Assembly and adjustment system and method for general assembly station

Abstract

The invention provides an assembling and adjusting system and method for an overall assembly station. The system comprises a general splicing frame, a side wall robot, a top cover robot, a first visual positioning device, a second visual positioning device and a controller. Through the first visual position measuring device and the second visual position measuring device, monitoring of all-station feature points is achieved, the detection precision is improved, non-contact measurement is achieved, and therefore the assembly space is saved. The position space of the side wall robot and the top cover robot is increased, and due to the fact that an original top cover righting mechanism or a main clamp shields a large number of welding tongs channels, many welding spots need to be transferred to a repair welding line or a follow-up station. And through real-time detection and adjustment, the stability of the assembly size is improved, and the assembly quality is guaranteed. Due to the fact that whole-course assembly achieves automation, off-line measurement time is shortened. A top cover station and a side wall station are combined, one station is reduced, and the utilization rate of the robot is increased.

Description

An assembly and adjustment system and method for a general assembly station Technical Field

[0001] This application relates to the field of intelligent manufacturing technology, and more specifically, to an assembly and adjustment system, method, medium, and electronic device for a final assembly station. Background Technology

[0002] Currently, during vehicle installation, the side panels and roof are installed on two separate process islands. This not only occupies space on two process islands but also requires two separate sets of installation equipment, reducing the utilization rate of the installation equipment. Moreover, if the installation accuracy of one device is not high, it will seriously affect the installation accuracy of the other device. For processes with high requirements for the installation of the side panels and roof, this will affect the overall installation quality of the vehicle.

[0003] Therefore, this application provides an assembly and adjustment system for a final assembly station to solve the above-mentioned technical problems. Summary of the Invention

[0004] The purpose of this application is to provide an assembly and adjustment system, method, medium, and electronic device for a final assembly station, capable of solving at least one of the aforementioned technical problems. The specific solution is as follows: According to a specific embodiment of this application, in a first aspect, this application provides an assembly and adjustment system for a final assembly station, comprising: a final assembly frame, side-mounted robots, a top-mounted robot, a first visual positioning device, a second visual positioning device, and a controller; multiple side-mounted robots are respectively disposed on both sides of the body-in-white, each side-mounted robot including a flexible side-mounted gripper configured to grasp side-mounted parts on its own side for assembly; the top-mounted robot includes a flexible top-mounted gripper configured to grasp top-mounted parts for assembly; the first visual positioning device and the second visual positioning device are both fixed to the final assembly frame, and multiple first visual positioning devices are respectively disposed on both sides of the body-in-white. The system is configured to measure the positions of multiple feature points of the side panel parts on the pre-installed side panel, and multiple second vision positioning devices are respectively suspended above the pre-installed top cover of the body-in-white, each configured to measure the position of feature points of the top cover parts on the pre-installed top cover. The controller is communicatively connected to the first vision positioning device, the second vision positioning device, the side panel robot, and the top cover robot, and is configured to: control the flexible side panel gripper of the side panel robot to grasp the side panel parts and assemble them with the body-in-white based on the positions of multiple feature points on each side of the side panel parts; and control the flexible top cover gripper of the top cover robot to grasp the top cover parts and assemble them with the body-in-white based on the positions of multiple feature points of the top cover parts.

[0005] Optionally, the center of the side-mounted robot coincides with the center of the flexible side-mounted gripper.

[0006] Optionally, the plurality of first visual positioning devices include four first visual positioning devices, which are respectively disposed on both sides of the body-in-white, with two first visual positioning devices disposed on each side. The two first visual positioning devices on each side are respectively disposed at the head and tail ends of the side panel parts on the pre-installed side panel on that side, and are respectively configured to measure the position of the feature points at the head and tail ends of the side panel parts on the pre-installed side panel on that side.

[0007] Optionally, the center of the top cover robot coincides with the center of the flexible top cover gripper.

[0008] Optionally, the plurality of second visual positioning devices include four second visual positioning devices, which are respectively disposed at the four corners of the top cover part on the top cover pre-assembly position, and are respectively configured to measure the position of the feature points of the four corners of the top cover part on the top cover pre-assembly position.

