Body-in-white rear bumper bolt self-adaptive tightening control device and control method

Abstract

The invention provides a body-in-white rear bumper bolt self-adaptive tightening control device and method, and the device comprises a base which is used for being connected with an execution end of a mechanical arm; the driving part is located on one side of the base, and the fixed end of the driving part is connected with the base; the recognition part is arranged on the other side of the base, located above the driving part, connected with the base and used for obtaining installation position data of the target bolt; and the bolt tightening part is located below the identification part, the bolt tightening part is located on one side of the base, the bolt tightening part comprises at least one first bolt tightening assembly and at least one second bolt tightening assembly, the first bolt tightening assemblies are connected with the execution end of the driving part, and the second bolt tightening assemblies are connected with the base. The technical problem that in the prior art, the flexibility of overall operation position adjustment of a body-in-white rear bumper bolt tightening device is insufficient is solved.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and more specifically, to an adaptive tightening control device and method for rear bumper bolts on a body-in-white. Background Technology

[0002] In the assembly process of the rear bumper of the body-in-white, bolt tightening is mostly achieved by using a robotic arm with a single bolt tightening component. The existing tightening device does not have a dedicated bolt position recognition structure. Bolt positioning mostly relies on manual calibration or fixed presets. Moreover, the position of the tightening component is not adjustable and can only adapt to the tightening requirements of a single type of bolt. When dealing with different types of bolts, the tightening component needs to be changed frequently, making the overall operation process cumbersome. At the same time, the connection structure design between the robotic arm and the tightening device also makes the flexibility of adjusting the working position insufficient, making it difficult to adapt to the bolt tightening requirements of different positions on the rear bumper of the body-in-white.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] The main objective of this invention is to provide an adaptive tightening control device and method for rear bumper bolts of a body-in-white, so as to solve the technical problem of insufficient flexibility in the overall working position adjustment of the existing rear bumper bolt tightening device for body-in-white.

[0005] To achieve the above objectives, according to one aspect of the present invention, an adaptive tightening control device for rear bumper bolts of a body-in-white is provided, comprising: a base for connecting to the execution end of a robotic arm; a drive unit located on one side of the base, with a fixed end connected to the base; an identification unit disposed on the other side of the base, above the drive unit, connected to the base, and used to acquire installation position data of a target bolt; and a bolt tightening unit located below the identification unit, on one side of the base, comprising at least one first bolt tightening assembly and at least one second bolt tightening assembly, the first bolt tightening assembly being connected to the execution end of the drive unit, and the second bolt tightening assembly being connected to the base, the first bolt tightening assembly and the second bolt tightening assembly being respectively used to connect to electric screwdrivers for tightening screws of different types; wherein, when the drive unit drives the first bolt tightening assembly to move along the length direction of the base, the first bolt tightening assembly has a working position away from the second bolt tightening assembly, and the first bolt tightening assembly has an initial position at a preset distance from the second bolt tightening assembly.

[0006] Furthermore, the first bolt tightening assembly and the second bolt tightening assembly are arranged at a preset angle.

[0007] Furthermore, the drive unit includes: a drive assembly, the fixed base of which is connected to the base, and a second bolt tightening assembly located at one end of the drive assembly; a movable plate, which is disposed at a distance from the base, the drive assembly located on one side of the movable plate, the movable plate being connected to the actuating end of the drive assembly, and a first bolt tightening assembly located on the other side of the movable plate, a portion of which is connected to the movable plate; wherein, controlling the actuating end of the drive assembly enables the first bolt tightening assembly to have a working position and an initial position.

[0008] Furthermore, the driving component includes: a linear module, the fixed end of which is connected to the base, and the actuating end of which is connected to the movable plate; a guide rail assembly, which is located on one side of the linear module, the guide rail of which is connected to the base, and the slider of which is connected to the movable plate; wherein, controlling the actuating end of the linear module to drive the movable plate to move along the length direction of the base, the movable plate can drive the slider to move relative to the guide rail.

[0009] Furthermore, the guide rail assembly includes multiple guide rail assemblies, which are spaced apart along the width direction of the base, and the linear module includes multiple linear modules, with a linear module disposed between at least two of the multiple guide rail assemblies.

[0010] Furthermore, the identification unit includes: an identification connecting plate, a portion of which is connected to the base; an identification support, located at one end of the identification connecting plate, positioned above the drive unit and the bolt tightening unit, connected to the identification connecting plate, and having an installation space; and a camera unit, located within the installation space, a portion of which is connected to the identification support, used to acquire installation position data of the target bolt.

[0011] Furthermore, the adaptive tightening control device for the rear bumper bolts of the body-in-white also includes: a controller, which is located on the other side of the base, below the recognition unit, and is spaced apart from the drive unit and the bolt tightening unit. The controller is electrically connected to the camera unit, the linear module and the electric screwdriver.

