Built-in clamp control system and method

Abstract

The invention provides a built-in clamp control system and method. The system comprises a clamp frame, a distance measuring device, numerical control equipment, a built-in clamp and a controller. The position deviation value of the numerical control equipment is measured through the plurality of distance measuring devices of the lower distance measuring layer to correct the position of the numerical control equipment, so that the position correction of the body-in-white received by the numerical control equipment is realized; and measuring a plurality of position deviation values of the assembly part through the plurality of distance measuring devices of the upper distance measuring layer, measuring respective position deviation values of the plurality of driving and control integrated tools through the plurality of distance measuring devices of the middle distance measuring layer, and correcting respective clamping space positions of the plurality of driving and control integrated tools. According to the system, the driving and control integrated tool is intelligently adjusted in real time according to the poses of the assembled parts, intelligent assembling is achieved, efficient, online and intelligent inspection and tool adjustment are achieved, and the real-time matching performance and the product quality of the assembled parts are improved. And through layered correction, real-time calculation, judgment and adjustment are realized.

Description

Technical Field

[0001] This application relates to the field of intelligent manufacturing technology, and more specifically, to a built-in fixture control system and method. Background Technology

[0002] In the vehicle production process, to achieve precise assembly of side panel parts with the lower body, built-in fixtures are needed to clamp the side panel parts into fixed positions.

[0003] The built-in fixture is a 5.5-meter-long truss. The clamping point of the rigid part is the theoretical position measured under no-force conditions. When the built-in fixture clamps the rigid part, the interaction of clamping forces will cause deformation of the built-in fixture, resulting in a change in the clamping point position and thus causing deviations in the assembly of the part.

[0004] Currently, the adjustment of the built-in fixtures is based on measuring the dimensions of the welded body-in-white and continuously working backwards to adjust the clamping point positions of the built-in fixtures until the measured data of the side panel parts and the lower body are satisfactory. The entire fixture adjustment process is time-consuming, labor-intensive, and costly.

[0005] Therefore, this application provides a built-in clamp control system to solve the above-mentioned technical problems. Summary of the Invention

[0006] The purpose of this application is to provide a built-in fixture control system and method, which can solve at least one of the technical problems mentioned above. The specific solution is as follows: According to a specific embodiment of this application, in a first aspect, this application provides a built-in fixture control system, including: a fixture frame, a ranging device, a CNC device, a built-in fixture, and a controller; Multiple ranging devices are mounted on the fixture frame, forming a lower ranging layer, a middle ranging layer, and an upper ranging layer, respectively. The CNC device is disposed within the fixture frame and includes a drive unit; the drive unit is configured to correct the position of the CNC device based on device correction commands. The built-in clamp is detachably connected to the top of the clamp frame and includes multiple integrated drive and control fixtures. Each of the multiple integrated drive and control fixtures can move along its own linear track and is configured to correct its own clamping spatial position based on its own clamping correction command. The controller is communicatively connected to the ranging device, the drive unit, and the integrated drive and control tooling, and is configured as follows: when the CNC equipment connects the body-in-white to the working position, it measures the position deviation value of the CNC equipment through multiple ranging devices in the lower ranging layer; it generates a device correction command based on the position deviation value of the CNC equipment; after correcting the position of the CNC equipment, it controls the built-in fixture to engage with the top of the fixture frame; when the multiple integrated drive and control tooling clamps the assembly parts at their respective preset initial clamping positions, it measures multiple position deviation values ​​of the assembly parts through multiple ranging devices in the upper ranging layer, and measures the position deviation values ​​of each of the multiple integrated drive and control toolings through multiple ranging devices in the middle ranging layer; when any position deviation value of the assembly parts is greater than a preset part deviation threshold, or any position deviation value of the integrated drive and control tooling is greater than a preset tooling deviation threshold, it generates clamping correction commands for each of the multiple integrated drive and control toolings based on the multiple position deviation values ​​of the assembly parts and the position deviation values ​​of each of the multiple integrated drive and control toolings.

[0007] Optionally, the CNC equipment further includes a support fixture; the support fixture is communicatively connected to the drive unit, and the drive unit is further configured to drive the support fixture to pick up the body-in-white of the intelligent vehicle at the pick-up position and move it to the work position based on the pick-up command; The controller is also configured to generate the take-up command when it receives an in-position signal indicating that the smart car has stopped at the take-up position.

[0008] Optionally, the support fixture includes a plurality of support columns with relatively fixed positions; The controller is configured to measure the position deviation value of the CNC equipment through multiple ranging devices in the lower ranging layer, including: The positional deviation values ​​of the multiple supporting columns at the working position are measured by multiple ranging devices in the lower ranging layer.

[0009] Optionally, the support fixture further includes multiple brackets, one end of which is movably connected to the support column, and the other end of which includes a positioning pin. The bracket is communicatively connected to the drive unit and configured to move up and down along the support column under the drive of the drive unit. The controller is also configured to drive the plurality of brackets through the drive unit when receiving the body-in-white, so that each of the positioning pins engages with the corresponding positioning hole on the body-in-white to lock the body-in-white at the receiving position.

