A system, method, device and vehicle for positioning and misalignment compensation of automotive bolts.

Abstract

This invention provides an automotive bolt positioning and deviation compensation system, method, equipment, and vehicle, relating to the field of intelligent automotive manufacturing technology. This technical solution utilizes an industrial control computer in collaboration with a 3D global positioning camera, a VIN code recognition module, an industrial robot, and an end effector with a hand-eye precision positioning camera and a servo tightening shaft to construct a combined global and end-effector visual positioning system. This effectively overcomes the deviation problem of traditional rigid positioning and achieves high-precision adaptive tightening of bolts. Simultaneously, the system can automatically match vehicle models and adjust tightening parameters based on the VIN code, improving the flexibility of multi-model mixed-line production. Furthermore, by deeply binding tightening data with the VIN code and synchronizing it to a data traceability platform, precise traceability of assembly quality throughout the entire process is achieved, thereby significantly improving the assembly quality, production efficiency, and intelligence level of the automotive final assembly line.

Description

Technical Field

[0001] This invention relates to the field of intelligent automotive manufacturing technology, and in particular to an automotive bolt positioning and deviation compensation system, method, equipment, and vehicle. Background Technology

[0002] In the field of automated bolt tightening in automotive assembly, existing technologies primarily rely on rigid structures such as mechanical locating pins and blocking cylinders for vehicle body positioning. This approach has extremely low tolerance for vehicle body manufacturing tolerances, tooling wear, and conveyor line deviations, often resulting in excessive misalignment between the tightening shaft and bolt holes. This leads to faults such as stripped threads, broken bolts, and insufficient connection strength, resulting in a high rework rate. Furthermore, the process parameters of existing tightening systems are mostly fixed for single vehicle models, failing to flexibly adapt to mixed-model production lines. Any changes in vehicle model or fastener specifications require significant time for parameter readjustment, severely restricting production efficiency and the flexibility of the production line. Summary of the Invention

[0003] The purpose of this invention is to provide an automotive bolt positioning and deviation compensation system, method, device, and vehicle to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions to achieve high-precision positioning and adaptive tightening of bolts, effectively solving the problems of large rigid positioning deviation, poor flexibility in multi-model mixed production lines, and difficulty in tracing tightening quality, thereby improving assembly quality and production efficiency.

[0004] On the one hand, this application provides an automotive bolt positioning and deviation compensation system, comprising: Body conveyor line, used to transport bodies to be assembled; The industrial computer serves as the main control unit; A 3D global positioning camera is installed above the vehicle body conveyor line to capture an overall image of the vehicle body and is connected to the industrial control computer. The VIN code recognition module is used to recognize the VIN code of the vehicle body to be assembled and is connected to the industrial control computer for communication. An industrial robot is connected to the industrial control computer; The robot end effector, installed at the end of the industrial robot, includes a hand-eye positioning camera and a servo tightening axis; the hand-eye positioning camera is a 3D camera used for close-range secondary positioning of the target fastener. The data traceability platform is connected to the industrial control computer; The industrial control computer is configured to: receive information from the 3D global positioning camera and the VIN code recognition module, and control the movement of the industrial robot; receive information from the hand-eye precision positioning camera, and control the servo tightening axis to perform tightening operations; and synchronize the tightening data bound to the VIN code to the data traceability platform.

[0005] Furthermore, the robot end effector also includes a force sensor module, which is connected in series between the servo tightening shaft and the industrial robot to provide real-time feedback of torque data during the tightening process.

[0006] Furthermore, the industrial control computer is also configured to: after the tightening operation is completed, control the hand-eye precision positioning camera to perform visual re-inspection of the fastener, and combine the torque data fed back by the force sensor module to comprehensively judge the effectiveness of the tightening operation.

[0007] Furthermore, both the 3D global positioning camera and the hand-eye precision positioning camera are binocular vision cameras.

[0008] Furthermore, the servo tightening shaft is equipped with a quick-change disc or quick-change flange to adapt to tightening sleeves of different specifications, so as to support mixed-line production of fasteners of multiple vehicle models and specifications.

[0009] Furthermore, the system also includes a human-computer interaction unit connected to the industrial control computer, used to display visual coordinate data, the position and posture data of the tightened object, and the tightening result.

[0010] Furthermore, the industrial control computer has a pre-set vehicle model process database for storing fastener specifications and corresponding tightening process parameters for different vehicle models.

[0011] On the other hand, this application provides a method for positioning and compensating for deviations of automotive bolts, applied to the aforementioned automotive bolt positioning and deviation compensation system, comprising the following steps: After the vehicle body is assembled in place, the vehicle model information is read through the VIN code recognition module, and the vehicle body image is captured by the 3D global positioning camera to calculate the global position deviation of the vehicle body. The industrial control computer controls the industrial robot to move to the working area of ​​the target fastener based on the global position deviation. The robot uses a hand-eye positioning camera at its end to capture local images of the target fastener and calculate the local attitude deviation of the fastener. The industrial control computer retrieves the corresponding target tightening parameters from the pre-stored vehicle process database based on the read vehicle model information and fastener specifications, and performs compensation and correction based on ambient temperature and / or fastener material. The industrial control computer integrates the global position deviation and local attitude deviation to compensate for the trajectory of the industrial robot, and controls the servo tightening axis to perform tightening operations according to the corrected target tightening parameters. The data generated during the tightening operation is bound to the VIN code and uploaded to the data traceability platform.

[0012] On the other hand, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the aforementioned method for positioning and compensating for deviations of automotive bolts.

[0013] On the other hand, this application provides a vehicle in which the vehicle body fasteners are assembled using the aforementioned automotive bolt positioning and deviation compensation method.