[0012] In another aspect, the present invention provides a control method for an adaptive tightening control device for rear bumper bolts of a body-in-white. The control method is used to control the aforementioned adaptive tightening control device for rear bumper bolts of a body-in-white, comprising: in response to a bolt tightening control request, acquiring installation position data of a target bolt; determining linear module motion data based on the installation position data; and in response to the linear module motion data, generating a first control instruction set, wherein the first control instruction set is used to control the linear module to be located at a corresponding target working position.

[0013] Furthermore, based on the installation position data, the linear module motion data is determined, including: based on the installation position data, using the YOLO extraction algorithm to determine the coordinates of the target bolt feature points; based on the target bolt feature point coordinates, using a pre-configured calibration transformation matrix and DH parameter model to determine the target pose data in the working coordinate system; and based on the target pose data, the linear module motion data is determined.

[0014] Furthermore, the control method also includes: in response to the linear module completing its position at the corresponding target working position, generating a second control instruction set, which is used to control the electric screwdriver to be in the target working state.

[0015] By applying the technical solution of this invention, the connection structure between the base and the robotic arm execution end enables flexible adjustment of the overall working position of the device, adapting to the bolt tightening requirements at different positions on the rear bumper of the body-in-white. The identification unit can accurately acquire the installation position data of the target bolt, providing a precise positioning basis for the bolt tightening operation and effectively improving the positioning accuracy of bolt tightening. The drive unit can drive the first bolt tightening component to move along the length direction of the base, realizing flexible adjustment of the relative position between the first bolt tightening component and the second bolt tightening component. Moreover, the two tightening components can be connected to electric screwdrivers adapted to different types of screws, which can simultaneously meet the tightening requirements of different types of bolts without frequent replacement of tightening components. This achieves adaptive tightening of the bolts on the rear bumper of the body-in-white, greatly improving the adaptability and overall work efficiency of bolt tightening operations. At the same time, the reasonable component layout makes the device more compact and the operation coordination with the robotic arm stronger, solving the technical problem of insufficient flexibility in the overall working position adjustment of the rear bumper bolt tightening device in the prior art. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 A schematic diagram of the structure of a first embodiment of the adaptive tightening control device for rear bumper bolts of a body-in-white according to the present invention is shown.

[0018] Figure 2 A partial structural schematic diagram of a second embodiment of the adaptive tightening control device for rear bumper bolts of a body-in-white according to the present invention is shown.

[0019] Figure 3 A partial structural schematic diagram of a third embodiment of the adaptive tightening control device for the rear bumper bolts of the body-in-white according to the present invention is shown.

[0020] The above figures include the following reference numerals:

[0021] 10. Base;

[0022] 20. Identification Department;

[0023] 201. Identify the connection board;

[0024] 202. Identify the support base;

[0025] 203. Camera Unit;

[0026] 30. Drive unit;

[0027] 301. Linear module;

[0028] 302. Guide rail assembly;

[0029] 304, movable board;

[0030] 40. Bolt tightening part;

[0031] 401. First bolt tightening assembly;

[0032] 402. Second bolt tightening assembly;

[0033] 50. Limit block;

[0034] 60. Controller. Detailed Implementation

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0038] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted.

[0039] In the rear bumper assembly process of the automotive body-in-white, bolt tightening is a crucial step in ensuring the stability, sealing, and overall structural strength of the rear bumper assembly. Its precision and efficiency directly impact the overall vehicle assembly quality and production line cycle time. Currently, the industry commonly uses a robotic arm paired with a single bolt tightening assembly for this process. This involves the robotic arm moving a fixed-model tightening assembly to a preset position to complete the bolt tightening operation. However, this existing tightening device has several drawbacks that urgently need to be addressed in practical applications, making it difficult to meet the high-efficiency, precise, and standardized requirements of modern automotive assembly.

[0040] First, existing tightening devices lack a dedicated bolt position identification structure. The bolt tightening positioning process largely relies on manual pre-calibration or fixed parameter presets. This positioning method has obvious drawbacks: manual calibration is not only time-consuming and labor-intensive, increasing the workload of operators, but it is also prone to positioning deviations due to differences in operator proficiency and human negligence. This can lead to problems such as bolt misalignment and uneven torque, affecting the assembly accuracy of the rear bumper. In severe cases, it can even cause bolt stripping and rear bumper loosening, among other quality hazards. On the other hand, the fixed parameter preset positioning method cannot adapt to the slight dimensional deviations and assembly reference offsets that may occur during the production of the body-in-white rear bumper, which will also reduce positioning accuracy and affect the quality of the tightening operation.

[0041] Secondly, the existing tightening device has a fixed and non-adjustable tightening component position, and can only adapt to the tightening requirements of a single type of bolt. However, the bolt assembly of the rear bumper of the body-in-white usually requires the use of various bolts of different specifications and types. For example, the type and size of the bolts fixing the edge of the rear bumper and the bolts connecting the middle are often different. At this time, the operator needs to frequently disassemble and replace the tightening components, which not only interrupts the overall assembly process and prolongs the work cycle, but also further affects the tightening accuracy due to the installation error during the component replacement process. At the same time, frequent component disassembly will also shorten the service life of the tightening components, increase equipment maintenance costs and parts wear.