[0009] According to a specific embodiment of this application, in a second aspect, this application provides an assembly and adjustment method for a final assembly station, applied to a controller in the system described above, comprising: controlling the flexible side grippers of multiple side-mount robots to pre-assemble the side-mount parts on both sides of the body-in-white into their respective side-mount pre-assembly positions; measuring the positions of multiple feature points of each of the two side-mount parts using multiple first vision positioning devices; when the positions of the multiple feature points of the two side-mount parts meet a preset side-mount position accuracy condition, controlling the flexible top-mount gripper of a top-mount robot to pre-assemble the top-mount part into its top-mount pre-assembly position; measuring the positions of multiple feature points of the top-mount part using multiple second vision positioning devices; and when the positions of the multiple feature points of the top-mount part meet a preset top-mount position accuracy condition, assembling the two side-mount parts, the top-mount part, and the body-in-white together.

[0010] Optionally, the preset top cover position accuracy condition includes: |(T i + ΔT i ') - (S i + ΔS i )| = 0; where, T i ΔT represents the precise position of the i-th feature point of the top cover component. i ' represents the positional deviation of the i-th feature point of the top cover component, S i ΔS represents the precise position of the i-th feature point of the two side panel parts. i The deviation of the position of the i-th feature point of the two side panel parts is represented by the number of the plurality of first visual positioning devices and the plurality of second visual positioning devices, which are both equal to N, where N represents a positive integer and is greater than or equal to 4, i = 1, 2, 3, ..., N.

[0011] Optionally, after measuring the positions of multiple feature points of each of the two side wall parts using multiple first vision positioning devices, the method further includes: when the positions of multiple feature points of any side wall part do not meet the preset side wall position accuracy conditions, controlling the flexible side wall gripper of the side wall robot to adjust the position of the side wall part based on the positions of multiple feature points on this side, and then triggering the execution of the step of measuring the positions of multiple feature points of each of the two side wall parts using multiple first vision positioning devices.

[0012] Optionally, after measuring the positions of multiple feature points of the top cover component using multiple second vision positioning devices, the method further includes: when the positions of multiple feature points of the top cover component do not meet the preset top cover position accuracy conditions, controlling the flexible top cover gripper of the top cover robot to adjust the position of the top cover component, and then triggering the execution of the step of measuring the positions of multiple feature points of the top cover component using multiple second vision positioning devices and controlling the flexible top cover gripper of the top cover robot to adjust the position of the top cover component.

[0013] Optionally, when the positions of multiple feature points of the two side wall parts all meet their respective preset side wall position accuracy conditions, the method further includes: splicing the lower parts of the two side wall parts to the body-in-white respectively.

[0014] According to a specific embodiment of this application, in a third aspect, this application provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the assembly and adjustment method of the assembly station as described in any of the preceding claims.

[0015] According to a specific embodiment of this application, in a fourth aspect, this application provides an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the assembly and adjustment method of the assembly station as described in any of the preceding claims.

[0016] Compared with the prior art, the above-described solutions of this application have at least the following beneficial effects: This application provides an assembly and adjustment system, method, medium, and electronic device for a final assembly station. The system includes: a final assembly frame, a side robot, a top cover robot, a first vision positioning device, a second vision positioning device, and a controller. The first and second vision positioning devices enable monitoring of feature points throughout the entire station, improving detection accuracy and achieving non-contact measurement, thereby saving assembly space. The increased station space for the side and top cover robots, as the original top cover straightening mechanism or main fixture obstructed a large number of welding clamp channels, necessitating the relocation of many weld points to the welding line or subsequent stations, is addressed. Real-time detection and adjustment improve the stability of assembly dimensions and ensure assembly quality. The automation of the entire assembly process reduces offline measurement time. Merging the top cover station and side cover station reduces one station and improves robot utilization. The use of the top cover straightening mechanism and main fixture is reduced, simplifying tooling. Attached Figure Description

[0017] Figure 1 shows a schematic diagram of the assembly and adjustment system of the assembly station according to an embodiment of the present application; Figure 2 shows another schematic diagram of the assembly and adjustment system of the assembly station according to an embodiment of the present application; Figure 3 shows a flowchart of the assembly and adjustment method of the assembly station according to an embodiment of the present application; Explanation of reference numerals: 1-assembly frame, 2-first visual positioning device, 3-second visual positioning device. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0020] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0021] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of this application, and similarly, second may also be referred to as first.