[0014] The beneficial effects of this invention are as follows: This application provides an automotive bolt positioning and deviation compensation system. This technical solution, through the collaboration of an industrial control computer with a 3D global positioning camera, a VIN code recognition module, an industrial robot, and an end effector with a hand-eye precision positioning camera and a servo tightening shaft, constructs a visual positioning system combining global and end-effector approaches. This effectively overcomes the deviation problem of traditional rigid positioning and achieves high-precision adaptive tightening of bolts. Simultaneously, the system can automatically match vehicle models and adjust tightening parameters based on the VIN code, greatly improving the flexibility of multi-model mixed-line production. Furthermore, by deeply binding tightening data with the VIN code and synchronizing it to a data traceability platform, precise traceability of assembly quality throughout the entire process is achieved, thereby significantly improving the assembly quality, production efficiency, and intelligence level of the automotive assembly line. This application also provides related methods, equipment, and vehicles for the above system. The beneficial effects of these methods, equipment, and vehicles are similar to those of the above system and will not be elaborated upon here.

[0015] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0016] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the technical solutions of the present invention, and do not constitute a limitation on the technical solutions of the present invention.

[0017] Figure 1 This is a schematic diagram of the architecture of the automotive bolt positioning and deviation compensation system provided in this application; Figure 2 This is a schematic diagram of the workflow of the dual-camera visual positioning and deviation compensation provided in this application; Figure 3 This is a schematic diagram of the assembly process of the tightening actuator and vision module provided in this application; Figure 4 This is a schematic diagram of the interface logic of the bolt tightening quality traceability system provided in this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0019] The present application will be further described below with reference to the accompanying drawings and specific embodiments. The described embodiments should not be considered as limitations on the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0020] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0022] In the final assembly process of automobile manufacturing, bolt tightening is a critical step to ensure the strength, safety, and reliability of the vehicle body structure. With the rapid development of the automotive industry, consumers' demands for vehicle quality are increasing, and production lines are facing enormous challenges such as multi-model mixed-line production, high cycle time, and high precision.

[0023] Currently, bolt tightening on automotive assembly lines primarily relies on traditional automated tightening equipment coupled with rigid positioning fixtures. The typical workflow involves the vehicle body arriving at a designated station via a conveyor line, where rigid mechanisms such as mechanical positioning pins and blocking cylinders forcefully position and clamp the body. Subsequently, an industrial robot or tightening shaft moves to the bolt hole location according to preset coordinates to perform the tightening operation. Furthermore, to ensure tightening quality, existing tightening systems typically use fixed process parameters, such as torque, angle, and rotational speed, tailored to individual vehicle models.

[0024] However, after in-depth analysis, the existing technology has the following significant defects and shortcomings in practical applications: First, rigid positioning methods suffer from insufficient precision and flexibility, leading to a high assembly failure rate. Existing rigid structures such as mechanical locating pins and blocking cylinders have extremely low tolerance for manufacturing tolerances of the car body, long-term wear of tooling fixtures, and dynamic deviations in the conveyor chain. In actual production, the car body often exhibits welding deformation or dimensional deviations of several millimeters. Rigid tooling cannot adapt to these errors, resulting in frequent misalignment between the tightening shaft and bolt holes. This misalignment can easily cause serious assembly quality accidents, such as stripped bolts, damaged threads, broken bolts, or insufficient connection strength. This not only leads to a high online rework rate on the production line, increasing production costs, but may also create safety hazards for vehicle operation.

[0025] Secondly, existing systems lack intelligence and flexibility, making it difficult to adapt to the demands of mixed-model production lines. Traditional tightening systems often use fixed process parameters for a single model, lacking the ability to automatically identify and match model and fastener specifications. When the production line needs to switch models or change fastener specifications, it cannot automatically adjust the tightening strategy, often requiring machine downtime and significant manual time spent readjusting equipment parameters. This cumbersome changeover process severely restricts the production line's cycle time, making it difficult for companies to efficiently meet market demands for multi-variety, small-batch customized production.

[0026] Finally, existing technologies lack end-to-end digital quality traceability capabilities. Existing tightening equipment often operates independently, and tightening data lacks deep integration and correlation with vehicle identification information. Once a quality problem occurs, it is difficult to quickly and accurately trace back to the specific vehicle, batch, and tightening parameters, failing to meet the stringent requirements of modern automotive manufacturing for full lifecycle quality data management.

[0027] In summary, overcoming the problems of large rigid positioning deviations, poor flexibility in multi-model mixed-line production, and difficulty in quality traceability in existing technologies, and providing an automotive bolt positioning and deviation compensation system that can achieve high-precision positioning, adaptive deviation compensation, and complete data traceability is a technical challenge that urgently needs to be solved in the automotive assembly field.

[0028] To address the aforementioned issues, this application provides an automotive bolt positioning and deviation compensation system, method, device, and vehicle. It constructs a dual-level vision positioning and adaptive control system combining global and end-effector approaches. Through an industrial control computer collaborating with a 3D global positioning camera and a VIN code recognition module, the system acquires the overall vehicle body pose and vehicle identity information in real time. This drives an industrial robot, combined with a 3D hand-eye precision positioning camera on the end-effector, to perform close-range secondary precise positioning and deviation compensation of the target fastener, thus completely overcoming the error limitations of traditional rigid positioning. Simultaneously, the system can automatically match the vehicle model based on the recognized VIN code and adjust the process parameters of the servo tightening shaft. Combined with a mechanism that deeply binds tightening data with the VIN code and synchronizes it to a data traceability platform, this not only significantly improves the flexibility and assembly quality of multi-model mixed-line production but also achieves precise traceability and closed-loop control of the entire assembly process.

[0029] First, the automotive bolt positioning and deviation compensation system provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0030] The automotive bolt positioning and deviation compensation system provided in this application includes a body conveyor line, an industrial control computer, a 3D global positioning camera, a VIN code recognition module, an industrial robot, a robot end effector, and a data traceability platform.