[0042] Furthermore, the existing connection structure between the tightening device and the robotic arm's execution end is poorly designed, with a fixed connection method and insufficient adjustment flexibility. This limits the overall working position adjustment of the device, making it difficult to flexibly adapt to the bolt tightening requirements at different locations on the rear bumper of the body-in-white. The bolts on the rear bumper of the body-in-white are relatively scattered, with some bolts located in hard-to-access positions such as corners and edges. Existing devices cannot flexibly adjust their own posture and position to adapt to tightening operations in these special locations. Often, it is necessary to adjust the overall posture of the robotic arm to compensate for this, which not only increases the difficulty of controlling the robotic arm but may also affect the stability and efficiency of the operation due to excessive adjustment of the robotic arm's posture, making it impossible to achieve efficient and convenient tightening of bolts in different locations.

[0043] In summary, existing rear bumper bolt tightening devices for body-in-white suffer from problems such as low positioning accuracy, poor adaptability, low operating efficiency, cumbersome operation, high maintenance costs, and insufficient operational flexibility. They are unable to meet the requirements of modern automobile production lines for efficient, precise, and universal rear bumper bolt tightening operations. Therefore, there is an urgent need for a bolt tightening control device that can solve the above problems in order to improve the assembly quality and production efficiency of the rear bumper of the body-in-white.

[0044] Combination Figures 1 to 3 As shown in the specific embodiment of this application, an adaptive tightening control device for the rear bumper bolts of a white body is provided.

[0045] Specifically, such as Figure 1As shown, an adaptive tightening control device for rear bumper bolts of a white body includes: a base 10 for connecting to the execution end of a robotic arm; a drive unit 30 located on one side of the base 10, with its fixed end connected to the base 10; an identification unit 20 located on the other side of the base 10, above the drive unit 30 and connected to the base 10, for acquiring installation position data of the target bolt; and a bolt tightening unit 40 located below the identification unit 20 and on one side of the base 10, the bolt tightening unit 40 including at least one first screw. The system includes a bolt tightening assembly 401 and at least one second bolt tightening assembly 402. The first bolt tightening assembly is connected to the execution end of the drive unit 30, and the second bolt tightening assembly 402 is connected to the base 10. The first bolt tightening assembly 401 and the second bolt tightening assembly 402 are respectively used to connect with electric screwdrivers for tightening screws of different sizes. When the drive unit 30 drives the first bolt tightening assembly 401 to move along the length direction of the base 10, the first bolt tightening assembly 401 has a working position away from the second bolt tightening assembly 402, and the first bolt tightening assembly 401 has an initial position at a preset distance from the second bolt tightening assembly 402.

[0046] By applying the technical solution of this invention, the connection structure between the base 10 and the robotic arm execution end enables flexible adjustment of the overall working position of the device, adapting to the bolt tightening requirements at different positions on the rear bumper of the body-in-white. The identification unit 20 can accurately acquire the installation position data of the target bolt, providing a precise positioning basis for the bolt tightening operation and effectively improving the positioning accuracy of bolt tightening. The drive unit 30 can drive the first bolt tightening component 401 to move along the length direction of the base 10, realizing flexible adjustment of the relative position between the first bolt tightening component 401 and the second bolt tightening component 402. Moreover, the two tightening components can be connected to electric screwdrivers adapted to different types of screws, which can simultaneously meet the tightening requirements of different types of bolts without frequent replacement of tightening components. This achieves adaptive tightening of the bolts on the rear bumper of the body-in-white, greatly improving the adaptability and overall work efficiency of bolt tightening operations. At the same time, the reasonable component layout makes the device more compact and the operation coordination with the robotic arm stronger, solving the technical problem of insufficient flexibility in the overall working position adjustment of the body-in-white rear bumper bolt tightening device in the prior art.

[0047] Furthermore, the first bolt tightening assembly 401 and the second bolt tightening assembly 402 are arranged at a preset angle. In this embodiment, the angle between the first bolt tightening assembly 401 and the second bolt tightening assembly 402 is 15 degrees. The preset angle can be flexibly calibrated according to the actual bolt installation angle to ensure that the two tightening assemblies can respectively correspond to target bolts in different positions, avoiding mutual interference during operation, and improving the accuracy and convenience of bolt tightening.

[0048] like Figure 2 As shown, the drive unit 30 includes: a drive assembly, the fixed base of which is connected to the base 10, and a second bolt tightening assembly 402 located at one end of the drive assembly; a movable plate 304, which is disposed at a distance from the base 10, the drive assembly is located on one side of the movable plate 304, the movable plate 304 is connected to the actuating end of the drive assembly, and a first bolt tightening assembly 401 is located on the other side of the movable plate 304, with a portion of the first bolt tightening assembly 401 connected to the movable plate 304; wherein, controlling the actuating end of the drive assembly allows the first bolt tightening assembly 401 to have a working position and an initial position.

