A mechanical hand for assisting automatic dismounting and handling of a vehicle door

Abstract

This invention relates to the field of vehicle door disassembly technology, and particularly to a robotic arm for assisting in the automatic disassembly and handling of vehicle doors. The device comprises four ultra-wideband signal receivers positioned at the corners of the suction cup assembly frame, and four corresponding active positioners placed on the vehicle body surface. This method eliminates the need for the positioners and receivers to be coplanar, adapting to complex conditions where the curved surface of the vehicle door is not parallel to the suction cup plane, and achieving sub-millimeter accuracy. The control module uses the maximum deviation between the real-time distance and the original distance as the adjustment basis, employing a segmented control strategy: when the deviation is >5mm, the robotic arm moves rapidly and significantly at a speed of 50mm / s; when the deviation is between 1 and 5mm, it automatically reduces the speed to 5mm / s for fine-tuning; when the deviation is ≤1mm, a successful reset is determined. The signal processing unit utilizes Kalman filtering to suppress ranging noise and multipath interference, balancing efficiency and accuracy, reducing low-speed oscillations under large deviations and overshoot under small deviations, significantly improving the automation cycle time and stability of vehicle door installation.

Description

Technical Field

[0001] This invention relates to the field of vehicle door disassembly technology, and in particular to a robotic arm for assisting in the automatic disassembly, assembly, and handling of vehicle doors. Background Technology

[0002] In automobile assembly lines and body repair workshops, the disassembly, assembly, and handling of car doors are critical processes characterized by high repetition and labor intensity. Traditionally, this process relies heavily on manual operation: one or more workers hold the door while another uses electric or pneumatic tools to remove / install hinge bolts, then the door is moved to a storage rack or reassembled. However, with the increasing lightweight design of automobiles and the higher integration of car doors (such as embedded window regulators, speakers, and wiring harnesses), a single car door can weigh 20-40 kg, and its surface is often finished with high-gloss paint or a protective film, making it extremely susceptible to scratches. This manual operation mode is increasingly revealing systemic deficiencies in terms of efficiency, precision, and safety. After a car door is disassembled, it is difficult to accurately return it to its original position during installation due to the elastic deformation of the hinges, the compression and rebound of the bolt washers, and the weight of the door itself. Workers usually lift the door to the vicinity of the side hinges of the car body, visually inspect the gaps and align the bolt holes, and then make multiple fine adjustments until all bolts can be inserted smoothly. The entire process often requires repeated "trial assembly-adjustment-trial assembly," consuming a lot of unnecessary labor time, and frequent bumps can easily cause scratches and paint chips on the edges of the door or the paint surface of the car body. Even when using laser or vision sensors for positioning, recognition is often unstable due to light, obstructions, and reflections from curved surfaces, and the system needs to be recalibrated every time the car model is changed, making it impossible to achieve "disassembly and reassembly in one go."

[0003] Existing automation solutions (such as ordinary industrial robots grasping car doors) can complete the transportation task, but once the door is removed and moved, its precise spatial pose relative to the car body hinges is completely lost. During reinstallation, the robot can only rely on offline programming or taught points, and cannot actively perceive the deviation between the current pose and the original pose, let alone correct it online. This means that even if it was perfectly aligned before disassembly, it cannot automatically return to the same position after transportation, and still requires manual intervention or the addition of secondary positioning fixtures.

[0004] In traditional operations, multiple processes such as disassembling, moving, storing, retrieving, aligning, and tightening car doors are completed in stages by different personnel or with different tools, resulting in significant waiting and auxiliary time. Especially in the tightening stage, ordinary wrenches or impact tools used by workers are difficult to precisely control torque, easily leading to under-tightening (loosening of bolts) or over-tightening (damaging of threads). Furthermore, it is impossible to record the tightening curve of each bolt, hindering quality traceability. At the same time, workers face occupational health risks such as lumbar strain and finger injuries from prolonged heavy lifting.