[0031] In some embodiments of this application, the body conveyor line is used to transport the body to be assembled. As the physical carrier and foundation of the entire automated assembly process, the body conveyor line carries and precisely transports the body-in-white to the designated workstation. In modern automotive assembly workshops, the conveyor line not only handles material transport but also needs to coordinate with the production cycle for positioning and stopping, providing a stable physical platform for subsequent visual recognition and robotic operations. Ensuring that the body can flow along the predetermined process route is a prerequisite for achieving automated assembly line operations.

[0032] In some embodiments of this application, the industrial control computer (ICC) serves as the main control unit. As the central nervous system and main control unit of the entire system, the ICC undertakes the crucial responsibilities of data processing, logical operations, motion control command issuance, and coordinated scheduling of various subsystems. It is responsible for receiving feedback data from vision sensors and recognition modules, processing it through complex algorithms, and then sending precise motion trajectories and operation commands to the industrial robot and servo tightening axis. This achieves intelligent control of the system, integrating dispersed hardware devices into an organic whole, ensuring seamless connection and efficient operation of global positioning, precise alignment, tightening operations, and data traceability.

[0033] In some embodiments of this application, a 3D global positioning camera is positioned above the vehicle body conveyor line to acquire overall images of the vehicle body and communicates with an industrial control computer. Since the vehicle body inevitably experiences positional deviations or tilting during transport, this camera, by acquiring overall point cloud data of the vehicle body, can calculate the actual pose deviation of the vehicle body relative to a standard coordinate system. This achieves coarse positioning, guiding the industrial robot to move quickly and accurately to the target area. It eliminates large-scale positional uncertainties caused by conveyor line vibrations or tooling errors, laying the foundation for subsequent precision operations.

[0034] In some embodiments of this application, a VIN code recognition module is used to recognize the VIN code of the vehicle body to be assembled and communicates with the industrial control computer. The VIN code is equivalent to a car's ID card, containing key information such as model, configuration, and production batch. This module empowers the production line to identify product identities, enabling the system to automatically retrieve corresponding assembly process parameters and bolt distribution data based on the identified specific vehicle model information. This supports mixed-model production on multiple lines, avoiding the tediousness and errors of manual program switching, and greatly improving the flexibility of the production line.

[0035] In some embodiments of this application, the industrial robot is connected to an industrial control computer. The robot's end effector, mounted at the end of the industrial robot, includes a hand-eye positioning camera and a servo tightening axis. The hand-eye positioning camera is a 3D camera used for close-range secondary positioning of the target fastener.

[0036] Among them, the hand-eye precision positioning camera, as a high-precision 3D vision sensor, is responsible for performing close-range secondary precise positioning of the target fastener after the robot reaches the target position, in order to eliminate microscopic deviations caused by vehicle body manufacturing tolerances; the servo tightening shaft is responsible for performing the final tightening process. The significance of this combination design lies in building a hand-eye collaborative operation mode. Through secondary visual compensation, it ensures perfect alignment between the tightening shaft and the bolt hole, achieving micron-level assembly accuracy and effectively preventing quality defects such as stripped threads and broken bolts.

[0037] In some embodiments of this application, the data traceability platform is connected to an industrial control computer. The industrial control computer is configured to: receive information from a 3D global positioning camera and a VIN code recognition module, and control the movement of an industrial robot; receive information from a hand-eye precision positioning camera, and control a servo tightening axis to perform tightening operations; and synchronize the tightening data bound to the VIN code to the data traceability platform.

[0038] Specifically, the data traceability platform connects to an industrial control computer, serving as the storage and management center for quality data. The industrial control computer deeply binds detailed data from each tightening operation, including torque values, angle values, and tightening time, with the vehicle's unique identification code (VIN), and simultaneously uploads this data to the platform. Its significance lies in establishing a full lifecycle quality traceability system.

[0039] If assembly quality issues arise during vehicle use, or if process stability needs to be analyzed during production, the tightness of each bolt can be precisely traced using the VIN code. This not only meets the stringent quality management requirements of the modern automotive industry but also provides valuable data support for continuous optimization of production processes.

[0040] In some embodiments of this application, the robot end effector also includes a force sensor module, which is connected in series between the servo tightening shaft and the industrial robot to provide real-time feedback of torque data during the tightening process. In this way, the torque data and axial pressure changes throughout the tightening operation can be monitored and fed back in real time at an extremely high sampling frequency, and the originally invisible physical interaction is converted into a quantifiable digital signal and transmitted to the industrial control computer.

[0041] First, it establishes a closed-loop control mechanism for the tightening process, enabling the system to no longer blindly execute the robot's position commands but to judge the tightening status based on the real-time feedback torque curve. For example, it can identify whether the bolt has been fully screwed in, whether the thread has stripped or jammed, and thus immediately stop the operation when abnormal resistance is detected. This effectively prevents bolt breakage due to over-tightening or connection failure due to under-tightening, greatly improving the safety and reliability of the assembly process.

[0042] Secondly, the force sensor module also undertakes the functions of contact detection and collision protection. When the robot moves at high speed or there are slight errors in visual positioning, once the end effector collides with the vehicle body unexpectedly, the force sensor can instantly detect the abnormal impact force and trigger an emergency stop signal, thereby protecting the expensive robot body, vision camera and vehicle body surface from damage.

[0043] Furthermore, the combination of torque data collected by this module with visual positioning data enables multi-sensor fusion, providing detailed physical basis for subsequent process parameter optimization and quality analysis, and further enhancing the system's adaptability to complex working conditions.

[0044] In some embodiments of this application, the industrial control computer is also configured to: after the tightening operation is completed, control the hand-eye positioning camera to perform visual re-inspection of the fastener, and combine the torque data fed back by the force sensor module to comprehensively judge the effectiveness of the tightening operation.

[0045] Specifically, the industrial control computer is further configured with in-depth quality judgment logic. This means that after the tightening operation is completed, the system does not immediately determine that the task is over, but automatically triggers a strict final inspection process. The industrial control computer first controls the hand-eye positioning camera at the end of the robot to perform a visual re-inspection of the fasteners that have just been tightened. Through close-range high-precision 3D imaging, it accurately captures the final height of the bolt or nut relative to the workpiece surface, whether there are any omissions, whether there is any skewing, and whether the mounting surface fits properly, among other appearance and geometric features.