[0049] In this embodiment, the drive assembly fixing seat of the drive unit 30 is connected to the base 10 and one end is provided with a second bolt tightening assembly 402. The movable plate 304 is spaced apart from the base 10 and connected to the drive assembly execution end and the first bolt tightening assembly 401. The control drive assembly can realize the switching between the working position and the initial position of the first bolt tightening assembly 401. With the flexible calibrable preset angle, the first bolt tightening assembly 401 and the second bolt tightening assembly 402 can correspond to target bolts in different directions, avoiding mutual interference during operation, and improving the accuracy and convenience of bolt tightening.

[0050] Specifically, the driving component includes: a linear module 301, the fixed end of which is connected to the base 10, and the actuating end of which is connected to the movable plate 304; a guide rail assembly 302, which is located on one side of the linear module 301, the slide rail of the guide rail assembly 302 is connected to the base 10, and the slider of the guide rail assembly 302 is connected to the movable plate 304; wherein, controlling the actuating end of the linear module 301 to drive the movable plate 304 to move along the length direction of the base 10 can cause the movable plate 304 to drive the slider to move relative to the slide rail.

[0051] Using this embodiment, the movable plate 304 can be stably driven to move along the length of the base 10. The slide rail of the guide rail assembly 302 is connected to the base 10, and the slider is connected to the movable plate 304, which can assist the movable plate 304 to move smoothly. The preset included angle can be flexibly calibrated according to the actual bolt installation angle, so that the two tightening components can correspond to the target bolts in different directions, avoiding mutual interference during operation, and improving the accuracy and convenience of bolt tightening.

[0052] In one exemplary embodiment, the guide rail assembly 302 includes multiple guide rail assemblies 302, which are spaced apart along the width direction of the base 10. The linear module 301 also includes multiple linear modules 301, with a linear module 301 positioned between at least two of the guide rail assemblies 302. This allows for more even force distribution on the movable plate 304 during movement, significantly improving its stability and smoothness during movement along the length direction of the base 10. Combined with a preset angle that can be flexibly calibrated according to the actual bolt installation angle, it enables two tightening components to precisely correspond to target bolts in different orientations, effectively avoiding mutual interference during operation and improving the accuracy and ease of operation of bolt tightening.

[0053] In this embodiment, the adaptive tightening control device for the rear bumper bolts of the body-in-white also includes a limiting block 50. The limiting block 50 is located on one side of the base 10, and a portion of the limiting block 50 is connected to the base 10. The limiting block 50 includes multiple blocks, which are spaced apart along the width direction of the base 10. When the driving unit 30 drives the first bolt tightening assembly 401 to move along the length direction of the base 10, and the first bolt tightening assembly 401 has an extreme working position away from the second bolt tightening assembly 402, the limiting block 50 abuts against the movable plate 304.

[0054] This embodiment achieves reliable stroke limit, effectively preventing structural interference or damage caused by overtravel of components, ensuring the operational stability of the drive unit 30 driving the first bolt tightening assembly 401. At the same time, the preset included angle can be flexibly calibrated according to the actual bolt installation angle, allowing the first bolt tightening assembly 401 and the second bolt tightening assembly 402 to accurately correspond to target bolts in different positions, avoiding mutual interference during operation, and further improving the accuracy and ease of operation of bolt tightening.

[0055] Furthermore, the identification unit 20 includes: an identification connecting plate 201, a portion of which is connected to the base 10; an identification support 202, located at one end of the identification connecting plate 201, positioned above the drive unit 30 and the bolt tightening unit 40, connected to the identification connecting plate 201, and having an installation space; and a camera unit 203, located within the installation space, a portion of which is connected to the identification support 202, used to acquire installation position data of the target bolt.

[0056] In this embodiment, the identification connecting plate 201 of the identification unit 20 is stably connected to the base 10. The identification support 202 is located at one end of the identification connecting plate 201 and above the drive unit 30 and the bolt tightening unit 40, providing an independent and suitable installation space for the camera unit 203. The camera unit 203 can accurately acquire the installation position data of the target bolt, providing a reliable positioning basis for the bolt tightening operation. With the preset included angle that can be flexibly calibrated according to the actual bolt installation angle, the first bolt tightening component 401 and the second bolt tightening component 402 can accurately correspond to the target bolts in different positions, effectively avoiding mutual interference during operation and simultaneously improving the positioning accuracy and operation convenience of the bolt tightening operation.

[0057] Furthermore, such as Figure 3 As shown, the adaptive tightening control device for the rear bumper bolts of the body-in-white also includes: a controller 60, which is disposed on the other side of the base 10, located below the recognition unit 20, and is spaced apart from the drive unit 30 and the bolt tightening unit 40. The controller 60 is electrically connected to the camera unit 203, the linear module 301 and the electric screwdriver.