[0010] Optionally, the clamp frame includes: a base, multiple frame columns, and multiple distance measuring columns; The bottom ends of the plurality of frame columns are fixedly connected to the base, and the top ends of the plurality of frame columns are detachably connected to the built-in clamp. The bottom ends of the plurality of distance measuring columns are fixedly connected to the base. The plurality of distance measuring columns are located on both sides of the body-in-white. Each distance measuring column includes a plurality of distance measuring devices, and the plurality of distance measuring devices on each distance measuring column belong to the lower distance measuring layer, the middle distance measuring layer and the upper distance measuring layer respectively.

[0011] According to a specific embodiment of this application, in a second aspect, this application provides a built-in fixture control method, applied to a controller of the built-in fixture control system as described above, comprising: After the CNC equipment connects the body-in-white to the work position, the position deviation value of the CNC equipment is measured by multiple ranging devices in the lower ranging layer, wherein the body-in-white includes assembly parts; Based on the position deviation value of the CNC equipment, generate equipment calibration instructions to correct the position of the CNC equipment; After the position of the CNC equipment is corrected, the built-in fixture is controlled to connect with the top of the fixture frame; After multiple integrated drive and control fixtures clamp the assembly part at their respective preset initial clamping positions, multiple positional deviation values ​​of the assembly part itself are measured by multiple ranging devices in the upper ranging layer, and the positional deviation values ​​of the multiple integrated drive and control fixtures are measured by multiple ranging devices in the middle ranging layer. When any positional deviation value of the assembled part is greater than a preset part deviation threshold, or the positional deviation value of any integrated drive and control tooling is greater than a preset tooling deviation threshold, a clamping correction command for each of the integrated drive and control tooling is generated based on multiple positional deviation values ​​of the assembled part and the positional deviation values ​​of each of the integrated drive and control tooling, so as to control the integrated drive and control tooling to correct the spatial position of each clamping.

[0012] Optionally, the step of generating clamping correction commands for each of the multiple integrated drive and control tooling based on multiple positional deviation values ​​of the assembled part itself and the positional deviation values ​​of each of the multiple integrated drive and control tooling includes: The multiple positional deviation values ​​of the assembly parts themselves and the positional deviation values ​​of the multiple integrated drive and control tooling are applied to the trained machine learning model to obtain the compensation values ​​of the multiple integrated drive and control tooling. Based on the compensation values ​​of each of the multiple integrated drive and control tooling, a clamping and correction command for the corresponding integrated drive and control tooling is generated.

[0013] Optionally, before the CNC equipment connects the body-in-white to the work station, it further includes: When the intelligent vehicle stops at the receiving position signal is received, a receiving command is generated; Based on the received instruction, the control drive unit drives the CNC equipment to pick up the white body of the intelligent vehicle at the received position and move it to the working position.

[0014] Optionally, after controlling the plurality of integrated drive and control tooling to correct their respective clamping spatial positions, the method further includes: The multiple positional deviation values ​​of the assembly part itself are measured again by multiple ranging devices in the upper ranging layer, and the positional deviation values ​​of the multiple integrated drive and control tooling are measured by multiple ranging devices in the middle ranging layer. It is determined whether the multiple positional deviation values ​​of the assembly part itself are all less than or equal to a preset part deviation threshold, and whether the positional deviation values ​​of the multiple integrated drive and control tooling are all less than or equal to a preset tooling deviation threshold.

[0015] Optionally, after measuring the multiple positional deviation values ​​of the assembled part itself through the multiple ranging devices in the upper ranging layer, and measuring the positional deviation values ​​of the multiple integrated drive and control tooling through the multiple ranging devices in the middle ranging layer, the method further includes: When multiple positional deviation values ​​of the assembly part itself are less than or equal to a preset part deviation threshold, and multiple positional deviation values ​​of the integrated drive and control tooling are less than or equal to a preset tooling deviation threshold, the assembly part is controlled to complete the assembly with the body of the white body. Once the assembly is complete, a release command is generated to control the multiple integrated drive and control tooling to release the assembled parts; After the built-in clamp is separated from the clamp frame, a return command is generated, and the drive unit is controlled to return the white body to the intelligent vehicle parked at the receiving position. Control the intelligent vehicle to load the white body and drive away from the receiving position.