[0022] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0023] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0024] It should be noted that any symbols and / or numbers present in the specification that are not marked in the accompanying drawings are not reference numerals.

[0025] The optional embodiments of this application are described in detail below with reference to the accompanying drawings.

[0026] Example 1 is an example of an assembly and adjustment system for a general assembly station provided in this application.

[0027] The embodiments of this application will be described in detail below with reference to Figures 1 and 2.

[0028] This application provides an assembly and adjustment system for a final assembly station, including: a final assembly frame 1, a side robot, a top cover robot, a first vision positioning device 2, a second vision positioning device 3, and a controller.

[0029] Multiple side-mounted robots are respectively installed on both sides of the body-in-white. Each side-mounted robot includes a flexible side-mounted gripper, which is configured to grasp side-mounted parts on its own side for assembly.

[0030] In some specific embodiments, the center of the side-mounted robot coincides with the center of the flexible side-mounted gripper.

[0031] That is, the control precision of the side-mounted robot is at the center of the 6th axis of the side-mounted robot.

[0032] The top cover robot includes a flexible top cover gripper, which is configured to grip top cover parts for assembly.

[0033] Flexible side panel grippers and flexible roof grippers, compared to traditional grippers, are compatible with a variety of vehicle models, thereby improving the adaptability of the final assembly station.

[0034] In some specific embodiments, the center of the top cover robot coincides with the center of the flexible top cover gripper.

[0035] That is, the control precision of the top-cover robot is at the center of the 6th axis of the top-cover robot.

[0036] The first visual positioning device 2 and the second visual positioning device 3 are both fixed on the overall assembly frame 1. Multiple first visual positioning devices 2 are respectively set on both sides of the body-in-white and are respectively configured to measure the position of multiple feature points of the side panel parts on the pre-installed side panel. Multiple second visual positioning devices 3 are respectively suspended on the pre-installed top cover of the body-in-white and are respectively configured to measure the position of feature points of the top cover parts on the pre-installed top cover.

[0037] For example, both the first visual positioning device 2 and the second visual positioning device 3 can measure the position of feature points. For instance, both the first visual positioning device 2 and the second visual positioning device 3 are binocular cameras and / or 3D cameras.

[0038] Binocular cameras mimic the parallax mechanism of human eyes, using two synchronized cameras to capture images of the same scene. Based on the positional differences (parallax) of feature points in the images, they calculate the depth information of those feature points, thus achieving three-dimensional spatial perception and obtaining the three-dimensional spatial coordinates (i.e., the position of the feature points). 3D cameras, also known as depth cameras, accurately determine the distance of feature points in the image from the camera after acquiring image data. By adding the (x, y) coordinates of the feature points in the 2D image, they can obtain the three-dimensional spatial coordinates (i.e., the position of the feature points) of the feature points in the image.

[0039] Feature points include the edges, corners, and / or elliptical holes of the part.

[0040] When the side panel parts are installed in the pre-installed position on the body-in-white, due to the positional deviation, the side panel parts cannot be directly spliced ​​with the body-in-white. They must be coordinated with the roof parts before they can be spliced ​​with the body-in-white and roof parts with high precision.

[0041] This application embodiment realizes the monitoring of feature points at all workstations through the first visual positioning device 2 and the second visual positioning device 3, which not only improves the detection accuracy, but also realizes non-contact measurement, thereby saving assembly space.