[0005] Therefore, this invention proposes a robotic arm for assisting in the automatic disassembly, assembly, and handling of vehicle doors. Summary of the Invention

[0006] The technical problem to be solved: After disassembly, the door is difficult to reinstall accurately due to the elastic deformation of the hinges, the compression and rebound of the bolt washers, and the door's own weight. Workers usually lift the door to the vicinity of the side hinges of the vehicle body, visually inspect the gaps and align the bolt holes, and then make multiple fine adjustments until all bolts can be inserted smoothly. The entire process often requires repeated "trial assembly-adjustment-trial assembly," consuming a lot of unnecessary labor time, and frequent bumps can easily cause scratches and paint chips on the door edges or the paint surface of the vehicle body. Even when using laser or vision sensors for positioning, recognition is often unstable due to light, obstructions, and reflections from curved surfaces, and the system needs to be recalibrated every time the vehicle model is changed, making it impossible to achieve "disassembly and reassembly in one go."

[0007] Existing automation solutions (such as ordinary industrial robots grasping car doors) can complete the transportation task, but once the door is removed and moved, its precise spatial pose relative to the car body hinges is completely lost. During reinstallation, the robot can only rely on offline programming or taught points, and cannot actively perceive the deviation between the current pose and the original pose, let alone correct it online. This means that even if it was perfectly aligned before disassembly, it cannot automatically return to the same position after transportation, and still requires manual intervention or the addition of secondary positioning fixtures.

[0008] In traditional operations, multiple processes such as disassembling, moving, storing, retrieving, aligning, and tightening car doors are completed in stages by different personnel or with different tools, resulting in significant waiting and auxiliary time. Especially in the tightening stage, ordinary wrenches or impact tools used by workers are difficult to precisely control torque, easily leading to under-tightening (loosening of bolts) or over-tightening (damaging of threads). Furthermore, it is impossible to record the tightening curve of each bolt, hindering quality traceability. At the same time, workers face occupational health risks such as lumbar strain and finger injuries from prolonged heavy lifting.

[0009] Therefore, this invention proposes a robotic arm for assisting in the automatic disassembly, assembly, and handling of vehicle doors.

[0010] To address the shortcomings of existing technologies, this invention provides a robotic arm for assisting in the automatic disassembly, assembly, and handling of vehicle doors, thereby solving the technical problems mentioned in the background section.

[0011] To achieve the above objectives, the present invention provides the following technical solution: A robotic arm for assisting in the automatic disassembly, assembly, and handling of vehicle doors includes a multi-degree-of-freedom robotic arm and a positioner. The multi-degree-of-freedom robotic arm is equipped with a suction cup assembly and a control module. The control module includes a signal processing unit, a storage unit, and a motion control unit. It achieves full closed-loop pose control of the robotic arm by smoothing ranging data through Kalman filtering, retaining parameters and data in non-volatile memory, and using the EtherCAT bus.

[0012] In one possible implementation, the multi-degree-of-freedom robotic arm is an industrial-grade articulated robotic arm with six or more degrees of freedom of motion, and a suction cup assembly is fixedly mounted on its end flange.

[0013] In one possible implementation, the suction cup assembly includes a rigid frame, a vacuum suction cup, and four ultra-wideband signal receivers.

[0014] In one possible implementation, the suction cup assembly has a frame that is a vertically placed rectangular metal structure, with vacuum suction cups distributed in the center of the frame and arranged in a horizontal straight line.

[0015] In one possible implementation, the suction cup assembly has four receivers labeled q, w, e, and r, which are fixedly mounted at the four corners of the frame.

[0016] In one possible implementation, the control module has four positioners, which are labeled Q, W, E and R respectively.

[0017] In one possible implementation, the signal processing unit, storage unit, and motion control unit in the control module are integrated on an embedded control board.

[0018] In one possible implementation, the control module includes a signal processing unit that receives raw ranging data uploaded by four receivers, filters out environmental noise and abnormal jumps caused by multipath effects, and outputs a smooth and stable distance value.

[0019] In one possible implementation, the control module includes a non-volatile memory for storing the original positioning data measured during the disassembly phase.

[0020] In one possible implementation, the motion control unit in the control module communicates with the servo driver of the robotic arm via an EtherCAT bus, sends the calculated target pose increment to the robotic arm in real time, and receives the current pose feedback from the robotic arm, forming a fully closed-loop control.