[0046] Simultaneously, the industrial control computer retrieves and analyzes the real-time torque data and axial pressure curve fed back by the force sensor module throughout the entire tightening cycle. The industrial control computer performs multi-dimensional cross-verification and comprehensive logical judgment on the geometric state information obtained from visual inspection and the mechanical characteristic data fed back by the force sensor. Only when the visual image shows that the installation position is correct and the torque curve meets the preset standard process window will the system finally determine that the tightening operation is valid.

[0047] In this way, a dual-insurance quality control system is constructed, which completely overcomes the limitations of a single inspection method. For example, relying solely on torque may overlook false torque caused by bolt misalignment or stripped threads, while relying solely on vision cannot determine the tightness of the internal thread engagement. Through this deep integration of vision and force perception, zero-defect control of assembly quality is achieved, ensuring that the connection of every bolt is foolproof.

[0048] In some embodiments of this application, both the 3D global positioning camera and the hand-eye precision positioning camera are binocular vision cameras.

[0049] Specifically, a binocular vision camera is essentially a passive 3D imaging device. Its core principle is a highly biomimetic stereoscopic vision mechanism that mimics the human eye. The device is equipped with two imaging lenses with identical parameters and fixed relative positions. During operation, the left and right cameras simultaneously capture images of the same target scene. Utilizing the pixel offset (parallax) generated by the same object's feature points in the two images, combined with a sophisticated triangulation geometric model and dense pixel matching algorithm, the depth distance and 3D spatial coordinates of each pixel are accurately calculated, thus completing the conversion from a 2D planar image to 3D spatial data.

[0050] For 3D global positioning cameras installed above the conveyor line, binocular vision technology enables rapid, non-contact acquisition of the entire vehicle's 3D point cloud data at a macroscopic level. This allows for precise calculation of the vehicle's 3D pose changes caused by manufacturing tolerances or conveyor line deviations, providing a reliable global spatial reference for the large-scale movement of industrial robots. For hand-eye positioning cameras installed at the robot's end effector, binocular vision technology endows the system with the ability to perform high-precision measurements at a microscopic level. After the robot reaches the target area, the end-effector binocular camera can capture the 3D contour and depth information of the target fastener at close range, accurately calculating the actual spatial position and orientation angle of the bolt holes.

[0051] This dual-stage binocular vision camera combination design not only overcomes the limitations of traditional mechanical rigid positioning and achieves adaptive deviation compensation during assembly, but also boasts significant advantages such as non-contact measurement, high-fidelity texture acquisition, and high cost-effectiveness. It ensures that the system obtains high-quality, high-precision 3D spatial data in both global guidance and final fine alignment stages, thereby fundamentally eliminating assembly defects such as mis-tightening, missed tightening, and stripped threads. This significantly improves assembly accuracy, production efficiency, and overall intelligence level in automotive assembly lines operating in multi-model mixed-line production environments.

[0052] In some embodiments of this application, the servo tightening shaft is equipped with a quick-change disc or quick-change flange to adapt to tightening sleeves of different specifications, so as to support mixed-line production of fasteners of multiple vehicle models and specifications, and build a standardized, automated and highly flexible tool switching platform to achieve rapid and accurate adaptation and replacement of tightening sleeves of different specifications.

[0053] First, quick-change discs or quick-change flanges solve the physical compatibility problem of diverse fastener specifications in multi-model mixed-line production. On the Hyundai automotive assembly line, due to the implementation of the vehicle platform strategy, multiple models such as sedans, SUVs, and MPVs often flow simultaneously on the same production line. The specifications of bolts and nuts used in different models, and even different parts of the same model, vary greatly, and the corresponding tightening sleeve size, interface shape, and length requirements are also different.

[0054] Traditional fixed tightening shafts often require manual downtime for tool replacement in such situations, resulting in extremely low efficiency. However, with the introduction of quick-change discs, servo tightening shafts can automatically complete the gripping and release of different sleeves in a very short time through standardized mechanical interfaces and pneumatic or electric locking mechanisms, without manual intervention. This physically opens up assembly channels for fasteners of various specifications.

[0055] Secondly, this design greatly improves the flexibility and production cycle of the production line. The quick-change disc not only has mechanical connection functions, but also usually integrates air circuits, electrical circuits and signal transmission channels to ensure that after the sleeve is changed, the torque control signal and power output of the servo tightening shaft can be transmitted to the new sleeve without loss and stably.

[0056] This means that when the body conveyor delivers vehicles with different configurations to the workstation, the system can instruct the robot to automatically move to the tool library based on the VIN code recognition result. The robot can then instantly switch to the specific sleeve required for the current vehicle model via a quick-change disc and immediately begin operation. This "change-and-use" capability significantly reduces the auxiliary time caused by vehicle model changes, eliminates production bottlenecks, and enables the production line to handle the customized production needs of "small batches and multiple varieties" with extremely high efficiency.

[0057] Finally, the application of quick-change discs or flanges significantly reduces equipment maintenance costs and operational complexity. Standardized flange interfaces reduce the risk of thread wear or loosening caused by frequent manual disassembly and assembly, ensuring the coaxiality and connection rigidity between the tightening shaft and the sleeve, thereby ensuring the long-term stability of tightening accuracy. Simultaneously, the modular sleeve management approach makes the tool library layout more compact and orderly, facilitating centralized system management and status monitoring.

[0058] In summary, this design is a key component in achieving a high degree of automation, intelligence, and flexibility in automotive assembly lines. It endows the tightening system with strong environmental adaptability, ensuring that every fastener can be assembled accurately and efficiently in complex and ever-changing production scenarios.