[0016] Compared with the prior art, the above-described solutions of this application have at least the following beneficial effects: This application provides a built-in fixture control system and method. The system includes: a fixture frame, a ranging device, a CNC machine, a built-in fixture, and a controller. Multiple ranging devices in the lower ranging layer measure the positional deviation of the CNC machine and correct its position, thereby achieving positional correction of the body-in-white picked up by the CNC machine. Multiple ranging devices in the upper ranging layer measure multiple positional deviations of the assembly parts, and multiple ranging devices in the middle ranging layer measure the positional deviations of the multiple integrated drive-control tooling, correcting the spatial position of each integrated drive-control tooling. This completely changes the method of measuring the body-in-white offline at the assembly station and then adjusting the assembly tooling position in reverse based on engineering experience to adjust the product assembly accuracy. It leaps to intelligently adjusting the integrated drive-control tooling in real time on the production line according to the position and posture of the assembly parts, realizing intelligent assembly, achieving efficient, online, and intelligent inspection and tooling adjustment, and improving the real-time matching of assembly parts and product quality. Without the need for large models or large computers, hierarchical correction can fully leverage the hierarchical and rapid calculation capabilities of the controller (such as a host computer), reducing production time losses caused by calculation and enabling real-time calculation, judgment, and adjustment. Attached Figure Description

[0017] Figure 1 A schematic diagram of the built-in clamp control system according to an embodiment of this application is shown; Figure 2 A schematic diagram of the layout of multiple ranging devices in a built-in clamp control system according to an embodiment of this application is shown; Figure 3 A flowchart of a built-in fixture control method according to an embodiment of this application is shown; Explanation of reference numerals in the attached figures: 1- Fixture frame, 2- Distance measuring device, 3- CNC equipment, 4- Built-in fixture, 5- Body-in-white; 11-Base, 12-Frame column, 13-Distance measuring column, 31-Support column, 41-Drive and control integrated tooling, 51-Assembly parts. 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 The embodiments provided in this application are embodiments of a built-in clamp control system.

[0027] The following is combined Figure 1The embodiments of this application will be described in detail.

[0028] This application provides a built-in fixture control system, including: a fixture frame 1, a distance measuring device 2, a CNC device 3, a built-in fixture 4, and a controller.

[0029] In this embodiment of the application, during the vehicle production process, the fixture frame 1 is an independent assembly unit. The intelligent vehicle loads the body-in-white 5 and moves it to the receiving position of the fixture frame 1. After the assembly parts 51 of the body-in-white 5 are assembled with the vehicle body (such as the side panel parts and the lower body) in the fixture frame 1, the body-in-white 5 is returned to the intelligent vehicle, which then transports the body-in-white 5 to the next assembly unit for assembly.

[0030] like Figure 2 As shown, multiple ranging devices 2 are mounted on the clamp frame 1, forming a lower ranging layer, a middle ranging layer, and an upper ranging layer, respectively.

[0031] In this embodiment, multiple ranging devices 2 (e.g., 24 ranging devices 2) are rationally arranged in space to form a "measuring curtain" (divided into a lower ranging layer, a middle ranging layer, and an upper ranging layer) that facilitates the measurement of the assembly parts 51 and tooling pose. The measurement results are then comprehensively calculated and fed back to the controller, which controls the correction of the pose of the assembly parts 51. For example, the ranging device 2 includes a laser rangefinder, which has high ranging accuracy, can accurately determine the distance and position of the target, and has a fast measurement speed.

[0032] The ranging device 2 is mounted on the fixture frame 1 to avoid interfering with the normal operation of the CNC equipment 3 and the built-in fixture 4.

[0033] The CNC device 3 is disposed within the fixture frame 1 and includes a drive unit; the drive unit is configured to correct the position of the CNC device 3 based on device correction commands.

[0034] The CNC machine 3 is used for positioning the body-in-white 5. Once the CNC machine 3 has positioned itself, the body-in-white 5 picked up by the CNC machine 3 is positioned at its theoretical position on the work station.

[0035] The device calibration command is issued by the controller to the drive unit, which then calibrates the position of the CNC device 3 based on the device calibration command.

[0036] The built-in clamp 4 is detachably connected to the top of the clamp frame 1 and includes multiple integrated drive and control fixtures 41. Each of the multiple integrated drive and control fixtures 41 can move along its own linear track and is configured to correct its own clamping spatial position based on its own clamping correction command.

[0037] After the assembly is completed, the controller will move the built-in clamp 4 away from the top of the clamp frame 1 so that the body-in-white 5 can be returned to the intelligent vehicle; after the CNC equipment 3 is positioned, the controller will fix the built-in clamp 4 to the top of the clamp frame 1 so that the integrated drive and control tooling 41 can enter the body-in-white 5 for positioning and assembly.

[0038] Multiple integrated drive and control fixtures 41 (e.g., 19 sets) can move along their respective linear tracks, allowing the integrated drive and control fixtures 41 to adjust the clamping position of the assembly parts 51 that clamp the body-in-white 5. Simultaneously, the multiple integrated drive and control fixtures 41 can adapt to changes in the assembly parts 51 of different vehicle models through movement.

