front door interior parts processing device, characterized in that, Includes a workbench (1), which is used to support the entire processing device and also to support the interior trim of the front door of the car; Flexible fixing component (2), multiple flexible fixing components (2) are provided, and multiple flexible fixing components (2) are evenly arranged inside the worktable (1), and when the flexible fixing component (2) is not working, its top surface is lower than the surface of the worktable (1); A drive component (3) is disposed at the rear end of the workbench (1); An execution robotic arm (4) is mounted on a drive assembly (3), and the drive assembly (3) drives the execution robotic arm (4) to adjust its position. A polishing rod (5) is installed at the output end of the actuator (4) and the polishing rod (5) is detachably connected to the actuator (4); A socket (6) is fixed at the position of the robotic arm (4) near the output end; A 3D vision camera (7) is mounted on one side of the socket ring (6) and is used to photograph the interior parts of the front door of the car. Dust collection assembly (8) is installed on one side of the execution robotic arm (4), and the dust collection end of the dust collection assembly (8) is installed on the other side of the sleeve ring (6), and the dust collection end is located near the bottom of the grinding rod (5).

2. The robot-assisted lightweight automotive front door interior parts processing device according to claim 1, characterized in that, The workbench (1) has a guide platform (11) at its rear end, a guide groove (12) in the middle of the guide sleeve, and bearings (14) at both ends of the guide groove (12). The guide platform (11) has multiple connecting slots (13) on one side for connecting to the drive assembly (3). The workbench (1) has multiple grooves (15) evenly distributed on it. The bottom of the grooves (15) has a through hole (16). The bottom of the inner side of the workbench (1) is aligned with the grooves (15) and multiple connecting rods (18) are provided for electrically connecting to the flexible fixing assembly (2). The workbench (1) has a temperature sensor and a light sensor installed on its side.

3. The robot-assisted lightweight automotive front door interior parts processing device according to claim 2, characterized in that, The flexible fixing component (2) includes an electric push rod (21) and an electric suction cup (22). The bottom end of the electric push rod (21) is provided with a power connector (215), and the bottom sides of the electric push rod (21) are symmetrically provided with fixing feet (213). The fixing feet (213) are provided with multiple fixing holes (214). The power connector (215) is electrically connected to the wiring rod (18), and the electric push rod (21) is fixed to the wiring rod (18) by bolts passing through the fixing holes (214). The output end of the electric push rod (21) is provided with a telescopic extension mechanism. The telescopic rod (211) has a rotating joint (212) at its top end, and the electric suction cup (22) has a connecting rod (221) at its bottom end. The connecting rod (221) has an adapter ball head (222) at its bottom end. The adapter ball head (222) is rotatably connected to the rotating joint (212) for multi-directional rotation of the electric suction cup (22), so that the electric suction cup (22) can be attached to the interior panel of the front door of the car. The electric suction cup (22) has a spring wire (223) connected to its bottom end, and the spring wire (223) has an electrical connector (224) at its bottom end.

4. The robot-assisted lightweight automotive front door interior parts processing device according to claim 3, characterized in that, The drive assembly (3) includes a drive screw (31), a support (32), and a servo motor (33). The drive screw (31) is installed inside the guide groove (12), and both ends of the drive screw (31) are provided with adapters (311). The adapters (311) are interference-fitted with the bearing (14). The bottom surface of the support (32) is provided with a connecting block (321). The connecting block (321) is inserted into the guide groove (12), and the drive screw (31) is threadedly connected to the connecting block (321). The top of the support (32) is provided with a support plate (322), and the corners of the support plate (322) are provided with through holes (323). The servo motor (33) has multiple connecting feet (331) at one end that is in contact with the worktable (1). The connecting feet (331) have connecting holes (332). The servo motor (33) is fixed to the worktable (1) by bolts passing through the connecting holes (332). The output end of the servo motor (33) is connected to the drive screw (31). The servo motor (33) has two connecting lines (333) on its side. The connecting lines (333) have connecting plugs (334) at their ends. The connecting plugs (334) are electrically connected to the worktable (1). The drive screw (31) has a drive slot (312) at one end facing the servo motor (33).