[0059] In some embodiments of this application, the system further includes a human-machine interaction unit connected to an industrial control computer, used to display visual coordinate data, the position and posture data of the tightened object, and the tightening result, providing on-site operators and equipment managers with an intuitive, transparent and efficient visual monitoring window.

[0060] First, the human-computer interaction unit breaks down the barriers between machine algorithms and human cognition, enabling the intuitive presentation of complex data. The system transforms the abstract numbers calculated by the industrial control computer in the background using vision cameras and sensors into an easy-to-understand graphical interface. It can display visual coordinate data on the screen in real time, allowing operators to clearly see the deviation between the spatial reference currently identified by the system and the theoretical coordinates. Simultaneously, it can dynamically display the precise position and orientation data of the tightened object, such as the three-dimensional coordinates and tilt angle of the bolt holes. This real-time visual feedback makes the previously invisible "machine vision" visible to the naked eye, greatly enhancing the transparency of the system's operating status.

[0061] Secondly, this unit plays a crucial role in providing real-time feedback on tightening results and handling production anomalies. Once the servo tightening axis completes its operation, the human-machine interface unit immediately displays the tightening results, such as using a prominent color to indicate whether the current bolt tightening status is qualified or unqualified, and simultaneously displays key process parameters such as torque curves and angle values.

[0062] If an abnormality occurs, such as tightening failure, stripped threads, or missed tightening, operators do not need to consult complex background logs. They can simply use the interactive interface to clearly understand the specific location and cause of the fault. This significantly reduces the time for troubleshooting and handling abnormalities, enabling on-site personnel to quickly take intervention measures or carry out rework, thereby ensuring the continuity of production cycle.

[0063] Finally, the human-machine interface unit also endows the system with extremely high operational flexibility and convenient parameter management. Operators can interact bidirectionally with the industrial control computer through this unit. For example, when encountering special assembly requirements or emergency line changes, they can manually fine-tune visual positioning parameters or switch tightening process recipes through the interactive interface without modifying the underlying code. This not only lowers the technical threshold for on-site operators, making daily equipment monitoring, parameter setting, and process verification more convenient and efficient, but also provides production managers with real-time production dashboards, helping the workshop achieve lean and digital on-site management.

[0064] In some embodiments of this application, the industrial control computer has a vehicle model process database pre-set to store fastener specifications and corresponding tightening process parameters for different vehicle models.

[0065] First, this database acts as the system's brain and memory, centrally storing detailed specifications of all fasteners across different car models and configurations, along with precisely matched tightening process parameters. In modern automotive manufacturing, due to the widespread application of platform strategies, multiple car models are often produced on the same assembly line. Furthermore, the bolt materials, sizes, and strength grades used in different parts of the same car model (such as the chassis, engine compartment, and interior) vary, resulting in significant differences in required process parameters such as torque, rotation angle, speed, and holding time. The vehicle model process database provides structured and digitalized unified management of this complex and critical production data, completely breaking the limitations of traditional single-parameter models.

[0066] In actual operation, when the VIN code recognition module scans the vehicle body information that is about to enter the work station, the industrial control computer will immediately perform a quick search and matching in the vehicle model process database, automatically retrieve the exclusive tightening process parameters required for the specific vehicle model and the current assembly position, and send them to the servo tightening axis for execution in real time.

[0067] This process represents a fundamental shift from human-driven process selection to automatic process matching by the system. It not only significantly reduces equipment debugging and downtime during the switching between different vehicle models and eliminates the risk of manually selecting incorrect process parameters, but also enables the production line to cope with complex and ever-changing market customization demands with extremely high cycle times and extremely low error rates.

[0068] Finally, the vehicle model process database transforms tacit knowledge, previously reliant on individual engineers' experience or paper process cards, into a core digital asset for the enterprise. As production data accumulates, engineers can compare and analyze historical parameters with actual tightening results in the database, continuously optimizing and iterating tightening strategies. This not only ensures high consistency and reliability in assembly quality but also provides standardized data templates for the rapid introduction of new models and process verification, significantly enhancing the intelligent manufacturing level and core competitiveness of the entire automotive assembly plant.

[0069] In some embodiments of this application, reference is made to Figure 1 This demonstrates the complete working logic and data flow of an automated automotive bolt assembly system. The process begins at the body conveyor line and the stage where the body is to be assembled, which is the basic input for the entire physical operation. Once the body arrives at its designated station via the conveyor line, the system initiates two key information acquisition actions in parallel: firstly, a 3D global positioning camera scans the body to obtain its macroscopic spatial position information; secondly, a VIN code recognition module reads the body's unique identification identifier to confirm the vehicle configuration. The visual coordinate data and vehicle identification information collected in these two stages are then aggregated and transmitted to the industrial control computer, or main control unit, which serves as the core control hub.

[0070] As the brain of the entire system, the industrial control computer (ICC) processes and makes decisions after receiving data from the 3D global positioning camera and VIN code recognition module. First, it retrieves the corresponding process parameters based on the VIN code information and, combined with the global deviation data provided by the 3D camera, plans the initial motion path of the industrial robot. Then, the ICC sends commands to the robot body, driving it to move to the target work area. After the robot reaches the predetermined position, the composite device installed at its end effector begins to work. This device integrates a hand-eye positioning camera and a servo tightening axis. The hand-eye positioning camera performs close-range, high-precision imaging of specific fastener hole positions, calculates local posture deviations, and feeds the data back to the ICC for final trajectory compensation and correction.

[0071] After visual guidance and trajectory correction, the industrial control computer controls the servo tightening axis to perform the actual tightening operation. This process not only includes physical tightening actions but also involves data generation and transmission. Once the tightening operation is complete, relevant quality data such as torque and angle are bound to the previously identified VIN code, forming a complete quality profile. This bound data is uploaded to a data traceability platform, enabling full lifecycle management of production quality. Simultaneously, the flowchart also includes a feedback loop from the end effector to the vehicle body conveyor line. This suggests that the system may trigger the next action on the conveyor line after the operation is completed, or indicate a closed-loop confirmation of the operation status, thereby ensuring the continuity and integrity of the entire assembly process.