[0021] Beneficial effects compared to existing technologies: 1. In this solution, four ultra-wideband signal receivers are placed at the corners of the suction cup assembly frame, and four corresponding active locators are placed at corresponding positions on the vehicle surface. Before disassembly, the control system accurately measures the spatial straight-line distance between each pair of receivers and locators using a two-way time-of-flight method, forming a unique distance fingerprint and storing it. During installation, the robotic arm adjusts its posture iteratively through a closed loop based on the deviations between the four sets of distances measured in real time and the original fingerprint, until all distance deviations converge to within ±1mm, thus perfectly reproducing the spatial posture before disassembly. This method does not require the locators and receivers to be coplanar, can adapt to complex working conditions where the curved surface of the car door is not parallel to the plane of the suction cup, and has an accuracy of sub-millimeter level. 2. In this solution, the control module uses the maximum deviation between the real-time distance and the original distance as the adjustment basis, employing a segmented control strategy: when the deviation > 5mm, the robotic arm moves rapidly and significantly at a speed of 50mm / s; when the deviation is between 1 and 5mm, it automatically reduces the speed to 5mm / s for fine-tuning; when the deviation ≤ 1mm, a successful reset is determined. Simultaneously, the signal processing unit uses Kalman filtering to suppress ranging noise and multipath interference, and the motion control unit receives real-time feedback on the robotic arm's pose via the EtherCAT bus, forming a fully closed-loop control. This strategy balances efficiency and accuracy, avoiding low-speed oscillations under large deviations and overshoot under small deviations, significantly improving the automation cycle time and stability of the door installation. 3. In this solution, a vacuum suction cup assembly (multiple suction cups with independent air supply, equipped with one-way valves and pressure sensors, ensuring that single-point failure does not affect overall adsorption) and disassembly / assembly tools (equipped with torque and angle sensors) are integrated at the end of a robotic arm. During the disassembly phase, the suction cups automatically memorize the position after adsorbing the car door, and then the disassembly / assembly tools disassemble the hinge bolts sequentially according to a preset program. After being transported to the storage rack, the suction cups maintain adsorption to ensure stable position. During the installation phase, after the position is reproduced, the disassembly / assembly tools automatically perform a pre-tightening followed by diagonal staged tightening process, releasing the vacuum after reaching the target torque. The entire process requires no manual intervention, simultaneously solving the three major processes of heavy door handling, high-precision repositioning, and bolt tightening. This significantly reduces the labor intensity of manual labor in automotive assembly or repair workshops, eliminates the risk of scratches caused by repeated trial assembly, and ensures the consistency and traceability of assembly torque. Attached Figure Description

[0022] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the control module structure of the present invention; Figure 3 This is a schematic diagram of the framework structure of the present invention; Figure 4 This is a schematic diagram of the locator placement structure of the present invention.

[0024] Legend: 11. Multi-freedom robotic arm; 12. Positioner; 13. Frame; 14. Vacuum suction cup; 15. Receiver; 16. Control module. Detailed Implementation

[0025] Preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention can also be implemented in various different forms, and therefore the present invention is not limited to the embodiments described below. The technical solution in this application embodiment is to solve the problems mentioned in the background art, and the overall idea is as follows:

[0026] Example: Please refer to Figures 1 to 4 As shown in the figure, this embodiment introduces a robotic arm for assisting in the automatic disassembly, assembly, and handling of vehicle doors. It includes a multi-freedom robotic arm 11 and a positioner 12. The multi-freedom robotic arm 11 is equipped with a suction cup assembly and a control module 16. This robotic arm aims to solve the problems of low efficiency, poor resetting accuracy, and easy scratching during manual operation in the disassembly, assembly, and handling of vehicle doors in the prior art. Through ultra-wideband ranging and closed-loop iterative control, it achieves the memorization of the spatial pose of the vehicle door before disassembly and accurate reproduction during installation, thereby significantly improving the automation level and assembly quality of the vehicle assembly or repair process.

[0027] The multi-freedom robotic arm 11 is an industrial-grade articulated robotic arm with six or more degrees of freedom of motion, and a suction cup assembly is fixedly mounted on its end flange. This robotic arm can translate along the X, Y, and Z rectangular coordinates, and can pitch, roll, and yaw around the three coordinate axes, thus enabling precise positioning in any spatial orientation. The robotic arm integrates a servo driver, an absolute encoder, and an EtherCAT bus communication interface, enabling it to receive target pose increment commands sent by the control module 16 and complete the motion with high dynamic response.

