CN113182667A - Method and device for controlling installation and positioning of car body top cover, controller and storage medium - Google Patents
Method and device for controlling installation and positioning of car body top cover, controller and storage medium Download PDFInfo
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- CN113182667A CN113182667A CN202110469642.6A CN202110469642A CN113182667A CN 113182667 A CN113182667 A CN 113182667A CN 202110469642 A CN202110469642 A CN 202110469642A CN 113182667 A CN113182667 A CN 113182667A
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- 238000009434 installation Methods 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000003860 storage Methods 0.000 title claims description 8
- 238000005259 measurement Methods 0.000 claims description 32
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 20
- 238000013461 design Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 13
- 238000003466 welding Methods 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
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- 238000003384 imaging method Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005219 brazing Methods 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
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- 230000004927 fusion Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention discloses a method, a device, a controller and a medium for controlling the installation and positioning of a car body top cover, wherein the method comprises the following steps: moving the vehicle body to a specified position, and limiting the degree of freedom of the vehicle body in a space coordinate system; moving the top cover to a theoretical installation position, and limiting the degree of freedom of the top cover in a space coordinate system; acquiring a vehicle body deviation amount between a specified position and a target position of a vehicle body; calculating the actual mounting position of the top cover according to the theoretical mounting position and the deviation amount of the vehicle body; the roof is moved to the actual installation position and placed vertically downward on the vehicle body. The method for controlling the installation and positioning of the top cover of the car body ensures that the process for splicing the top cover of the car body can meet the design trend of large size of the top cover, and has the characteristics of high flexibility, automation and process area saving.
Description
Technical Field
The invention relates to the technical field of vehicle body installation, in particular to a method for controlling the installation and positioning of a vehicle body top cover, a device for controlling the installation and positioning of the vehicle body top cover, a controller and a storage medium.
Background
With the development of the manufacturing technology of the body-in-white assembly of the automobile, a plurality of variant schemes appear in the conventional positioning welding with the assistance of a fixture, and the automation rate is gradually improved. However, the process of assembling the cover assembly has been a difficulty. Among the significant limitations are: firstly, the modern vehicle model shows that the vehicle body and the roof skylight glass develop towards large size due to the aesthetic market demand, and the typical characteristic (hole and flanging) design space reserved for the clamp to realize the positioning function is increasingly narrow, so that the difficulty of realizing mechanical positioning through the clamp is increased; the existing mainstream body-in-white top cover splicing process can be generally split into three main connection processes of positioning the top cover on a clamp, positioning the clamp on a parking station and splicing and welding, the occupied process area is large, the low-carbon concept is violated, and the technical transformation of some old lines is limited by the original process area, so that the technical upgrading difficulty is high; the degree of customization of the vehicle type of the traditional top cover splicing fixture is high, the fixture design and the top cover modeling are highly identical, the multiple vehicle types can not be shared, multiple sets of fixtures need to be prepared according to different vehicle types under the flexible working condition of collinear production of the multiple vehicle types, the cost is high, the occupied space is large, and the fixture switching time loss is large. And fourthly, the traditional top cover splicing process adopts the auxiliary positioning of the clamp, the mounting positions of the top covers tend to be consistent due to the relative fixity of the states of the clamp, and the matching states of the top covers and the vehicle body are unstable due to the dimensional state fluctuation of the vehicle body, so that the construction requirements of connection processes such as laser fusion welding or laser brazing with strict matching requirements are difficult to meet.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for controlling the installation and positioning of a car body top cover, a device for controlling the installation and positioning of the car body top cover, a controller and a storage medium, so as to ensure that the process for splicing the car body top cover can meet the design trend of large size of the top cover, and has the advantages of high flexibility, automation and process area saving.
In order to solve the above technical problem, according to an aspect of the present invention, there is provided a method for controlling installation and positioning of a roof of a vehicle body, including:
moving a vehicle body to a specified position, and limiting the degree of freedom of the vehicle body in a space coordinate system;
moving the top cover to a theoretical mounting position and limiting the degree of freedom of the top cover in a space coordinate system;
acquiring a vehicle body deviation amount between the specified position and a target position of the vehicle body;
calculating the actual mounting position of the top cover according to the theoretical mounting position and the deviation amount of the vehicle body;
and moving the top cover to the actual installation position, and vertically and downwards placing the top cover on the vehicle body.
Further, the step of moving the top cover to the theoretical installation position includes:
acquiring the current position coordinate of the top cover, and judging whether the current position coordinate is consistent with the drawing position coordinate of the top cover in the whole vehicle coordinate system;
and if not, adjusting the position of the top cover according to the drawing position coordinate so as to move the top cover to the theoretical installation position.