[0039] The controller is communicatively connected to the ranging device 2, the drive unit, and the integrated drive and control fixture 41, and is configured as follows: when the CNC equipment 3 connects the body-in-white 5 to the working position, it measures the position deviation value of the CNC equipment 3 through multiple ranging devices 2 in the lower ranging layer; it generates a device correction command based on the position deviation value of the CNC equipment 3; after correcting the position of the CNC equipment 3, it controls the built-in fixture 4 to engage with the top of the fixture frame 1; after controlling the multiple integrated drive and control fixtures 41 to clamp the assembly part 51 at their respective preset initial clamping positions, it measures the position deviation value of the assembly part 51 through multiple ranging devices 2 in the upper ranging layer. The assembly part 51 has multiple positional deviation values, and the multiple ranging devices 2 in the middle ranging layer measure the positional deviation values ​​of the multiple integrated drive and control tooling 41. When any positional deviation value of the assembly part 51 is greater than a preset part deviation threshold, or any positional deviation value of the integrated drive and control tooling 41 is greater than a preset tooling deviation threshold, the multiple positional deviation values ​​of the assembly part 51 and the positional deviation values ​​of the multiple integrated drive and control tooling 41 are used to generate clamping correction commands for the multiple integrated drive and control tooling 41, so as to control the multiple integrated drive and control tooling 41 to correct their respective clamping spatial positions.

[0040] The position deviation value refers to the deviation between the actual measured position and the preset standard position.

[0041] The system described in this specific embodiment includes: a fixture frame 1, a ranging device 2, a CNC device 3, a built-in fixture 4, and a controller. The position of the CNC device 3 is corrected by measuring the positional deviation values ​​of the CNC device 3 through multiple ranging devices 2 in the lower ranging layer, thereby achieving positional correction of the body-in-white 5 picked up by the CNC device 3. Multiple positional deviation values ​​of the assembly parts 51 are measured by multiple ranging devices 2 in the upper ranging layer, and the positional deviation values ​​of the multiple integrated drive and control tooling 41 are measured by multiple ranging devices 2 in the middle ranging layer, correcting the spatial position of each of the integrated drive and control tooling 41. This completely changes the method of measuring the body-in-white 5 offline at the assembly station and then adjusting the assembly tooling position in reverse based on engineering experience to adjust the product assembly accuracy. It leaps to intelligently adjusting the integrated drive and control tooling 41 in real time on the production line according to the position and posture of the assembly parts 51, realizing intelligent assembly, efficient, online, and intelligent inspection and tooling adjustment, and improving the real-time matching of the assembly parts 51 and product quality. Without the need for large models or large computers, hierarchical correction can fully leverage the hierarchical and rapid calculation capabilities of the controller (such as a host computer), reducing production time losses caused by calculation and enabling real-time calculation, judgment, and adjustment.

[0042] In some specific embodiments, the CNC equipment 3 further includes a support fixture; the support fixture is communicatively connected to the drive unit, and the drive unit is further configured to drive the support fixture to pick up the white body 5 of the intelligent vehicle at the pick-up position and move it to the working position based on the pick-up command.

[0043] The controller is also configured to generate the take-up command when it receives an in-position signal indicating that the smart car has stopped at the take-up position.

[0044] The "receiving position" refers to the position where the intelligent vehicle stops after entering the fixture frame 1.

[0045] The working position refers to the location where the assembly part 51 in the body-in-white 5 is joined to the vehicle body. The working position and the receiving position can be vertically aligned or staggered.

[0046] The support fixture can move on the CNC equipment 3 and can remove the body-in-white 5 from the intelligent trolley and then transport the body-in-white 5 to the work station.

[0047] In some specific embodiments, the support fixture includes a plurality of support columns 31 with their relative positions fixed.

[0048] The controller is configured to measure the position deviation value of the CNC equipment 3 through the multiple ranging devices 2 of the lower ranging layer, including: measuring the position deviation value of each of the multiple support columns 31 on the working position through the multiple ranging devices 2 of the lower ranging layer.

[0049] In this specific embodiment, multiple support columns 31 are fixed on a support fixture. Measuring the positions of the multiple support columns 31 is equivalent to measuring the support fixture. After the ranging device 2 scans the support columns 31, it determines the position of the support columns 31 based on their structural features. For example, if the support column 31 is a rectangular column, when the ranging device 2 scans the rectangular column horizontally, it determines the position of the rectangular column as the closest scanning position (i.e., the intersection of the nearest vertical side of the rectangular column and the horizontal scanning surface). The measured position of the rectangular column is compared with the preset position of the rectangular column to obtain the position deviation value of the preset rectangular column.

[0050] Of course, the scanning of the ranging device 2 is not limited to horizontal scanning. Other shapes of columns can be used to capture the feature points of their shapes as objects for positional deviation comparison, which will not be elaborated here.

[0051] In this specific embodiment, multiple support columns 31 with relatively fixed positions are used as the objects for comparing positional deviations, thereby reducing positional errors and improving the accuracy of correcting the position of the CNC equipment 3.

[0052] In some specific embodiments, the support fixture further includes multiple brackets, one end of which is movably connected to the support column 31, and the other end of which includes a positioning pin. The bracket is communicatively connected to the drive unit and configured to move up and down along the support column 31 under the drive of the drive unit.