[0042] When the center of the side panel robot coincides with the center of the flexible side panel gripper, if the center accuracy of the flexible side panel gripper changes slightly, the assembly accuracy around the side panel part will be amplified through the flexible side panel gripper. In order to improve the average assembly accuracy of the entire side panel part and the lower body, in some specific embodiments, as shown in Figures 1 and 2, the plurality of first visual positioning devices 2 include four first visual positioning devices 2. The four first visual positioning devices 2 are respectively arranged on both sides of the body-in-white, and two first visual positioning devices 2 are arranged on each side. The two first visual positioning devices 2 on each side are respectively arranged at the head and tail ends of the side panel part on the pre-assembly position of the side panel on that side, and are respectively configured to measure the position of the feature points at the head and tail ends of the side panel part on the pre-assembly position of the side panel on that side.

[0043] In this specific embodiment, two first visual positioning devices 2 are set on each side of the body-in-white, and are located at the head and tail ends of the side panel parts, that is, the positions far from the center of the side panel parts, which are also the positions where the flexible side panel gripper has the greatest impact on the deformation of the side panel parts. The first visual positioning devices 2 measure the position of the feature points at the head and tail ends of the side panel parts on the pre-assembly position of the side panel, and determine the compensation value of the flexible side panel gripper by the position deviation of the feature points. By adjusting the side panel parts with the flexible side panel gripper, high-precision assembly of the side panel parts is achieved.

[0044] When the center of the top cover robot coincides with the center of the flexible top cover gripper, if the center accuracy of the flexible top cover gripper changes slightly, the assembly accuracy of the top cover part with the side panel parts, the front crossbeam parts, and the rear crossbeam parts will be amplified by the flexible top cover gripper. To improve the average assembly accuracy of the entire top cover part, in some specific embodiments, the plurality of second vision positioning devices 3 include four second vision positioning devices 3. These four second vision positioning devices 3 are respectively located at the four corners of the top cover part on the top cover pre-assembly position, and are respectively configured to measure the position of the feature points at each of the four corners of the top cover part on the top cover pre-assembly position.

[0045] In this specific embodiment, a second visual positioning device 3 is installed at each of the four corners of the top cover component in the pre-assembly position of the top cover. These corners are located furthest from the center of the top cover component and are also the positions where the deformation of the top cover component is most affected by the flexible top cover gripper. The device measures the overlap between the top cover component and the side panel components, front crossbeam components, and rear crossbeam components. The second visual positioning device 3 measures the position of each feature point at each of the four corners of the top cover component in the pre-assembly position. The compensation value of the flexible top cover gripper is determined by the positional deviation of these feature points. The flexible top cover gripper adjusts the top cover component, achieving high-precision assembly. Ultimately, this ensures that the assembly dimensions of the top cover component are relatively consistent with the side panel components of the body-in-white during assembly, avoiding excessive assembly discrepancies with the side panel components.

[0046] The controller is communicatively connected to the first visual positioning device 2, the second visual positioning device 3, the side panel robot, and the top cover robot, and is configured to: control the flexible side panel gripper of the side panel robot to grasp the side panel part and splice it with the body-in-white based on the positions of multiple feature points on one side of each side panel part; and control the flexible top cover gripper of the top cover robot to grasp the top cover part and splice it with the body-in-white based on the positions of multiple feature points on the top cover part.

[0047] The system described in this application embodiment includes: a general assembly frame 1, a side-mounted robot, a top-mounted robot, a first vision positioning device 2, a second vision positioning device 3, and a controller. The first and second vision positioning devices 2 and 3 enable monitoring of feature points at all workstations, improving detection accuracy and achieving non-contact measurement, thus saving assembly space. The increased station space for the side-mounted and top-mounted robots, as the original top-mounted straightening mechanism or main fixture obstructed a large number of welding clamp channels, necessitated the relocation of many weld points to the welding line or subsequent workstations. Real-time detection and adjustment improve the stability of assembly dimensions and ensure assembly quality. Automated assembly reduces offline measurement time. Merging the top-mounted and side-mounted workstations reduces one workstation and improves robot utilization. The reduced use of the top-mounted straightening mechanism and main fixture simplifies tooling.