[0072] In some embodiments of this application, reference is made to Figure 2 The system demonstrates the workflow of dual-camera visual positioning and deviation compensation: After the process is started, once the vehicle body is in place, the system first reads the vehicle information by recognizing the VIN code; then, it uses a 3D global camera to perform coarse positioning and calculate the initial deviation, guiding the robot to move to the work area; subsequently, it uses an end-effector hand-eye camera to perform fine positioning and precise scanning of hole positions; finally, the system fuses and compensates the deviation data from the two cameras, and after completing the final positioning, it automatically enters the tightening process.

[0073] In some embodiments of this application, reference is made to Figure 3 The assembly structure of the tightening actuator and vision module is shown: the robot end flange serves as the interface, and two functional branches are separated by the connecting mounting plate; one side directly integrates a hand-eye precision positioning camera for visual guidance, and the other side sequentially connects a servo tightening shaft module, a force sensor module, and a tightening sleeve, thus forming a robot end-effector system that integrates precise positioning, servo drive, torque monitoring, and tightening execution.

[0074] In some embodiments of this application, reference is made to Figure 4 This document presents an example of the interface of the bolt tightening quality traceability system provided in this application. The process begins at the top level of the system, the "bolt tightening quality traceability system," which serves as the entry point for the entire data management platform. When a user or the system initiates a query request, two key index pieces of information are first entered: the vehicle's unique identification number (VIN), exemplified in the image as LHGCP1685P2003456; and the specific vehicle model code, exemplified in the image as SUV-0375. These two pieces of information constitute the basic dimensions of traceability, ensuring that each set of tightening data can accurately correspond to a specific vehicle and production batch, achieving precise positioning from the macro-level vehicle model to the micro-level individual.

[0075] After the vehicle identity is determined, the system will further associate the specific execution status of this operation with the timestamp. As shown in the process, for the vehicle with this VIN code, the system records the status determination of whether the tightening result is qualified or unqualified, which directly reflects the final conclusion of the assembly quality. At the same time, the system also records the tightening time accurate to the second. The example in the figure is 14:30:25 on June 17, 2026. This link combines the abstract quality results with specific time nodes, which not only facilitates production managers to monitor the production progress and pass rate of the day in real time, but also provides a basis for troubleshooting quality problems in the time dimension for subsequent possible quality problems, ensuring the controllability of the production process.

[0076] Subsequently, the system deeply integrates the above identity information, status information with specific process parameters to form a complete trace record. This record contains the core physical quantity data: the torque value is 125.5 N·m, the angle is 285°, and the positioning deviation reflecting the assembly accuracy is 0.02mm. These high-precision process parameters are summarized in the historical data list to build a detailed electronic file. This means that the system not only focuses on the result of "whether it is tightened", but also on the process details of "how it is tightened". By quantifying indicators, it comprehensively restores the real working conditions of the assembly site and provides solid data support for quality analysis.

[0077] Finally, based on the generated historical data list, the system provides three flexible data processing and output methods to meet different business needs. Users can choose to export data so as to integrate quality information into other management systems or conduct in-depth offline analysis; they can also choose to print reports to generate paper vouchers for archiving or delivery with the vehicle; in addition, the system also provides a clearing query function, allowing users to reset the interface after completing a trace task and quickly start the next query. This closed-loop design greatly improves the usability and practicality of the system, enabling the quality traceability work to be carried out efficiently and orderly at the production site or management department.

[0078] Secondly, the embodiment of the present application provides an automobile bolt positioning and deviation compensation method, which is applied to the automobile bolt positioning and deviation compensation system as described above, and includes the following steps: Step S100, after the to-be-assembled body arrives, read the vehicle model information through the VIN code recognition module, and collect the body image through the 3D global positioning camera, and calculate the global position deviation of the body.

[0079] In step S100, after the assembled vehicle body is in place, the vehicle model information is read through the VIN code recognition module, and the vehicle body image is acquired through a 3D global positioning camera to calculate the global positional deviation of the vehicle body. This step is the digital identity authentication and macroscopic spatial benchmark establishment stage of the entire automated assembly process. The role of the VIN code recognition module is to give the system the ability of "identity recognition," enabling it to clearly identify which vehicle model and configuration is at the current workstation, thereby providing a unique index for subsequent retrieval of specific process parameters.

[0080] Meanwhile, a 3D global positioning camera performs a full scan of the vehicle body. Its core significance lies in overcoming random positional errors and attitude deviations that occur on the transport line. Since the vehicle body inevitably undergoes translation or rotation during transportation, this step calculates the global positional deviation, correcting the vehicle body from a "physically random parking" state to a "known state in the digital coordinate system." This provides the industrial robot with precise global guidance coordinates, ensuring that the robot can accurately move from its standby position to the target work area, avoiding the risks of blind searching or collisions.

[0081] In step S200, the industrial control computer controls the industrial robot to move to the working area of ​​the target fastener based on the global position deviation.

[0082] In step S200, the industrial control computer controls the industrial robot to move to the working area of ​​the target fastener based on the global position deviation. This step realizes robot path planning and execution based on macroscopic vision guidance. Its significance lies in converting the spatial deviation calculated by the vision system into motion commands for the robot, eliminating the excessive reliance of traditional automated production lines on high-precision tooling fixtures.

[0083] Through this step, the industrial robot no longer mechanically repeats the taught points, but can adaptively adjust according to the actual parking posture of the vehicle body, flexibly plan the optimal path, and quickly and safely reach the work area near the target fastener. This not only significantly improves the system's flexibility, enabling it to adapt to the cycle time requirements of mixed production lines for different vehicle models, but also effectively avoids robot motion interference caused by vehicle body position deviations, laying a solid physical foundation for subsequent high-precision and fine-tuning operations.