[0053] The controller is also configured to drive the plurality of brackets through the drive unit when receiving the body-in-white 5, so that each of the positioning pins engages with the corresponding positioning hole on the body-in-white 5 to lock the body-in-white 5 at the receiving position.

[0054] For example, positioning holes that mate with positioning pins are provided at the bottom of the vehicle body. Multiple brackets are lowered to a preset low position, and then controlled to retract into a preset alignment position at the bottom of the vehicle body. The brackets are then raised so that the positioning pins are inserted into the positioning holes, thereby ensuring that the relative position of the support fixture and the body-in-white 5 remains unchanged. Then, the multiple brackets are raised to detach the body-in-white 5 from the intelligent vehicle.

[0055] In this specific embodiment, the relative position of the support fixture and the body-in-white 5 is locked by the positioning pin, thereby ensuring that when the support fixture picks up the body-in-white 5 and stops at the preset stop position, the body-in-white 5 can accurately enter the working position.

[0056] In some specific embodiments, the clamp frame 1 includes: a base 11, a plurality of frame columns 12 and a plurality of distance measuring columns 13.

[0057] The bottom ends of the plurality of frame columns 12 are fixedly connected to the base 11, and the top ends of the plurality of frame columns 12 are detachably connected to the built-in clamp 4.

[0058] The bottom ends of the plurality of distance measuring columns 13 are fixedly connected to the base 11. The plurality of distance measuring columns 13 are respectively placed on both sides of the white body 5. Each distance measuring column 13 includes a plurality of distance measuring devices 2. The plurality of distance measuring devices 2 on each distance measuring column 13 belong to the lower distance measuring layer, the middle distance measuring layer and the upper distance measuring layer respectively.

[0059] In this specific embodiment, the ranging device 2 is mounted on the ranging column 13 on the fixture frame 1 to avoid interference with the operation of the CNC equipment 3 and the built-in fixture 4. Simultaneously, multiple ranging columns 13 are positioned on both sides of the body-in-white 5, enabling the ranging device 2 to accurately measure the object, fully leveraging its advantages in long-distance and high-precision measurement.

[0060] Example 2 This application also provides method embodiments that follow the above embodiments. The interpretation of the same names is the same as that of the above embodiments, and they have the same technical effects as those of the above embodiments. They will not be repeated here.

[0061] like Figure 3 As shown, this application provides a built-in fixture control method, applied to the controller of the built-in fixture control system described above, comprising: Step S301: After the CNC equipment connects the white body to the working position, the position deviation value of the CNC equipment is measured by multiple ranging devices in the lower ranging layer.

[0062] The body-in-white includes assembly parts. For example, the assembly parts are side panel parts.

[0063] There are many methods for CNC equipment to connect the body-in-white to the work station. In some specific embodiments, preferably, before the CNC equipment connects the body-in-white to the work station, it further includes: Step S300-1: When the intelligent vehicle stops at the receiving position signal is received, a receiving instruction is generated.

[0064] Step S300-2: Based on the receiving instruction, the control drive unit drives the CNC equipment to receive the white body of the intelligent vehicle at the receiving position and move it to the working position.

[0065] In this specific embodiment, the receiving instruction is transmitted to the drive unit of the CNC equipment, and the drive unit drives the CNC equipment to receive the body-in-white.

[0066] Step S302: Generate a device correction command to correct the position of the CNC device based on the position deviation value of the CNC device.

[0067] Step S303: After the position of the CNC equipment is corrected, the built-in fixture is controlled to connect with the top of the fixture frame.

[0068] The control unit connects to the top of the clamping frame, which can be understood as the built-in clamp falling from above the vehicle body and precisely engaging with the clamping frame at a preset connection position. This ensures that the pre-designed standard parameter values ​​serve as an important reference for execution.

[0069] Step S304: After controlling multiple integrated drive and control fixtures to clamp the assembly parts at their respective preset initial clamping positions, multiple positional deviation values ​​of the assembly parts themselves are measured by multiple ranging devices in the upper ranging layer, and the positional deviation values ​​of the multiple integrated drive and control fixtures are measured by multiple ranging devices in the middle ranging layer.

[0070] When multiple integrated drive and control fixtures clamp the assembled parts at their respective preset initial clamping positions, the interaction of clamping forces causes deformation of the built-in fixtures, resulting in changes in the clamping point positions and thus deviations in the part assembly. Therefore, it is necessary to correct the spatial positions of each of the multiple integrated drive and control fixtures.

[0071] For example, such as Figure 2 As shown, multiple laser rangefinders emit lasers at their respective preset fixed angles toward the assembled parts to measure the position of the assembled parts themselves. By measuring the multiple positions of the assembled parts themselves, it is possible to determine whether the assembled parts themselves are deformed.