[0058] In this embodiment, the controller 60 is located on the other side of the base 10 and below the identification unit 20. Its layout, which is spaced apart from the drive unit 30 and the bolt tightening unit 40, avoids interference with other components. Its electrical connection with the camera unit 203, the linear module 301, and the electric screwdriver enables precise linkage control of each execution component, ensuring rapid transmission and execution of commands. At the same time, the preset included angle between the first bolt tightening component 401 and the second bolt tightening component 402 can be flexibly calibrated according to the actual bolt installation angle, allowing the two tightening components to correspond to target bolts in different directions, further avoiding operational interference and effectively improving the accuracy and ease of operation of bolt tightening.

[0059] According to another specific embodiment of this application, a control method for an adaptive tightening control device for rear bumper bolts of a body-in-white is also provided. The control method is used to control the aforementioned adaptive tightening control device for rear bumper bolts of a body-in-white, and includes:

[0060] Step 101: In response to the bolt tightening control request, obtain the installation position data of the target bolt;

[0061] In step 101, when the controller 60 receives the control request for tightening the rear bumper bolts of the white body, as the core control unit of the device, it immediately sends a vision acquisition start command to the camera unit 203 electrically connected to it, formally triggering the acquisition process of the target bolt installation position data. At this time, the identification connecting plate 201, which is stably connected to the base 10, provides reliable structural support for the entire identification unit 20. The identification support seat 202, which is located at one end of the identification connecting plate 201 and precisely arranged above the drive unit 30 and the bolt tightening unit 40, allows the camera unit 203 to be in the best visual acquisition angle without any parts obstructing it, thanks to its dedicated internal installation space. Moreover, this layout forms a non-interference spatial cooperation with the working areas of the first bolt tightening component 401 and the second bolt tightening component 402, providing hardware guarantee for accurate acquisition.

[0062] Upon receiving the start command, the camera unit 203 immediately performs high-definition visual acquisition of the bolt assembly area of ​​the rear bumper of the white body to which the robotic arm-driven device has moved. It comprehensively captures images of the target bolts arranged in different positions and at different angles within this area. The preset angle between the first bolt tightening component 401 and the second bolt tightening component 402 has been flexibly calibrated in advance based on the actual installation angle of the bolts in different positions within the assembly area of ​​the rear bumper of the white body. Based on the calibrated angle range, the camera unit 203 will simultaneously perform precise identification of the target bolts in the corresponding working areas of the two tightening components, ensuring that the acquisition range accurately matches the working range of the two tightening components, thus avoiding the problem of area overlap during subsequent tightening operations.

[0063] Subsequently, the camera unit 203 processes the acquired visual image of the target bolt in real time, converting the image information into target bolt installation position data containing key parameters such as the spatial coordinates, installation angle, and spacing of the target bolt. This complete and accurate position data is then transmitted in real time to the controller 60, which is electrically connected to it. The controller 60 quickly receives, temporarily stores, and performs preliminary analysis of the position data, providing a core and reliable positioning basis for subsequently determining the motion data of the linear module 301 and adjusting the working position of the first bolt tightening assembly 401 based on this data.

[0064] The entire data acquisition process relies on the reasonable structural layout of the identification unit 20 to achieve unobstructed and high-definition data acquisition. Combined with the pre-calibration of the preset angle of the first and second bolt tightening components, the target bolts are accurately identified in zones. This not only effectively improves the accuracy of the target bolt installation position data acquisition, but also ensures that the acquired data is highly compatible with the working areas of the two tightening components, avoiding mutual interference between the two components due to the corresponding deviation of the target bolts during subsequent tightening operations. At the same time, the controller 60 realizes automated command issuance and data transmission throughout the process, without the need for manual intervention in calibration and acquisition, which greatly improves the convenience and efficiency of acquiring positioning data before bolt tightening operations.

[0065] Step 102: Determine the linear module motion data based on the installation location data;

[0066] In step 102, after receiving the target bolt installation position data transmitted by the camera unit 203, the controller 60 immediately starts the data processing flow. First, based on the installation position data, it calls the built-in YOLO extraction algorithm to accurately analyze the data. Since the preset angle between the first bolt tightening component 401 and the second bolt tightening component 402 has been flexibly calibrated according to the actual bolt installation angle, the YOLO extraction algorithm will combine the corresponding working areas of the two tightening components divided by the preset angle to perform partition recognition of the visual image information in the installation position data, accurately filter irrelevant interference information such as the rear bumper shell of the white body and other parts, and focus on capturing the key features of each target bolt, including the bolt head outline, bolt hole edge, bolt center point, etc., and then extract and determine the feature point coordinates of each target bolt. These coordinates accurately reflect the specific position of the target bolt in the camera unit's acquisition coordinate system and correspond one-to-one with the preset angle orientation of the two tightening components, providing accurate basic data for subsequent pose conversion, while avoiding subsequent action deviations caused by confusion of bolts in different orientations.