[0028] The suction cup assembly includes a rigid frame 13, several vacuum suction cups 14, and four ultra-wideband signal receivers 15. The frame 13 is a vertically placed rectangular metal structure, its dimensions matching the surface of the vehicle door to ensure uniform force during suction. The vacuum suction cups 14 are centrally located within the frame 13 and arranged horizontally in a straight line. Each suction cup is connected to an external vacuum source via an independent vacuum line, which includes a one-way valve and a pressure sensor to ensure sufficient suction even if a single suction cup fails during suction. The four receivers 15 are labeled q, w, e, and r, and are fixedly installed at or near the four corners of the frame 13, not on the same horizontal line, to provide sufficient spatial geometric constraints. Each receiver 15 incorporates an ultra-wideband signal receiving antenna, a high-precision clock counter, and a signal processing chip, enabling independent two-way time-of-flight ranging with its corresponding locator 12.

[0029] There are four locators 12, labeled Q, W, E, and R, which correspond one-to-one with four receivers 15: locator 12Q corresponds to receiver 15q, locator 12W to receiver 15w, locator 12E to receiver 15e, and locator 12R to receiver 15r. The locators 12 and receivers 15 are not necessarily located on the same plane. For example, locator 12Q may be attached to a point on the curved surface of a car door, while receiver 15q is fixed to the suction cup frame 13, creating a spatial height difference. This is crucial for the solution to adapt to situations where the curved surface of the car door is not parallel to the plane of the suction cup. Each locator 12 incorporates an active ultra-wideband signal transmission module, a high-precision clock counter, and a long-lasting battery. The transmission module sends out a time-stamped ranging request pulse signal at a fixed frequency (e.g., 10Hz). The transmission power can be adjusted within the range of 0dBm to -20dBm according to the electromagnetic environment to avoid multipath interference. The locator 12 has a magnetic base at its bottom, allowing it to quickly attach to the iron surfaces of the vehicle body or door. For all-aluminum bodies, it is secured with reusable medical-grade double-sided adhesive pads, leaving no residue after removal. Each receiver 15 can directly measure the linear distance (i.e., Euclidean distance) between itself and its corresponding locator 12. Furthermore, to increase redundancy, each receiver 15 can also measure distances to non-corresponding locators 12, but the core positioning is based on the distance values ​​of four sets of one-to-one corresponding points, as this correspondence best reflects the pose changes of the suction cup assembly relative to the door surface.

[0030] The control module 16 includes a signal processing unit, a storage unit, and a motion control unit. All units are integrated onto an embedded control board and sealed within a control box located on the side of the robotic arm base. The signal processing unit receives raw ranging data uploaded by four receivers 15 and uses a Kalman filter algorithm to filter out environmental noise and abnormal jumps caused by multipath effects, outputting a smooth and stable distance value. The storage unit is a non-volatile memory used to save the raw positioning data measured during the disassembly phase, as well as related process parameters (such as door model, bolt tightening torque, etc.). The motion control unit communicates with the robotic arm's servo driver via an EtherCAT bus, sending the calculated target pose increment to the robotic arm in real time and receiving feedback on the robotic arm's current pose, forming a fully closed-loop control.

[0031] Before disassembling the car door, the operator first controls the robotic arm to move the suction cup assembly to the predetermined suction position on the door to be disassembled, and activates the vacuum system to firmly attach the suction cup to the door. Then, based on the vertical projection positions of the four receivers 15 on the suction cup assembly onto the car door surface, four locators 12 are placed on a flat area around the suction cup on the car body surface. For example, each locator 12 has a magnetic base at its bottom for quick attachment to the car body surface; for aluminum alloy car bodies, reusable medical-grade double-sided adhesive pads are used. The locator 12 has a built-in active ultra-wideband signal transmission module with a transmission frequency of 10Hz and adjustable transmission power. The four receivers 15 are all ultra-wideband signal receiving and ranging modules, and each receiver 15 can independently measure the straight-line distance between itself and its corresponding locator 12. The ranging principle is based on two-way time of flight, with a ranging resolution of up to 0.1mm and a static ranging accuracy of ±0.5mm. All receivers 15 are electrically connected to the control module 16 via shielded cables. The control module 16 includes a signal processing unit, a storage unit, a motion control unit, and a closed-loop iteration unit. The signal processing unit uses a microcontroller with an ARM Cortex-M7 core, responsible for receiving raw ranging data uploaded by four receivers 15 and calculating a stable distance value after filtering out noise using a Kalman filter algorithm. The storage module is a non-volatile memory used to store the raw positioning data during the disassembly phase. The motion control module 16 communicates with the robotic arm controller via an EtherCAT bus, and can send the target pose increment to the robotic arm in real time. During the initial disassembly phase, after the suction cup assembly adhered to the vehicle door, staff confirmed that all four locators 12 were securely in place and without any looseness. The operator pressed the activation button on the control box, and the signal processing module immediately initiated a complete distance measurement. The measurement process used the two-way time-of-flight principle to calculate the straight-line spatial distance between the receiver 15 and the corresponding locator 12. Let the moment when the receiver 15 sends the distance measurement request signal be... The time when the locator 12 receives the signal is The moment when the locator 12 processes and replies with the response signal is The moment when receiver 15 receives the response signal is The speed of electromagnetic waves in air is (Pick The one-way propagation time of the signal between receiver 15 and locator 12 is .