[0072] The method for measuring the positions of the multiple integrated drive and control fixtures is similar to the method for measuring the positions of the support columns. The characteristic points of the shape of the integrated drive and control fixtures are used as the objects for comparing positional deviations. For the specific implementation method, please refer to the measurement method of the support columns, which will not be repeated here.

[0073] Step S305a: When any positional deviation value of the assembled part itself is greater than a preset part deviation threshold, or the positional deviation value of any integrated drive and control tooling is greater than a preset tooling deviation threshold, a clamping correction command for each of the multiple integrated drive and control toolings is generated based on the multiple positional deviation values ​​of the assembled part itself and the positional deviation values ​​of each of the multiple integrated drive and control toolings, so as to control the multiple integrated drive and control toolings to correct their respective clamping spatial positions.

[0074] This application embodiment not only uses the positional deviation values ​​of the multiple integrated drive and control tooling measured by multiple ranging devices as one of the important calibration bases, but also uses the multiple positional deviation values ​​of the assembly parts themselves as one of the important calibration bases. By cross-checking the positional deviation values ​​of the assembly parts themselves with the positional deviation values ​​of the integrated drive and control tooling, it is determined whether the assembly parts and the vehicle body meet the assembly conditions, thereby improving the accuracy and precision of the assembly.

[0075] If any positional deviation of the assembly part itself is greater than a preset part deviation threshold, or if any positional deviation of the integrated drive and control tooling is greater than a preset tooling deviation threshold, it can be understood that if either the positional deviation of the assembly part itself or the positional deviation of the integrated drive and control tooling does not meet the assembly conditions, correction will be performed.

[0076] Regarding obtaining clamping correction commands, a lookup table method can be used. For example, a correspondence can be established between multiple positional deviation values ​​of the assembly part itself, the positional deviation values ​​of each of the multiple integrated drive and control tooling, and the compensation values ​​of each of the multiple integrated drive and control tooling. In actual use, based on the multiple actual positional deviation values ​​of the assembly part itself and the actual positional deviation values ​​of each of the multiple integrated drive and control tooling, the compensation values ​​of each of the multiple integrated drive and control tooling are obtained through this correspondence. In some specific embodiments, preferably, the generation of clamping correction commands for each of the multiple integrated drive and control tooling based on the multiple positional deviation values ​​of the assembly part itself and the positional deviation values ​​of each of the multiple integrated drive and control tooling includes: Step S305a-1: Apply the multiple positional deviation values ​​of the assembled part itself and the positional deviation values ​​of the multiple integrated drive and control tooling to the trained machine learning model to obtain the compensation values ​​of the multiple integrated drive and control tooling.

[0077] The machine learning model can be trained based on multiple historical positional deviation values ​​of the assembly parts themselves, the historical positional deviation values ​​of the multiple integrated drive and control toolings, and the historical compensation values ​​of the multiple integrated drive and control toolings. For example, the machine learning model can be trained using multiple historical positional deviation values ​​of the assembly parts themselves, the historical positional deviation values ​​of the multiple integrated drive and control toolings, and the historical compensation values ​​of the multiple integrated drive and control toolings as training samples. Regarding the training process of the machine learning model, please refer to various implementation methods in the existing technology; details will not be elaborated here.

[0078] Step S305a-2: Generate clamping correction instructions for the corresponding drive and control integrated tooling based on the compensation values ​​of each of the multiple drive and control integrated tooling.

[0079] Compared to lookup table methods, machine learning models require less storage space, do not require arc interpolation calculations, reduce computational load, increase calculation speed, and obtain more accurate compensation values. Furthermore, they fully leverage the hierarchical and rapid calculation capabilities of the controller (such as a host computer), reducing production time losses caused by computation and enabling real-time calculation, judgment, and adjustment.

[0080] In some specific embodiments, after measuring the multiple positional deviation values ​​of the assembled parts themselves through multiple ranging devices in the upper ranging layer, and measuring the positional deviation values ​​of the multiple integrated drive and control toolings through multiple ranging devices in the middle ranging layer, the method further includes: Step S305b-1: When the multiple positional deviation values ​​of the assembled parts are all less than or equal to the preset part deviation threshold, and the multiple positional deviation values ​​of the integrated drive and control tooling are all less than or equal to the preset tooling deviation threshold, control the assembled parts to complete the assembly with the body of the white body.

[0081] Step S305b-2: After the assembly is completed, a release command is generated to control the multiple integrated drive and control fixtures to release the assembled parts.

[0082] Step S305b-3: After the built-in clamp is separated from the clamp frame, a return command is generated, and the drive unit is controlled to return the white body to the intelligent vehicle parked at the receiving position.

[0083] Step S305b-4: Control the intelligent vehicle to load the white body and drive away from the receiving position.