5. The robot-assisted lightweight automotive front door interior parts processing device according to claim 4, characterized in that, The bottom end of the robotic arm (4) is provided with a base (41), and the side of the base (41) is provided with multiple mounting feet (42). The mounting feet (42) are provided with mounting holes (43) in the middle. The bottom end of the base (41) is attached to the support plate (322), and the support plate (322) and the mounting feet (42) are connected by bolts. The robotic arm (4) is provided with a junction box (44), and the side of the junction box (44) is provided with a male connector (45). The end of the robotic arm (4) is provided with a drive motor (46). (46) The output end is provided with a drive shaft (47), and the drive shaft (47) is provided with a set screw (48) on its side; the grinding end of the grinding rod (5) is arc-shaped, and the top of the grinding rod (5) is provided with a connecting rod (51), and the top of the connecting rod (51) is provided with a plug (52). The plug (52) is inserted into the inside of the drive shaft (47), and the set screw (48) is pressed on the plug (52); the grinding rod (5) integrates a force sensor and a lithium battery inside, and the force signal collected by the force sensor is transmitted to the control terminal wirelessly.

6. The robot-assisted lightweight automotive front door interior parts processing device according to claim 5, characterized in that, The sleeve (6) is sleeved on the side of the drive motor (46). The sleeve (6) has multiple clamping bolts (63) on its side. The sleeve (6) has a first connecting plate (61) on one side, and a threaded connector (62) on the first connecting plate (61). The sleeve (6) has a second connecting plate (64) on the other side, and a positioning hole (65) on the second connecting plate (64). The 3D vision camera (7) has a threaded connection part (71) at its bottom, and the threaded connection part (71) is threadedly connected to the threaded connector (62). The shooting end (72) of the 3D vision camera (7) is located below the threaded connection part (71). The 3D vision camera (7) has a wire (73) at its top, and a female connector (74) at the end of the wire (73) is connected to a male connector (45).

7. The robot-assisted lightweight automotive front door interior parts processing device according to claim 6, characterized in that, The dust collection assembly includes a centrifugal fan (81), a filter element (82), a flow guide hood (83), a flow guide pipe (84), and a breather plate (85); the centrifugal fan (81) is provided with a protective shell (811) on its outer side, and the bottom of the protective shell (811) is provided with a mounting plate (812) on one side of the mechanical arm (4), and the mounting plate (812) is provided with multiple bolt holes (813); the suction end of the centrifugal fan (81) is provided with a connecting cover (814), the connecting cover (814) protrudes from the top of the protective shell (811), and the top of the connecting shaft is provided with an adapter ring (815); and the protective shell (811) is for... A permeable plate (85) is provided at the exhaust end of the centrifugal fan (81); a filter element (82) is installed at the top of the connecting cover (814), the flow guide cover (83) is sleeved on the outside of the filter element (82), and the bottom end of the flow guide cover (83) is threadedly connected to the adapter ring (815). A hexagonal body (831) is provided in the middle of the top of the flow guide cover (83), and a threaded adapter pipe (832) is provided in the middle of the hexagonal body (831). A connecting part (841) is provided at one end of the guide pipe (84), and the connecting part (841) is threadedly connected to the threaded adapter pipe (832). An air intake connector (842) is provided at the other end of the guide pipe (84).

8. The robot-assisted lightweight automotive front door interior parts processing device according to claim 7, characterized in that, The front end of the workbench (1) is provided with a control box (17), which integrates an MCU control module. The MCU control module is provided with an algorithm processing unit, which is used to run positioning algorithms, path optimization algorithms and force-position control algorithms in real time. The MCU control module is connected to a 3D vision positioning module, a database, a path planning module, a flexible fixing module, a power supply module and an execution module. The MCU control module is used to process the data of the entire processing device and control the operation of the processing device. The 3D vision positioning module is used to cooperate with the 3D vision camera (7) to take pictures of the front door interior panel of the car, thereby determining the model and position of the front door interior panel of the car. The database is provided with a storage module for storing different models of interior panels. The algorithm requires data such as the standard feature point set of the trim panel, temperature-light distortion compensation parameters, substrate mechanical parameters, and initial execution parameters; it is also used to store various schemes for wrapping leather materials for automotive front door interior panels, as well as the corresponding grooving paths; the path planning module is used to call the corresponding grooving path from the database according to the leather wrapping scheme set by the staff, and to determine the grooving reference point according to the position located by the 3D vision positioning module; the flexible fixing module is used to control the flexible fixing component (2) to adsorb and fix the automotive front door interior parts; the power supply module is used to connect the power supply line to supply power to the entire processing device; the execution module is used to control the entire processing device to groove the automotive front door interior panel according to the planned grooving path.