Further, the step of acquiring a vehicle body deviation amount between the specified position and the target position of the vehicle body includes:
shooting a zero calibration device by adopting a visual sensor to obtain a three-dimensional coordinate measured value of a zero point;
calculating a three-dimensional coordinate deviation value of the zero point according to the three-dimensional coordinate measured value and a preset zero point coordinate value;
collecting a three-dimensional space coordinate measurement value set of a plurality of characteristic points of the vehicle body by adopting a vision sensor;
calculating the current three-dimensional space coordinate value set of the plurality of characteristic points according to the three-dimensional coordinate deviation value and the three-dimensional space coordinate measurement value set;
and calculating the vehicle body deviation value according to the preset three-dimensional space coordinate value set of the plurality of characteristic points and the current three-dimensional space coordinate value set.
Further, the feature points include a plurality of first feature points and a plurality of second feature points;
selecting a plurality of first characteristic points at the two ends of the car body along the length direction on the side walls at the two sides of the car body in the width direction, and
and selecting a plurality of second characteristic points at the top of the vehicle body.
And further, included angles between the plane of the structure of the vehicle body where the second characteristic points are respectively located and the horizontal plane are within a preset included angle range.
Further, the second characteristic point is a round hole or a round groove.
Further, the plurality of second feature points are respectively located at a position where the top of the vehicle body has a dog-ear structure.
Furthermore, an included angle between two sides of the bevel structure is smaller than or equal to a preset angle.
According to another aspect of the present invention, there is provided a vehicle body roof mounting positioning control apparatus including:
the movement control module is configured to move the vehicle body to a specified position, limit the degree of freedom of the vehicle body in a space coordinate system, move the top cover to a theoretical installation position and limit the degree of freedom of the top cover in the space coordinate system;
the position determining module is configured to acquire a vehicle body deviation amount between the specified position and a target position of the vehicle body, and calculate an actual mounting position of the top cover according to the theoretical mounting position and the vehicle body deviation amount; and
the movement control module is further configured to move the roof to the actual installation position and place the roof vertically downward on the vehicle body.
Further, the movement control module includes:
the judging unit is configured to acquire the current position coordinate of the top cover and judge whether the current position coordinate is consistent with the drawing position coordinate of the top cover in the finished automobile coordinate system;
and the adjusting unit is configured to adjust the position of the top cover according to the drawing position coordinate when the current position coordinate is inconsistent with the drawing position coordinate, so that the top cover is moved to the theoretical installation position.
Further, the position determination module includes:
the zero calibration unit is configured to shoot the zero calibration device by adopting a vision sensor so as to obtain a three-dimensional coordinate measured value of a zero point;
the calculating unit is configured to calculate a three-dimensional coordinate deviation value of the zero point according to the three-dimensional coordinate measured value and a preset zero point coordinate value;
the acquisition unit is used for acquiring a three-dimensional space coordinate measurement value set of a plurality of characteristic points of the vehicle body by adopting a vision sensor; and
the calculation unit is further configured to calculate current three-dimensional space coordinate value sets of the plurality of feature points according to the three-dimensional coordinate deviation value and the three-dimensional space coordinate measurement value set, and calculate the vehicle body deviation value according to preset three-dimensional space coordinate value sets of the plurality of feature points and the current three-dimensional space coordinate value set.
Further, the feature points include a plurality of first feature points and a plurality of second feature points;
selecting a plurality of first characteristic points at the two ends of the car body along the length direction on the side walls at the two sides of the car body in the width direction, and
and selecting a plurality of second characteristic points at the top of the vehicle body.
Furthermore, the included angle between the plane of the structure of the vehicle body where the plurality of second characteristic points are respectively located and the horizontal plane is within a preset included angle range.
Further, the second characteristic point is a round hole or a round groove.
Further, the plurality of second feature points are respectively located at a position where the top of the vehicle body has a dog-ear structure.
Furthermore, an included angle between two sides of the bevel structure is smaller than or equal to a preset angle.
According to another aspect of the present invention, there is provided a controller comprising a memory and a processor, the memory storing a computer program, the program when executed by the processor being capable of implementing the steps of the method of controlling the mounting and positioning of a vehicle body roof as set forth in any one of the above.
According to another aspect of the present invention, there is provided a computer-readable storage medium for storing a computer program which, when executed by a computer or processor, implements the steps of the method for controlling the mounting and positioning of a vehicle body roof as set forth in any one of the above.
Compared with the prior art, the invention has obvious advantages and beneficial effects. By means of the technical scheme, the method, the device, the controller and the computer storage medium for controlling the installation and the positioning of the car body top cover can achieve considerable technical progress and practicability, have industrial wide utilization value and at least have the following advantages:
(1) according to the process scheme, the characteristic measuring points are directly collected on the vehicle body to serve as references, the coordinates of the target position for mounting the top cover are obtained through calculation, the top cover is directly placed at the target mounting position through the clamp, and a parking station mechanism 52 required for positioning the top cover clamp 51 and a clamping mechanism used for correcting the vehicle body posture in the prior art are saved as shown in figure 5. The problem of interference of multiple sets of parking stations and clamping mechanisms under the scene of collinear production of different vehicle types is solved, and the process planning difficulty of flexible collinear production of the multiple vehicle types is greatly reduced.