[0084] In this specific embodiment, if the position of the assembled part and the position of the vehicle body meet the assembly accuracy requirements, the assembly of the assembled part and the vehicle body is completed. After assembly, multiple integrated drive and control fixtures release the assembled parts, the built-in fixtures rise and separate from the fixture frame, and then the CNC equipment transfers the body-in-white to the intelligent trolley at the receiving position. The intelligent trolley then removes the body-in-white from the fixture frame, and the next assembly cycle begins. This completely changes the method of measuring the body-in-white offline at the assembly station and then adjusting the position of the assembly fixtures in reverse based on engineering experience to adjust the product assembly accuracy. It leaps to intelligently adjusting the integrated drive and control fixtures in real time on the production line according to the position and posture of the assembled parts, realizing intelligent assembly, achieving efficient, online, and intelligent inspection and fixture adjustment, and improving the real-time matching of assembled parts and product quality.

[0085] In some specific embodiments, after controlling the multiple integrated drive and control tooling to correct their respective clamping spatial positions, the method further includes: measuring multiple position deviation values ​​of the assembly part itself again through multiple ranging devices in the upper ranging layer, and measuring the position deviation values ​​of the multiple integrated drive and control toolings themselves through multiple ranging devices in the middle ranging layer, to determine whether the multiple position deviation values ​​of the assembly part itself are all less than or equal to a preset part deviation threshold, and whether the position deviation values ​​of the multiple integrated drive and control toolings are all less than or equal to a preset tooling deviation threshold.

[0086] In other words, after calibrating the spatial positions of the various integrated drive and control tooling fixtures, the calibration results are verified. If the positions of the assembled parts and the vehicle body do not meet the assembly accuracy requirements, calibration continues; if the positions of the assembled parts and the vehicle body meet the assembly accuracy requirements, the assembly is considered complete.

[0087] This application embodiment uses multiple ranging devices in the lower ranging layer to measure the position deviation value of the CNC equipment and correct its position, thereby achieving position correction of the body-in-white picked up by the CNC equipment. Multiple ranging devices in the upper ranging layer measure multiple position deviation values ​​of the assembly parts, and multiple ranging devices in the middle ranging layer measure the position deviation values ​​of each of the multiple integrated drive and control tooling, correcting the spatial position of each of the integrated drive and control tooling. This completely changes the method of measuring the body-in-white offline at the assembly station and then adjusting the assembly tooling position in reverse based on engineering experience to adjust the product assembly accuracy. It leaps to intelligently adjusting the integrated drive and control tooling in real time on the production line based on the position and posture of the assembly parts, realizing intelligent assembly, efficient, online, and intelligent inspection and tooling adjustment, and improving the real-time matching of assembly parts and product quality. Without the need for large models or large computers, layered correction can fully utilize the layered rapid calculation capabilities of the controller (such as a host computer), reducing production time losses caused by calculation, and achieving real-time calculation, judgment, and adjustment.

[0088] 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.

[0089] 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. A built-in clamp control system, characterized in that, include: Fixture frame, ranging device, CNC equipment, built-in fixture and controller; Multiple ranging devices are mounted on the fixture frame, forming a lower ranging layer, a middle ranging layer, and an upper ranging layer, respectively. The CNC device is disposed within the fixture frame and includes a drive unit; the drive unit is configured to correct the position of the CNC device based on device correction commands. The built-in clamp is detachably connected to the top of the clamp frame and includes multiple integrated drive and control fixtures. Each of the multiple integrated drive and control fixtures can move along its own linear track and is configured to correct its own clamping spatial position based on its own clamping correction command. The controller is communicatively connected to the ranging device, the drive unit, and the integrated drive and control fixture, and is configured as follows: when the CNC equipment connects the body-in-white to the work position, the controller measures the position deviation value of the CNC equipment through multiple ranging devices in the lower ranging layer; generates a device correction command based on the position deviation value of the CNC equipment; after correcting the position of the CNC equipment, the controller controls the built-in fixture to engage with the top of the fixture frame; after controlling the multiple integrated drive and control fixtures to clamp the assembly parts at their respective preset initial clamping positions, the controller measures multiple position deviation values ​​of the assembly parts through multiple ranging devices in the upper ranging layer, and measures the position deviation values ​​of the multiple integrated drive and control fixtures through multiple ranging devices in the middle ranging layer. When any positional deviation value of the assembled part is greater than a preset part deviation threshold, or the positional deviation value of any integrated drive and control tooling is greater than a preset tooling deviation threshold, clamping correction commands for each of the integrated drive and control tooling are generated based on the multiple positional deviation values ​​of the assembled part and the positional deviation values ​​of each of the multiple integrated drive and control tooling.

2. The system according to claim 1, characterized in that, The CNC equipment also includes a support fixture; the support fixture is communicatively connected to the drive unit, and the drive unit is further configured to drive the support fixture to pick up the white body of the intelligent vehicle at the pick-up position and move it to the work position based on the pick-up command; The controller is also configured to generate the take-up command when it receives an in-position signal indicating that the smart car has stopped at the take-up position.

3. The system according to claim 2, characterized in that, The supporting fixture includes multiple supporting columns with fixed relative positions; The controller is configured to measure the position deviation value of the CNC equipment through multiple ranging devices in the lower ranging layer, including: The positional deviation values ​​of the multiple supporting columns at the working position are measured by multiple ranging devices in the lower ranging layer.