[0067] After acquiring the coordinates of the target bolt feature points, the controller 60 calls the pre-configured calibration transformation matrix and DH parameter model to perform coordinate system and pose conversion. The calibration transformation matrix, determined in advance through multiple calibration tests, accurately converts the feature point coordinates obtained from the YOLO extraction algorithm in the camera unit's acquisition coordinate system into the working coordinate system coordinates of the entire device, eliminating coordinate deviations caused by the camera unit's installation angle and position. The DH parameter model pre-inputs the structural parameters, connection relationships, and motion constraints of the base 10, drive unit 30, bolt tightening unit 40, and robotic arm. Combined with the preset angle parameters of the first bolt tightening assembly 401 and the second bolt tightening assembly 402, it further calculates the converted feature point coordinates, ultimately determining the target pose data of each target bolt in the working coordinate system. This data not only includes the precise spatial position of the target bolt but also covers the tightening posture requirements adapted to the preset angle, ensuring that subsequent tightening components can complete the tightening operation in a posture consistent with the bolt's installation angle, while also ensuring that the two tightening components do not interfere with each other during operation.

[0068] Based on the target pose data determined above, the controller 60 further calculates and determines the motion data of the linear module. The controller 60 first determines the tightening component corresponding to the target bolt based on the spatial position information in the target pose data and the division of labor between the two tightening components corresponding to the preset angle. If the target bolt corresponds to the second bolt tightening component 402, since the second bolt tightening component 402 is fixedly connected to the base 10, there is no need to adjust the linear module 301. If the target bolt corresponds to the first bolt tightening component 401, then based on the position parameters and attitude requirements in the target pose data, the controller 60 calculates the distance, direction, and speed at which the first bolt tightening component 401 needs to move. This data is then converted into motion data for the linear module 301, including the extension and retraction of the linear module 301's execution end, movement speed, and start / stop nodes. This ensures that after the linear module 301 drives the movable plate 304 to move the first bolt tightening assembly 401 along the length of the base 10, it can accurately reach the working position corresponding to the target pose data and maintain a preset angle with the second bolt tightening assembly 402. This satisfies the tightening position requirements of the target bolt and meets the interference avoidance and accuracy improvement requirements brought about by the preset angle, providing a reliable motion basis for the accurate execution of subsequent bolt tightening operations.

[0069] Step 103: In response to the linear module motion data, a first control instruction set is generated, which controls the linear module to be located at the corresponding target working position.

[0070] In step 103, after the controller 60 determines the linear module's motion data, it immediately responds to the linear module's motion data and initiates the generation process of the first control instruction set. The entire instruction generation process strictly adheres to the preset operating logic, device structural parameters, and preset angle requirements between the first bolt tightening component 401 and the second bolt tightening component 402, ensuring that the instructions accurately match the tightening and positioning requirements of the target bolt. First, the controller 60 further analyzes the determined linear module's motion data to clarify the core motion parameters of the linear module 301, including the extension and retraction of the actuator, movement speed, start and stop nodes, and positioning accuracy threshold. At the same time, combined with the structural characteristics of the guide rail component 302, it supplements the motion stability control parameters to avoid jamming or deviation during the driving of the linear module 301, and ensures that the motion parameters match the preset angle to prevent interference between the first bolt tightening component 401 and the second bolt tightening component 402 after the first bolt tightening component 401 moves.

[0071] Based on the parsed motion parameters, the controller 60 generates a complete first control instruction set according to the preset instruction encoding rules. This instruction set has a modular combination structure and covers multiple targeted instructions to ensure that the linear module 301 can accurately and smoothly reach the corresponding target working position. This includes a start command for the linear module 301, used to control the fixed end of the linear module 301 to be powered on and start, ensuring that its connection with the base 10 is stable and that the power output is normal; a motion parameter command, which explicitly instructs the actuator of the linear module 301 to move according to the analyzed extension and retraction amount and motion rate, driving the connected movable plate 304 to slide smoothly along the length direction of the base 10, while simultaneously controlling the slider of the guide rail assembly 302 to move synchronously along the slide rail. With the help of multiple guide rail assemblies 302 spaced apart along the width direction of the base 10, the horizontality and stability of the movable plate 304 during the movement are ensured, and the tilting of the movable plate 304 is prevented from causing the position of the first bolt tightening assembly 401 to shift; and a positioning calibration command, which provides real-time feedback of the movement position data of the actuator of the linear module 301, compares and calibrates it with the preset target working position data, and ensures that the movement deviation is controlled within the preset accuracy range.