[0032] ; The linear spatial distance d between receiver 15 and locator 12 is: ; Since the locator 12 and the receiver 15 are not necessarily on the same plane, the d calculated by this formula is the Euclidean straight-line distance (closest distance) between them, unaffected by the door's curvature or the suction cup's tilt angle. Each receiver 15 independently completes the above distance measurement process with its corresponding locator 12. According to the above formula, the control system sequentially reads the straight-line distance between each of the four receivers 15 and its corresponding locator 12, specifically: the distance between receiver 15q and locator 12Q is denoted as... The distance between receiver 15w and locator 12W is denoted as... The distance between receiver 15e and locator 12E is denoted as The distance between receiver 15r and locator 12R is denoted as . .

[0033] To improve robustness, the signal processing module performs five consecutive measurements, each 0.2 seconds apart, and then takes the arithmetic mean of each distance value as the final raw positioning data. The storage module stores these four sets of distance averages ( The data is locked and saved. These four sets of distance data uniquely characterize the current spatial pose of the suction cup assembly relative to the door surface (including three translational degrees of freedom and three rotational degrees of freedom). To enhance the system's anti-interference capability, cross distances (e.g., ...) are also measured and stored simultaneously. (etc.) are used as auxiliary verification data, but in the main control process, the positioning basis is still mainly the distance between the four sets of one-to-one corresponding points.

[0034] After completing the memory positioning, the control system drives the disassembly tool to remove all door hinge bolts sequentially. A typical door has four bolts: two on the upper hinge and two on the lower hinge. The disassembly tool is equipped with torque and angle sensors, and removes the bolts one by one according to a preset disassembly procedure, placing the removed bolts into a temporary storage box. Subsequently, the robotic arm transports the entire door to the designated door storage rack, with the suction cup assembly maintaining its magnetic attachment. Throughout this process, the four positioners 12 remain firmly attached to the original position of the door and must not be removed or displaced.

[0035] During the installation and reset phase, when the door needs to be installed, the robotic arm picks up the four locators 12 of the same door from the storage rack, still attached to the original position of the door, and moves it to the vicinity of the original body mounting opening. First, the signal processing module again controls the four receivers 15 to measure the real-time distance between them and their corresponding locators 12. Using the same measurement method as in the disassembly phase, and employing the aforementioned two-way time-of-flight formula, the real-time distance value is obtained by averaging five times. real time, real time, real time, real time.

[0036] Then, the motion control module 16 compares the real-time distance value with the original positioning data in the storage module one by one, and calculates the absolute value of the four corresponding distance differences: ; ; ; .

[0037] Find the maximum value among these four differences, and denote it as . . This is a quantitative indicator of the overall pose deviation of the current robotic arm end effector relative to its position before disassembly.

[0038] Motion control module 16 according to The size is controlled using a segmented strategy. When the distance difference is greater than 5mm, it indicates a large deviation. The motion control module 16 calculates the adjustment amount of the robotic arm's end effector in multiple degrees of freedom (X, Y, Z, pitch, roll, yaw) using a geometric calculation method based on the distribution pattern of the four sets of distance differences. (The specific algorithm is as follows: the four receivers 15 are considered as four feature points on a rigid body. Given the distance values ​​of the four corresponding points in the original state and the four distance values ​​in the current state, the optimal rigid body transformation, i.e., the rotation matrix and translation vector, is solved using least-squares fitting.) Subsequently, the motion control module 16 sends an adjustment command to the robotic arm at a linear velocity of 50mm / s, executing a large movement. When 1mm < When the deviation is ≤5mm, it indicates that the deviation has entered the fine-tuning range. The motion control module 16 automatically reduces the moving speed of the robotic arm to 5mm / s and reduces the single adjustment step size. After each movement, it waits 0.3 seconds to allow the system to stabilize before re-measuring. .when When the error is ≤1mm, the control system determines that the door has been reset to the same spatial position as before disassembly (with an error within 1mm).