4. The system according to claim 2 or 3, characterized in that, The support fixture also includes multiple brackets, one end of which is movably connected to the support column, and the other end of which includes a positioning pin. The bracket is communicatively connected to the drive unit and configured to move up and down along the support column under the drive of the drive unit. The controller is also configured to drive the plurality of brackets through the drive unit when receiving the body-in-white, so that each of the positioning pins engages with the corresponding positioning hole on the body-in-white to lock the body-in-white at the receiving position.

5. The system according to claim 1, characterized in that, The clamp frame includes: a base, multiple frame columns, and multiple distance measuring columns; The bottom ends of the plurality of frame columns are fixedly connected to the base, and the top ends of the plurality of frame columns are detachably connected to the built-in clamp. The bottom ends of the plurality of distance measuring columns are fixedly connected to the base. The plurality of distance measuring columns are located on both sides of the body-in-white. Each distance measuring column includes a plurality of distance measuring devices, and the plurality of distance measuring devices on each distance measuring column belong to the lower distance measuring layer, the middle distance measuring layer and the upper distance measuring layer respectively.

6. A built-in fixture control method, characterized in that, The controller applied to the built-in clamp control system of any one of claims 1-5 comprises: After the CNC equipment connects the body-in-white to the work position, the position deviation value of the CNC equipment is measured by multiple ranging devices in the lower ranging layer, wherein the body-in-white includes assembly parts; Based on the position deviation value of the CNC equipment, generate equipment calibration instructions to correct the position of the CNC equipment; After the position of the CNC equipment is corrected, the built-in fixture is controlled to connect with the top of the fixture frame; After multiple integrated drive and control fixtures clamp the assembly part at their respective preset initial clamping positions, multiple positional deviation values ​​of the assembly part itself are measured by multiple ranging devices in the upper ranging layer, and the positional deviation values ​​of the multiple integrated drive and control fixtures are measured by multiple ranging devices in the middle ranging layer. When any positional deviation value of the assembled part is greater than a preset part deviation threshold, or the positional deviation value of any integrated drive and control tooling is greater than a preset tooling deviation threshold, a clamping correction command for each of the integrated drive and control tooling is generated based on multiple positional deviation values ​​of the assembled part and the positional deviation values ​​of each of the integrated drive and control tooling, so as to control the integrated drive and control tooling to correct the spatial position of each clamping.

7. The method according to claim 6, characterized in that, The generation of clamping correction commands for each of the multiple integrated drive and control toolings based on multiple positional deviation values ​​of the assembled parts themselves and the positional deviation values ​​of each of the multiple integrated drive and control toolings includes: The multiple positional deviation values ​​of the assembly parts themselves and the positional deviation values ​​of the multiple integrated drive and control tooling are applied to the trained machine learning model to obtain the compensation values ​​of the multiple integrated drive and control tooling. Based on the compensation values ​​of each of the multiple integrated drive and control tooling, a clamping and correction command for the corresponding integrated drive and control tooling is generated.

8. The method according to claim 6, characterized in that, Before the CNC equipment connects the body-in-white to the work station, it also includes: When the intelligent vehicle stops at the receiving position signal is received, a receiving command is generated; Based on the received instruction, the control drive unit drives the CNC equipment to pick up the white body of the intelligent vehicle at the received position and move it to the working position.

9. The method according to claim 6, characterized in that, The step of controlling the multiple integrated drive and control tooling to correct the spatial position of their respective clamping positions further includes: The multiple positional deviation values ​​of the assembly part itself are measured again by multiple ranging devices in the upper ranging layer, and the positional deviation values ​​of the multiple integrated drive and control tooling are measured by multiple ranging devices in the middle ranging layer. It is determined whether the multiple positional deviation values ​​of the assembly part itself are all less than or equal to a preset part deviation threshold, and whether the positional deviation values ​​of the multiple integrated drive and control tooling are all less than or equal to a preset tooling deviation threshold.

10. The method according to claim 8, characterized in that, After measuring the multiple positional deviation values ​​of the assembled parts themselves through multiple ranging devices in the upper ranging layer, and measuring the positional deviation values ​​of the multiple integrated drive and control toolings through multiple ranging devices in the middle ranging layer, the method further includes: When multiple positional deviation values ​​of the assembly part itself are less than or equal to a preset part deviation threshold, and multiple positional deviation values ​​of the integrated drive and control tooling are less than or equal to a preset tooling deviation threshold, the assembly part is controlled to complete the assembly with the body of the white body. Once the assembly is complete, a release command is generated to control the multiple integrated drive and control tooling to release the assembled parts; After the built-in clamp is separated from the clamp frame, a return command is generated, and the drive unit is controlled to return the white body to the intelligent vehicle parked at the receiving position. Control the intelligent vehicle to load the white body and drive away from the receiving position.

Images