[0072] After the first control command set is generated, the controller 60 transmits the command set to the electrically connected linear module 301 in real time and stably through its built-in signal transmission module. During the transmission, signal interference from other components such as the drive unit 30 and the bolt tightening unit 40 is simultaneously shielded to ensure the integrity and timeliness of the command transmission. After receiving the first control command set, the linear module 301 immediately parses the command content and starts power output according to the command requirements. The drive actuator moves the movable plate 304, and the movable plate 304 simultaneously moves the first bolt tightening assembly 401 connected to one side until the first bolt tightening assembly 401 reaches the target working position corresponding to the target bolt posture data. At this time, the first bolt tightening assembly 401 and the second bolt tightening assembly 402 maintain a preset angle to meet the posture requirements for subsequent bolt tightening.

[0073] Throughout the process, the controller 60 continuously monitors the motion status of the linear module 301 in real time and receives the position signal fed back by the linear module 301. If a deviation is detected between the moving position and the target working position, the controller will adjust the motion parameters of the linear module 301 in real time through the calibration command of the first control command set until the linear module 301 is accurately stopped at the corresponding target working position. This provides accurate positional assurance for the subsequent bolt tightening operation of the first bolt tightening assembly 401. At the same time, it ensures that the entire motion process works in coordination with other components of the device, avoids operational interference, and improves the accuracy and stability of the overall operation.

[0074] When the linear module 301, under the control of the first control instruction set, precisely drives the movable plate 304 to move the first bolt tightening assembly 401 to the corresponding target working position, the linear module 301 will immediately send a position feedback signal to the controller 60 electrically connected to it. This signal contains key information such as the actual stopping position of the linear module 301 execution end and the positioning accuracy detection result, ensuring that the controller 60 accurately determines that the linear module 301 has completed stopping at the target working position. At this time, the first bolt tightening assembly 401 and the second bolt tightening assembly 402 maintain a preset angle, with no risk of operational interference. The slider of the guide rail assembly 302 is also stably stopped at the corresponding slide rail position, providing a reliable position guarantee for the subsequent start of the electric screwdriver.

[0075] Upon receiving the positioning feedback signal from the linear module 301, the controller 60 immediately responds and initiates the generation process of the second control instruction set. The entire generation process strictly matches the tightening requirements of the target bolt, the adaptation parameters of the electric screwdriver, and the division of labor between the first and second bolt tightening components. First, the controller 60 analyzes and verifies the positioning feedback signal to confirm that the stopping position deviation of the linear module 301 is within the preset accuracy threshold, the movable plate 304 is in a stable state, and the first bolt tightening component 401 (or the second bolt tightening component 402) has been accurately aligned with the target bolt. Then, combining the previously acquired target bolt installation position data and target pose data, the controller determines the target working state parameters of the corresponding electric screwdriver, including the starting speed, tightening torque, steering direction, and start / stop timing of the electric screwdriver. At the same time, based on the bolt model differences, the controller matches the appropriate torque threshold to ensure that the tightening force meets the assembly standards of the rear bumper bolts of the body-in-white, avoiding problems such as bolt stripping or insecure tightening.

[0076] Based on the determined target operating state parameters, the controller 60 generates a complete second control instruction set according to preset instruction coding rules. This instruction set has a targeted modular structure that is precisely adapted to the control logic of the electric screwdriver and the structural layout of the bolt tightening unit 40. It includes: an electric screwdriver start instruction to control the corresponding electric screwdriver to power on and start, ensuring a stable connection and normal power output between it and the first bolt tightening assembly 401 or the second bolt tightening assembly 402; operating parameter instructions to explicitly instruct the electric screwdriver to operate at preset speed, torque, and direction, precisely adapting to the tightening requirements of the target bolt. If multiple electric screwdrivers are operating simultaneously, the instruction set will coordinate the start-up sequence of each electric screwdriver to avoid mutual interference; status monitoring instructions to receive real-time feedback on the operating status of the electric screwdriver (such as real-time torque data and speed stability data) for timely parameter adjustments; and safety protection instructions to prevent the electric screwdriver from idling or overloading, ensuring the safety of the equipment and bolt assembly.

[0077] After the second control command set is generated, the controller 60 transmits the command set to the corresponding electric screwdriver in real time through a stable signal transmission channel. During the transmission, signal interference from other components such as the drive unit 30 and the identification unit 20 is avoided to ensure the integrity and timeliness of the command transmission. After receiving the second control command set, the electric screwdriver immediately parses the command content, starts running according to the command requirements, and quickly adjusts to the target working state. At this time, the electric screwdriver is precisely aligned with the target bolt, and the operating parameters completely match the bolt tightening requirements. It simultaneously waits for the subsequent tightening trigger command, making full preparations for the precise and efficient tightening of the rear bumper bolts of the body-in-white. The whole process realizes the seamless linkage between the linear module 301 and the electric screwdriver, taking into account both operational accuracy and safety, and meeting the core requirement of adaptive tightening of the device.

[0078] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this invention.