[0084] In step S300, a local image of the target fastener is acquired by the hand-eye positioning camera at the end of the robot, and the local posture deviation of the fastener is calculated.

[0085] In step S300, a local image of the target fastener is acquired using a hand-eye precision positioning camera at the robot's end effector, and the local posture deviation of the fastener is calculated. This step is a core guarantee of assembly accuracy. Although global positioning solves the overall position problem of the vehicle body, manufacturing tolerances, welding deformation, and machining errors of the fastener hole positions themselves still exist. These micron- or millimeter-level local deviations cannot be captured by the global camera. The hand-eye precision positioning camera, through close-range shooting, can accurately identify the actual center coordinates, tilt angle, and depth information of the target bolt hole.

[0086] This step can accurately calculate the local posture deviation of the fastener relative to the theoretical position, thereby guiding the robot to make the final posture correction, ensuring that the tightening shaft and the bolt hole are perfectly coaxial, fundamentally eliminating stripping, skewing or equipment damage caused by forcibly aligning the holes, and ensuring high precision and high reliability of assembly.

[0087] In step S400, the industrial control computer retrieves the corresponding target tightening parameters from the pre-stored vehicle process database based on the read vehicle model information and fastener specifications, and performs compensation and correction based on ambient temperature and / or fastener material.

[0088] In step S400, the industrial control computer, based on the read vehicle model information and fastener specifications, retrieves the corresponding target tightening parameters from the pre-stored vehicle model process database, and performs compensation and correction based on ambient temperature and / or fastener material, demonstrating the intelligence and environmental adaptability of process control. Its function is to ensure the scientific nature and dynamic optimization of the tightening strategy. Different vehicle models and different assembly parts have drastically different requirements for bolt preload; the system ensures the standardization of process execution by calling standard parameters from the database.

[0089] More importantly, this step incorporates a compensation mechanism for ambient temperature and material properties, a detail of immense engineering value. Because metals expand and contract with temperature changes, and the coefficient of friction varies with temperature, applying only the standard torque may result in insufficient or excessive clamping force. Through real-time correction, the system can offset physical interference from environmental factors, ensuring that each bolt receives accurate axial clamping force under all operating conditions, thereby guaranteeing the connection strength and safety of the vehicle body structure.

[0090] In step S500, the industrial control computer integrates global position deviation and local attitude deviation to compensate for the trajectory of the industrial robot, and controls the servo tightening axis to perform tightening operation according to the corrected target tightening parameters.

[0091] In step S500, the industrial control computer integrates global position deviation and local attitude deviation to compensate for the trajectory of the industrial robot, and controls the servo tightening axis to perform the tightening operation according to the corrected target tightening parameters. This step is the core of the entire method, realizing closed-loop control operation under multi-source information fusion, and transforming the previous visual perception data and process parameters into the final physical action.

[0092] By integrating both global and local deviation data, the industrial computer can generate a corrected trajectory with real-time compensation, guiding the servo tightening axis to contact the bolt in the optimal posture. During tightening, the servo axis performs precise torque and angle control based on the corrected parameters. This process completely abandons the traditional rigid automation mode, realizing flexible assembly through "eye-hand collaboration." It ensures both the accuracy of the robot's movements and the strict implementation of tightening process parameters, achieving high-quality, zero-defect automated tightening operations.

[0093] Step S600: Bind the data generated by the tightening operation with the VIN code and upload it to the data traceability platform.

[0094] Step S600 digitizes and makes the manufacturing process transparent. The system not only performs the tightening action but also binds and stores key data from each operation (such as final torque value, angle value, tightening time, and operation result) with the vehicle's unique identification number (VIN). This means that every car rolling off the production line has a detailed "electronic medical record," and the assembly quality of every single bolt is traceable. This has immeasurable value for subsequent quality management, after-sales maintenance, and liability determination.

[0095] Meanwhile, the massive amounts of data uploaded to the data traceability platform also provide solid data support for the factory's big data analysis, process optimization, and predictive maintenance, driving the manufacturing system towards industrial intelligence.

[0096] Furthermore, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the aforementioned method for positioning and compensating for deviations of automotive bolts.

[0097] Furthermore, this application provides a vehicle in which the vehicle body fasteners are assembled using the aforementioned automotive bolt positioning and deviation compensation method.

[0098] In summary, the automotive bolt positioning and deviation compensation system, method, equipment, and vehicle provided in this application have the following technical effects.

[0099] First, the system achieves a high degree of flexibility and intelligence in multi-model mixed-line production. Through deep integration between the VIN code recognition module and the vehicle model process database, the system can automatically retrieve the corresponding fastener specifications and tightening process parameters based on the identified vehicle model information, and automatically switch tightening sleeves in conjunction with a quick-change disc. This design breaks the dependence of traditional rigid production lines on a single vehicle model, enabling seamless compatibility of mixed assembly of multiple vehicle models on the same production line, significantly shortening the auxiliary time for vehicle model changeovers, and effectively meeting the customized production needs of small batches and multiple varieties in modern automobile manufacturing.

[0100] Secondly, the system significantly improves assembly accuracy and success rate through dual global and local visual positioning. This innovative solution employs a two-stage visual guidance strategy combining a 3D global positioning camera and a hand-eye precision positioning camera. First, the global camera eliminates macroscopic positional deviations of the vehicle body on the conveyor line, guiding the robot to quickly reach the work area. Then, the hand-eye precision positioning camera captures microscopic posture deviations of the bolt holes and performs precise trajectory compensation. This coarse-to-fine positioning method effectively solves the problem of bolt hole position deviations caused by vehicle body manufacturing tolerances, welding deformation, and conveying errors, ensuring perfect coaxiality between the tightening shaft and the bolt hole. This fundamentally avoids stripping, misalignment, or equipment damage caused by forced hole tightening, raising the tightening pass rate to an extremely high level.