[0048] Example 2 This application also provides a method embodiment that follows the above embodiments. The interpretation of the same names is the same as that of the above embodiments, and the same technical effects are achieved. It will not be repeated here.

[0049] As shown in Figure 3, this application provides an assembly and adjustment method for a final assembly station, which is applied to the controller in the system described above, including: step S301, controlling the flexible side grippers of multiple side robots to pre-assemble the side parts on both sides of the body-in-white into their respective side pre-assembly positions.

[0050] Step S302: The positions of multiple feature points of each of the two side panel parts are measured by multiple first vision positioning devices.

[0051] Step S303a: When the positions of multiple feature points of the side panel parts meet the preset side panel position accuracy conditions, the flexible top cover gripper of the top cover robot is controlled to pre-install the top cover parts into the top cover pre-installation position.

[0052] Step S304: Measure the positions of multiple feature points of the top cover part based on multiple second vision positioning devices.

[0053] Step S305a: When the positions of multiple feature points of the top cover part meet the preset top cover position accuracy conditions, the side panel parts, the top cover part, and the body-in-white are spliced ​​together.

[0054] In some specific embodiments, the preset top cover position accuracy condition includes: |(T i + ΔT i ') - (S i + ΔS i )| = 0; where, T i ΔT represents the precise position of the i-th feature point of the top cover component. i ' represents the positional deviation of the i-th feature point of the top cover component, S i ΔS represents the precise position of the i-th feature point of the two side panel parts. i This represents the positional deviation of the i-th feature point of the side panel parts on both sides. The number of the plurality of first visual positioning devices and the plurality of second visual positioning devices are both equal to N, where N is a positive integer and greater than or equal to 4, and i = 1, 2, 3, ..., N. For example, if N = 4, then i = 1, 2, 3, and 4. For the first visual positioning devices, i represents the four feature points of the side panel parts on both sides of the body-in-white; for the second visual positioning devices, i represents the feature points at the four corners of the roof part.

[0055] The following explains the principle behind the validity of the preset top cover position accuracy condition: 1. Calculate the pose parameter ΔP that the side panel parts need to be adjusted. s (ΔX) s , ΔY s , ΔZ s (i.e., positional deviation), ΔR s (Δα) s , Δβ s , Δγ s (i.e., rotation adjustment amount), so that after adjustment, the following condition is met: |(T) i + ΔT i ') - (S i + ΔS i )| = 0; 2. Feature point displacement correlation model (based on rigid body kinematics) After the side part is adjusted, ΔS i The pose parameter ΔP adjusted by the side panel components as a whole s ΔR s The decision is based on the rigid body kinematics formula (the effect of rotation on the displacement of characteristic points is described by the cross product operation): ΔS i = ΔP s + ΔR s ×OS i Among them, OS iFrom the origin of the vehicle body coordinate system to S i The initial vector (known, obtained from the initial calibration of the side panel parts), "×" represents the vector cross product operation.

[0056] Based on assembly datum requirements T i + Δ T i = S i + ΔS i Substituting into the above formula, we obtain the core correlation equation: ΔP s + ΔR s ×OS i = ΔT i (1) 3. Simplification of constraints (based on actual workstation requirements) In the side panel assembly station, the assembly accuracy of the side panel parts and the lower body in the vertical direction (i.e., Z-axis) has been met by the initial judgment, and the positional deviation of the top cover parts and the side panel parts in the Z-axis is guaranteed by the rigid constraint of the welding fixture, so no adjustment is required. Therefore, the following simplified conditions are set: - Positional deviation of the side panel parts in the Z-axis: ΔZ s = 0; - Adjustment amount of rotation of the side panel parts around the X and Y axes: Δα s = 0, Δβ s = 0 (To avoid vertical orientation changes of side panel parts, which could compromise the fit accuracy with the undercarriage).