[0079] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0080] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. 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 self-adaptive tightening control device for rear bumper bolts on a white body, characterized in that, include: A base (10) for connecting to the actuator end of a robotic arm; A drive unit (30) is located on one side of the base (10), and the fixed end of the drive unit (30) is connected to the base (10). The identification part (20) is disposed on the other side of the base (10), the identification part (20) is located above the drive part (30), the identification part (20) is connected to the base (10), and the identification part (20) is used to obtain the installation position data of the target bolt; A bolt tightening part (40) is located below the identification part (20) and on one side of the base (10). The bolt tightening part (40) includes at least one first bolt tightening assembly (401) and at least one second bolt tightening assembly (402). The first bolt tightening assembly is connected to the execution end of the drive part (30), and the second bolt tightening assembly (402) is connected to the base (10). The first bolt tightening assembly (401) and the second bolt tightening assembly (402) are respectively used to connect with electric screwdrivers for tightening screws of different types. When the driving unit (30) drives the first bolt tightening assembly (401) to move along the length direction of the base (10), the first bolt tightening assembly (401) has a working position away from the second bolt tightening assembly (402), and the first bolt tightening assembly (401) has an initial position at a preset distance from the second bolt tightening assembly (402).

2. The adaptive tightening control device for rear bumper bolts of the body-in-white as described in claim 1, characterized in that, The first bolt tightening assembly (401) and the second bolt tightening assembly (402) are arranged at a preset angle.

3. The adaptive tightening control device for the rear bumper bolts of the body-in-white as described in claim 1 or 2, characterized in that, The drive unit (30) includes: A drive assembly, wherein the mounting base of the drive assembly is connected to the base (10), and the second bolt tightening assembly (402) is located at one end of the drive assembly; A movable plate (304) is disposed at a distance from the base (10). The drive assembly is located on one side of the movable plate (304). The movable plate (304) is connected to the actuating end of the drive assembly. The first bolt tightening assembly (401) is located on the other side of the movable plate (304). A portion of the first bolt tightening assembly (401) is connected to the movable plate (304). The actuator of the drive component can be controlled to enable the first bolt tightening component (401) to have the working position and the initial position.

4. The adaptive tightening control device for the rear bumper bolts of the body-in-white as described in claim 3, characterized in that, The driving component includes: A linear module (301) is provided, with its fixed end connected to the base (10) and its execution end connected to the movable plate (304). The guide rail assembly (302) is located on one side of the linear module (301). The slide rail of the guide rail assembly (302) is connected to the base (10), and the slider of the guide rail assembly (302) is connected to the movable plate (304). The actuator of the linear module (301) drives the movable plate (304) to move along the length of the base (10), which in turn causes the movable plate (304) to move the slider relative to the slide rail.

5. The adaptive tightening control device for the rear bumper bolts of the body-in-white as described in claim 4, characterized in that, The guide rail assembly (302) includes a plurality of such assemblies (302), which are spaced apart along the width direction of the base (10). The linear module (301) includes a plurality of such assemblies (302), and a linear module (301) is disposed between at least two of the guide rail assemblies (302).

6. The adaptive tightening control device for rear bumper bolts of the body-in-white as described in claim 4, characterized in that, The identification unit (20) includes: Identification connection plate (201), part of the identification connection plate (201) is connected to the base (10); Identification support base (202), the identification support base (202) is located at one end of the identification connecting plate (201), the identification support base (202) is disposed above the driving part (30) and the bolt tightening part (40), the identification support base (202) is connected to the identification connecting plate (201), and the identification support base (202) has installation space; A camera unit (203) is located within the installation space. A portion of the camera unit (203) is connected to the identification support (202). The camera unit (203) is used to acquire installation position data of the target bolt.

7. The adaptive tightening control device for rear bumper bolts of the body-in-white as described in claim 6, characterized in that, The adaptive tightening control device for the rear bumper bolts of the body-in-white also includes: The controller (60) is located on the other side of the base (10), below the identification part (20), and is spaced apart from the drive part (30) and the bolt tightening part (40). The controller (60) is electrically connected to the camera unit (203), the linear module (301) and the electric screwdriver.

8. A control method for an adaptive tightening control device for rear bumper bolts of a body-in-white, the control method being used to control the adaptive tightening control device for rear bumper bolts of a body-in-white as described in any one of claims 1-7, characterized in that, include: In response to a bolt tightening control request, acquire the installation position data of the target bolt; Based on the installation location data, determine the linear module's motion data; In response to the linear module's motion data, a first control instruction set is generated, which controls the linear module to be positioned at the corresponding target working position.

9. The control method according to claim 8, characterized in that, Based on the installation location data, the linear module motion data is determined, including: Based on the installation location data, the coordinates of the target bolt feature points are determined using the YOLO extraction algorithm; Based on the coordinates of the target bolt feature points, the target pose data in the working coordinate system is determined through a pre-configured calibration transformation matrix and DH parameter model. Based on the target pose data, the motion data of the linear module is determined.

10. The control method according to claim 8, characterized in that, The control method further includes: In response to the linear module completing its position at the corresponding target working position, a second set of control instructions is generated, which is used to control the electric screwdriver to be in the target working state.

Images