9. A robot-assisted lightweight automotive front door interior trim processing method, using the robot-assisted lightweight automotive front door interior trim processing device as described in claim 8, characterized in that, The specific steps of this processing method are as follows: S100, Intelligent Sorting and Feeding of Raw Materials: Using AGV handling robots to transfer the corresponding base materials and leather materials to the conveyor belt through a visual recognition system; S200, Substrate Sheet Heating and Softening: An industrial robotic arm grasps the substrate sheet from the conveyor belt and feeds it into the heating furnace according to a preset trajectory; after heating, the robotic arm quickly removes the softened sheet. S300, Compression Molding: The industrial robotic arm places the softened substrate into the positioning pin of the lower mold of the compression molding machine, and the compression molding machine closes the mold and maintains pressure; after molding is completed, the robotic arm grabs the molded substrate and transfers it to the cooling station; S400 Precision Cutting and Trimming: The AGV robot transfers the cooled molded substrate to the cutting platform; the industrial robotic arm drives the laser cutting head to cut the interior panel along a preset path. S500, Edge Grinding and Polishing: The robotic arm grips the workpiece, adjusts the grinding angle and pressure according to the edge contour, and completes rough grinding and fine grinding in sequence; the polishing wheel is replaced, and polishing wax is used to polish the edges; S600, grooving and surface covering: The polished car front door interior panel is placed on the workbench (1) and grooved using the execution robotic arm (4); after grooving, it is transferred to the covering station, and then the AGV robot transfers the cut and sewn leather material to the covering station, and the material surface is sprayed with special adhesive; the industrial robotic arm grabs the interior panel substrate and positions it to the covering fixture; another robotic arm grabs the covering material and precisely attaches it to the substrate surface; S700, Drilling and Tapping: The robotic arm drives the drill bit to complete the drilling of the installation hole (43), and switches the tap to complete the thread tapping; S800, Full-process quality inspection: AGV robots transfer pre-assembled interior panels to the inspection platform; vision robots are used to conduct comprehensive inspection of the interior panels; S900 Finished Product Palletizing and Warehousing: Qualified interior panels are packaged; AGV robots transfer the packaged finished products to the automated warehouse, and the warehouse management system automatically enters the finished product warehousing information.

10. A robot-assisted lightweight automotive front door interior trim processing method according to claim 9, characterized in that, The specific steps for slotting the front door interior panel in step S600 are as follows: S610. Place the polished car front door interior panel on the workbench (1), activate the flexible fixing component (2) under the car front door interior panel, so that the electric push rod (21) drives the electric suction cup (22) to rise. After the electric suction cup (22) is attached to the car front door interior panel, the electric suction cup (22) works and adheres to the interior panel. Then the electric push rod (21) drives the electric suction cup (22) to move down, so that the bottom of the interior panel is against the workbench (1), thus stabilizing the interior panel. S620, the execution robotic arm (4) drives the 3D vision camera (7) to capture and identify the interior panel of the front door of the car, and the 3D vision positioning module determines the model and position of the interior panel of the front door of the car. S630, then the path planning module retrieves the wrapping scheme of the front door interior panel of the corresponding car model from the database, as well as the grooving path corresponding to the scheme; and the path planning module plans the reference point for grooving based on the position determined by the 3D vision positioning module; S640, the execution robotic arm (4) drives the grinding rod (5) to start grooving from the reference point of the planned path, and at the same time as grooving, the dust collection component (8) is started. The centrifugal fan (81) in the dust collection component (8) sucks the debris generated by grooving into the drainage hood (83). The debris is filtered out by the filter element (82) in the drainage hood (83), thus avoiding the problem of cleaning the interior panel of the front door of the car after grooving. In addition, if the position of the execution robotic arm (4) is not suitable during the grooving process, the drive component (3) drives the execution robotic arm (4) to adjust the position to ensure that the execution robotic arm (4) can complete the grooving work smoothly.

Images