[0057] Only the X-axis displacement ΔX of the side panel needs to be calculated. s Y-axis displacement ΔY s Rotation angle Δγ around the Z-axis s Formula (1) can be simplified to a motion model set (2) in the XY plane: ΔX s - Δγ s × Y Si = ΔX ti ;ΔY s + Δγ s × X Si = ΔY ti Where: X Si Y Si These represent the feature points S of the side panel parts. i The initial X and Y coordinates in the vehicle coordinate system (known, derived from initial calibration), ΔX ti ΔY ti The feature points T of the top cover part are respectively represented. i The initial position deviation of the X and Y axes (output by the vision system, i.e., ΔP) t (X and Y components), Δγ s This indicates the amount of rotational adjustment of the side panel parts around the Z-axis (unit: rad), "-Δγ s × Y Si "+Δγ" s× X Si "These represent the effects of rotation on the X and Y displacements of the feature point (derived from the polar coordinate transformation of rigid body rotation).

[0058] 4. Solution of adjustment amount of side panel parts (least square fitting): Select three sets of feature points S1, S2, and S3 and substitute them into formula (2) to obtain 6 equations with only 3 unknowns (ΔX). s ΔY s Δγ s The least squares method is used to fit the optimal solution to ensure that the assembly deviation of all feature points is minimized.

[0059] Rearrange the system of equations into matrix form A × X = B, where: the coefficient matrix A = [1 0 -Y] S1 , 0 1 X S1 , 1 0 -Y S2 , 0 1 X S2 , 1 0 -Y S3 0 1X S3 - Unknown vector X = [ΔX] S ΔY S , Δ γ s ]; - Constant term vector B = [ΔX t1 ΔY t1 Δ X t2 ΔY t2 ΔX t3 ΔY t3 ].

[0060] According to the least squares method, the optimal solution for the unknown vector X is: X = (A T × A) -1 × A T × B; where A T Let A be the transpose of A, (A T × A) -1 A represents T The inverse matrix of A.

[0061] 5. Adjustment verification (ensuring the side panel parts and lower body maintain consistent precision) will be performed using the calculated ΔX. s ΔY s , Δ γ s Substituting the initial pose parameters of the side panel component relative to the lower vehicle body, verify whether the pose of the adjusted side panel component still meets the assembly accuracy threshold with the lower vehicle body: - Displacement of the adjusted side panel component: P s' = P s + Δ P s It must satisfy |P s' - P s0|≤ ±0.5mm; - Adjust the rotation of the rear side panel parts: R s' = R s + Δ R s It must satisfy |R s' - R s0 | ≤ ±0.2°.

[0062] If the verification is successful, output ΔP. s , Δ R s If the adjustment does not meet the standard (e.g., the adjustment amount exceeds the movement limit of the side-side robot), the system alarm will be triggered, prompting manual inspection of the vision calibration or fixture status.

[0063] This specific embodiment provides a coordinated control system of "side panel component adjustment - top panel detection and adjustment - side panel component linkage compensation" by pre-setting the top panel position accuracy conditions, avoiding the vicious cycle of traditional adjustment and ensuring that the accuracy of the side panel components and the lower body, as well as the side panel components and the top panel components, are coordinated to meet the standards.

[0064] In some specific embodiments, after measuring the positions of multiple feature points of each of the two side wall parts using multiple first vision positioning devices, the method further includes: step S303b, when the positions of multiple feature points of any side wall part do not meet the preset side wall position accuracy conditions, the flexible side wall gripper of the side wall robot is controlled to adjust the position of the side wall part based on the positions of multiple feature points on this side, and then the step of measuring the positions of multiple feature points of each of the two side wall parts using multiple first vision positioning devices is triggered.

[0065] In this specific embodiment, if the positions of multiple feature points of the side panel part do not meet the accuracy requirements, the flexible side panel gripper of the side panel robot is controlled to adjust the position of the side panel part, and then the process returns to step S302 to remeasure the positions of multiple feature points of each side panel part in order to provide compensation values ​​for the flexible side panel gripper. The flexible side panel gripper adjusts the position of the side panel part through the compensation values.