[0039] After positioning, the control module 16 drives the disassembly and assembly tool to install all bolts sequentially according to the set tightening strategy (first pre-tightening all bolts, then tightening them diagonally in two stages to the target torque). The tightening torque is preset by the control module 16 based on the door model. During the installation process, the suction cup assembly remains attached until all bolts are tightened, at which point the vacuum is released and the robotic arm is removed.

[0040] Since the locator 12 and receiver 15 are not necessarily in the same plane, the measured distance is a straight-line distance in space. Four corresponding point pairs constitute four sets of spatial constraints. In the initial disassembly state, these four sets of distance values ​​form a distance fingerprint. When the suction cup assembly undergoes any translation or rotation relative to the car door, at least one distance value will change significantly. By simultaneously adjusting the six degrees of freedom of the robotic arm, the four sets of distance values ​​can be restored to their original values ​​simultaneously, thus uniquely determining the original pose of the suction cup relative to the car door. The advantage of this method is that it does not require the locator 12 and receiver 15 to be coplanar, adapting to various practical situations where the curved surface of the car door is not parallel to the plane of the suction cup. Furthermore, it has no special requirements for the geometric distribution of the receiver 15; whether rectangular, strip-shaped, or any other arbitrary distribution, as long as the four sets of correspondences are clear and the relative position of the receiver 15 on the suction cup is fixed, high-precision positioning can be achieved.

[0041] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A manipulator for assisting the automatic disassembly and handling of a vehicle door, comprising a multi-freedom robot arm (11) and a positioner (12), characterized in that, The multi-degree-of-freedom robotic arm is equipped with a suction cup assembly and a control module (16); The control module (16) includes a signal processing unit, a storage unit and a motion control unit. It achieves full closed-loop posture control of the robotic arm by smoothing the ranging data through Kalman filtering, retaining parameters and data in non-volatile memory, and using EtherCAT bus.

2. The robot as claimed in claim 1, wherein, The multi-degree-of-freedom robotic arm is an industrial-grade articulated robotic arm with six or more degrees of freedom of motion, and a suction cup assembly is fixedly installed on its end flange.

3. The robotic arm for assisting in the automatic disassembly and handling of vehicle doors as described in claim 1, characterized in that, The suction cup assembly includes a rigid frame (13), a vacuum suction cup (14), and four ultra-wideband signal receivers (15).

4. The robotic arm for assisting in the automatic disassembly and handling of vehicle doors as described in claim 3, characterized in that, In the suction cup assembly, the frame (13) is a vertically placed rectangular metal structure, and the vacuum suction cups (14) are distributed in the center of the frame (13) and arranged in a horizontal straight line.

5. A robotic arm for assisting in the automatic disassembly and handling of vehicle doors as described in claim 4, characterized in that, In the suction cup assembly, the four receivers (15) are labeled q, w, e and r respectively, and the receivers (15) are fixedly installed at the four corners of the frame (13).

6. The robotic arm for assisting in the automatic disassembly and handling of vehicle doors as described in claim 1, characterized in that, In the control module (16), there are four locators (12), which are labeled Q, W, E and R respectively.

7. A robotic arm for assisting in the automatic disassembly and handling of vehicle doors as described in claim 6, characterized in that, In the control module (16), the signal processing unit, storage unit and motion control unit are integrated on an embedded control board.

8. A robotic arm for assisting in the automatic disassembly and handling of vehicle doors as described in claim 7, characterized in that, In the control module (16), the signal processing unit receives the raw ranging data uploaded by the four receivers (15), filters out abnormal jumps caused by environmental noise and multipath effects, and outputs a smooth and stable distance value.

9. A robotic arm for assisting in the automatic disassembly and handling of vehicle doors as described in claim 8, characterized in that, In the control module (16), the storage unit is a non-volatile memory that stores the original positioning data measured during the disassembly stage.

10. A robotic arm for assisting in the automatic disassembly and handling of vehicle doors as described in claim 9, characterized in that, In the control module (16), the motion control unit communicates with the servo driver of the robotic arm through the EtherCAT bus, sends the calculated target pose increment to the robotic arm in real time, and receives the current pose feedback of the robotic arm to form a closed-loop control.

Images