[0101] Meanwhile, the system incorporates environmental and material compensation mechanisms to ensure the reliability and consistency of the tightening process. Unlike traditional operation modes that only execute at a fixed torque, the system introduces compensation and correction steps for ambient temperature and fastener material in its process control. It can dynamically adjust the target tightening parameters based on real-time ambient temperature and bolt material characteristics, thereby offsetting the effects of metal thermal expansion and contraction and changes in the coefficient of friction on the preload. This design ensures that each bolt receives accurate axial clamping force under different operating conditions, effectively preventing bolt breakage due to excessive preload or loosening due to insufficient preload, greatly guaranteeing the connection strength of the vehicle body structure and the long-term operational safety of the vehicle.

[0102] Finally, the system constructs a full-process digital traceability system, achieving transparency and traceability in quality management. The system establishes a binding mechanism between tight data and the vehicle's unique identification number (VIN), and uploads all operational data to the data traceability platform in real time. This not only creates a detailed electronic medical record for every vehicle rolling off the production line, achieving full lifecycle quality traceability from raw materials to finished products, and providing solid data support for after-sales maintenance and liability determination; it also provides factory management with real-time production dashboards, helping enterprises utilize big data for process optimization, fault prediction, and lean management, thus driving the automotive manufacturing industry towards digitalization and intelligence.

[0103] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards of the relevant countries and regions. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirects to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data for the proper functioning of the embodiments of this application obtained.

[0104] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this application are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0105] Furthermore, although this application is described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding this application. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of ordinary skill of an engineer. Therefore, those skilled in the art can implement the application set forth in the claims using ordinary skill. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of this application, which is determined by the full scope of the appended claims and their equivalents.

[0106] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several programs to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0107] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequential list of executable programs for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, a program execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can retrieve and execute a program from or in conjunction with such a program execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can mean any means that can contain, store, communicate, propagate, or transmit a program for use by or in conjunction with a program execution system, apparatus, or device.

[0108] More specific examples (a non-exhaustive list) of computer-readable media include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or, if necessary, processing in a suitable manner, and then stored in computer memory.

[0109] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable program execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0110] In the foregoing description of this specification, the reference to terms such as "one embodiment / implementation," "another embodiment / implementation," or "certain embodiments / implementations," etc., indicates that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in an embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0111] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

[0112] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A system for positioning and compensating for deviations of automotive bolts, characterized in that, include: Body conveyor line, used to transport bodies to be assembled; The industrial computer serves as the main control unit; A 3D global positioning camera is installed above the vehicle body conveyor line to capture an overall image of the vehicle body and is connected to the industrial control computer. The VIN code recognition module is used to recognize the VIN code of the vehicle body to be assembled and is connected to the industrial control computer for communication. An industrial robot is connected to the industrial control computer; The robot end effector, installed at the end of the industrial robot, includes a hand-eye positioning camera and a servo tightening axis; the hand-eye positioning camera is a 3D camera used for close-range secondary positioning of the target fastener. The data traceability platform is connected to the industrial control computer; The industrial control computer is configured to: receive information from the 3D global positioning camera and the VIN code recognition module, and control the movement of the industrial robot; receive information from the hand-eye precision positioning camera, and control the servo tightening axis to perform tightening operations; and synchronize the tightening data bound to the VIN code to the data traceability platform.

2. The automotive bolt positioning and deviation compensation system according to claim 1, characterized in that, The robot end effector also includes a force sensor module, which is connected in series between the servo tightening shaft and the industrial robot to provide real-time feedback of torque data during the tightening process.

3. The automotive bolt positioning and deviation compensation system according to claim 2, characterized in that, The industrial control computer is also configured to: after the tightening operation is completed, control the hand-eye precision positioning camera to perform visual re-inspection of the fasteners, and combine the torque data fed back by the force sensor module to comprehensively judge the effectiveness of the tightening operation.

4. The automotive bolt positioning and deviation compensation system according to claim 1, characterized in that, Both the 3D global positioning camera and the hand-eye precision positioning camera are binocular vision cameras.

5. The automotive bolt positioning and deviation compensation system according to claim 1, characterized in that, The servo tightening shaft is equipped with a quick-change disc or quick-change flange to adapt to tightening sleeves of different specifications, so as to support mixed-line production of fasteners of multiple vehicle models and specifications.

6. The automotive bolt positioning and deviation compensation system according to claim 1, characterized in that, It also includes a human-computer interaction unit, which is connected to the industrial control computer and is used to display visual coordinate data, the position and posture data of the tightened object, and the tightening result.

7. The automotive bolt positioning and deviation compensation system according to claim 1, characterized in that, The industrial control computer has a pre-set vehicle model process database, which is used to store the fastener specifications and corresponding tightening process parameters for different vehicle models.

8. A method for positioning and compensating for deviations of automotive bolts, applied to the automotive bolt positioning and deviation compensation system as described in any one of claims 1 to 7, characterized in that, Includes the following steps: After the vehicle body is assembled in place, the vehicle model information is read through the VIN code recognition module, and the vehicle body image is captured by the 3D global positioning camera to calculate the global position deviation of the vehicle body. The industrial control computer controls the industrial robot to move to the working area of ​​the target fastener based on the global position deviation. The robot uses a hand-eye positioning camera at its end to capture local images of the target fastener and calculate the local attitude deviation of the fastener. The industrial control computer retrieves the corresponding target tightening parameters from the pre-stored vehicle process database based on the read vehicle model information and fastener specifications, and performs compensation and correction based on ambient temperature and / or fastener material. The industrial control computer integrates the global position deviation and local attitude deviation to compensate for the trajectory of the industrial robot, and controls the servo tightening axis to perform tightening operations according to the corrected target tightening parameters. The data generated during the tightening operation is bound to the VIN code and uploaded to the data traceability platform.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the automotive bolt positioning and deviation compensation method as described in claim 8.

10. A vehicle, characterized in that, The vehicle body fasteners are assembled using the automotive bolt positioning and deviation compensation method as described in claim 8.

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