[0066] In some specific embodiments, after the multiple feature points of the top cover part are measured by multiple second vision positioning devices, the method further includes: step S305b, when the multiple feature points of the top cover part do not meet the preset top cover position accuracy conditions, the flexible top cover gripper of the top cover robot is controlled to adjust the position of the top cover part, and then the step of measuring the multiple feature points of the top cover part by multiple second vision positioning devices and controlling the flexible top cover gripper of the top cover robot to adjust the position of the top cover part is triggered.

[0067] In this specific embodiment, if the positions of multiple feature points of the top cover part do not meet the accuracy requirements, the flexible top cover gripper of the top cover robot is controlled to adjust the position of the top cover part, and then the process returns to step S304 to remeasure the positions of multiple feature points of the top cover part in order to provide compensation values ​​for the flexible top cover gripper. The flexible top cover gripper adjusts the position of the top cover part through the compensation values.

[0068] In some specific embodiments, when the positions of multiple feature points of the two side wall parts all meet their respective preset side wall position accuracy conditions, the method further includes: splicing the lower parts of the two side wall parts to the body-in-white respectively.

[0069] In this specific embodiment, if the positions of multiple feature points of the two side wall parts all meet their respective preset side wall position accuracy conditions, then the lower parts of the two side wall parts are respectively spliced ​​with the body-in-white so as to keep the lower part of the side wall parts stable, which is conducive to adjusting the overlap accuracy between the side wall parts and the roof parts step by step.

[0070] The method described in this application includes: controlling the flexible side grippers of multiple side-mounted robots to pre-assemble the side-mounted parts on both sides of the body-in-white into their respective side-mounted pre-assembly positions; measuring the positions of multiple feature points on each side-mounted part using multiple first vision positioning devices; adjusting the position of the side-mounted part using the flexible side grippers of the side-mounted robot based on the positions of the multiple feature points on that side; when the positions of the multiple feature points on both sides of the side-mounted parts meet a preset side-mounted position accuracy condition, controlling the flexible top-mounted grippers of the top-mounted robot to pre-assemble the top-mounted part into its pre-assembly position; measuring the positions of the multiple feature points on the top-mounted part using multiple second vision positioning devices, and adjusting the position of the top-mounted part using the flexible top-mounted grippers of the top-mounted robot; and when the positions of the multiple feature points on the top-mounted part meet a preset top-mounted position accuracy condition, splicing the side-mounted parts, the top-mounted part, and the body-in-white together. The monitoring of feature points across all workstations is achieved through the first and second vision positioning devices, which not only improves detection accuracy but also enables non-contact measurement, thereby saving assembly space. Real-time detection and adjustment improve the stability of assembly dimensions and ensure assembly quality. By pre-setting the top cover position accuracy conditions, a coordinated control system of "side component adjustment - top cover detection and adjustment - side component linkage compensation" is provided, avoiding the vicious cycle of traditional adjustments and ensuring that the accuracy of side components and the lower body, as well as side components and top cover components, meets the standards.

[0071] Example 3 This example provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the method steps described in the above example.

[0072] Example 4 This application provides a non-volatile computer storage medium storing computer-executable instructions that can perform the steps described in the above examples.

[0073] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0074] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An assembly and adjustment system for a general assembly station, characterized in that, include: The assembly includes a main frame, side panel robots, a top cover robot, a first vision positioning device, a second vision positioning device, and a controller. Multiple side panel robots are respectively positioned on both sides of the body-in-white. Each side panel robot includes a flexible side panel gripper configured to grasp side panel parts on its respective side for assembly. Each top cover robot includes a flexible top cover gripper configured to grasp top cover parts for assembly. The first and second vision positioning devices are both fixed to the main assembly frame. Multiple first vision positioning devices are respectively positioned on both sides of the body-in-white and configured to measure multiple side panel parts on their respective side pre-assembly positions. Multiple second visual positioning devices are suspended above the pre-installed top cover of the body-in-white, each configured to measure the position of a feature point on the top cover component. The controller is communicatively connected to the first visual positioning device, the second visual positioning device, the side panel robot, and the top cover robot, and is configured to: based on the position of multiple feature points on each side panel component, control the flexible side panel gripper of the side panel robot to grasp the side panel component and assemble it with the body-in-white; and based on the position of multiple feature points on the top cover component, control the flexible top cover gripper of the top cover robot to grasp the top cover component and assemble it with the body-in-white.

2. The system according to claim 1, characterized in that, The center of the side-mounted robot coincides with the center of the flexible side-mounted gripper.

3. The system according to claim 2, characterized in that, The plurality of first visual positioning devices include four first visual positioning devices, which are respectively arranged on both sides of the body-in-white, with two first visual positioning devices arranged on each side. The two first visual positioning devices on each side are respectively arranged at the head and tail ends of the side panel parts on the pre-installed side panel on that side, and are respectively configured to measure the position of the feature points at the head and tail ends of the side panel parts on the pre-installed side panel on that side.

4. The system according to claim 1, characterized in that, The center of the top cover robot coincides with the center of the flexible top cover gripper.

5. The system according to claim 4, characterized in that, The plurality of second vision positioning devices include four second vision positioning devices, which are respectively disposed at the four corners of the top cover part on the top cover pre-assembly position, and are respectively configured to measure the position of the feature points of the four corners of the top cover part on the top cover pre-assembly position.

6. A method for assembling and adjusting a final assembly station, applied to the controller in the system described in any one of claims 1-5, characterized in that, include: Multiple side panel robots are controlled to use their respective flexible side panel grippers to pre-assemble the side panel parts on both sides of the body-in-white into their respective side panel pre-assembly positions. Multiple first vision positioning devices are used to measure the positions of multiple feature points on each side panel part. When the positions of multiple feature points on both side panel parts meet the preset side panel position accuracy conditions, the flexible top panel gripper of the top panel robot is controlled to pre-assemble the top panel part into its top panel pre-assembly position. Multiple second vision positioning devices are used to measure the positions of multiple feature points on the top panel part. When the positions of multiple feature points on the top panel part meet the preset top panel position accuracy conditions, the side panel parts, the top panel part, and the body-in-white are spliced ​​together.

7. The method according to claim 6, characterized in that, The preset top cover position accuracy conditions include: |(T i + ΔT i ') - (S i + ΔS i )| = 0; where, T i ΔT represents the precise position of the i-th feature point of the top cover component. i ' represents the positional deviation of the i-th feature point of the top cover component, S i ΔS represents the precise position of the i-th feature point of the two side panel parts. i The deviation of the position of the i-th feature point of the two side panel parts is represented by the number of the plurality of first visual positioning devices and the plurality of second visual positioning devices, which are both equal to N, where N represents a positive integer and is greater than or equal to 4, i = 1, 2, 3, ..., N.

8. The method according to claim 6, characterized in that, After measuring the positions of multiple feature points of each side panel component using multiple first vision positioning devices, the method further includes: when the positions of multiple feature points of any side panel component do not meet the preset side panel position accuracy conditions, the method controls the flexible side panel gripper of the side panel robot to adjust the position of the side panel component based on the positions of multiple feature points on this side, and then triggers the execution of the step of measuring the positions of multiple feature points of each side panel component using multiple first vision positioning devices.

9. The method according to claim 6, characterized in that, After measuring the positions of multiple feature points of the top cover component using multiple second vision positioning devices, the method further includes: when the positions of multiple feature points of the top cover component do not meet the preset top cover position accuracy conditions, controlling the flexible top cover gripper of the top cover robot to adjust the position of the top cover component, and then triggering the execution of the step of measuring the positions of multiple feature points of the top cover component using multiple second vision positioning devices and controlling the flexible top cover gripper of the top cover robot to adjust the position of the top cover component.

10. The method according to claim 6, characterized in that, When the positions of multiple feature points of the two side wall parts all meet their respective preset side wall position accuracy conditions, the method further includes: splicing the lower parts of the two side wall parts to the body-in-white.

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