(2) The process scheme of the invention is different from the mode of ensuring the position of the top cover by depending on the precision of the clamp in the mainstream scheme, the position of the top cover is directly related to the vehicle body by acquiring and calculating the data of the vehicle body, the adaptability for solving the common manufacturing size problems of inconsistent Y-direction deviation of the side wall is good, the centralization of the top cover installation is far stronger than that of a fixed positioning clamp, the construction requirements of precision manufacturing processes such as laser welding and the like can be met, and the appearance quality level of the top cover which can be perceived by a client is also improved.
(3) The process method uses the measurement auxiliary positioning strategy to replace the fixture auxiliary positioning strategy, saves a large amount of mechanical actions such as fixture switching, falling, clamping and the like, saves the single cycle time of process implementation, and improves the production efficiency.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a flowchart showing a method of controlling the mounting and positioning of a vehicle body roof according to an embodiment of the present invention;
FIG. 2 is a block diagram showing a structure of a mounting positioning control device of a vehicle body roof according to an embodiment of the present invention;
FIG. 3 is a block diagram illustrating the structure of the movement control module shown in FIG. 2;
FIG. 4 is a block diagram illustrating the structure of the position determination module shown in FIG. 2;
FIG. 5 is a schematic structural view showing a conventional vehicle body roof bar mounting apparatus;
FIG. 6 is a schematic structural view of a positioning device for mounting a roof of a vehicle body according to an embodiment of the present invention;
FIG. 7 is a schematic structural view showing a vehicle body roof mounting and positioning device according to another embodiment of the present invention;
FIG. 8 shows a schematic view of an application of a vision sensor according to an embodiment of the invention;
FIG. 9 shows a schematic view of an application of a vision sensor according to another embodiment of the invention;
FIG. 10 is a schematic diagram illustrating the location of a second feature point in accordance with an embodiment of the present invention;
fig. 11 is a schematic diagram showing a position of a second feature point of another embodiment of the present invention.
Detailed Description
To further illustrate the present invention, the following detailed description will be made with reference to the accompanying drawings for a method and a device for controlling the installation and positioning of a vehicle body roof according to the present invention.
As shown in fig. 1, a method for controlling installation and positioning of a vehicle body roof according to an embodiment of the present invention includes:
step S11: the vehicle body is moved to a specified position, and the degree of freedom of the vehicle body in the spatial coordinate system is restricted.
Specifically, as shown in fig. 6, the control conveyance device 61, which may be a transport roller machine, conveys the vehicle body 62 to a specified work position (i.e., a specified position). After the vehicle body moves to the designated position, the positioning mechanism is matched with a positioning structure on a chassis of the vehicle body, so that the degree of freedom of the vehicle body in a space coordinate system is limited. The degree of freedom in the space coordinate is the degree of freedom in the direction of the XYZ coordinate axis in the whole vehicle coordinate system.
Step S12: the roof is moved to the theoretical mounting position and the freedom of the roof in the spatial coordinate system is limited.
The top cover is placed on the centering stand through the control robot, and the top cover is moved to the theoretical installation position. Wherein, the centering pallet is a location frock, fixes the position of top cap through this centering pallet. The theoretical installation position refers to the position of a top cover drawing under a finished automobile coordinate system. The degree of freedom of the top cover in a spatial coordinate system is limited by the reference mechanical positioning of the centering stand. The degree of freedom in the space coordinate is the degree of freedom in the direction of the XYZ coordinate axis in the whole vehicle coordinate system.
In one embodiment, after the top cover is placed on the centering stand, the current position coordinate P of the top cover is obtained0The current position coordinates of the top cover can be acquired through a visual sensor, and other modes can also be adopted for acquiring. Obtaining the current position coordinate P of the top cover0Then, the current position coordinate P is judged0Whether the position coordinates of the top cover are consistent with the drawing position coordinates of the top cover under the whole vehicle coordinate system or not. And if the position coordinates of the top cover are not consistent with the position coordinates of the drawing, the position of the top cover is adjusted according to the position coordinates of the drawing, namely the current position coordinates of the top cover are adjusted to be consistent with the position coordinates of the drawing, so that the top cover is located at the theoretical installation position P. If the current position of the top cover is consistent with the theoretical installation position P, the current position of the top cover is the theoretical installation position P.
Through the embodiment, the position of the top cover can be adjusted through the stand reference of the position of the top cover in the whole vehicle manufacturing link, and the position adjustment of the top cover is simplified.
Step S13: a vehicle body deviation amount between the specified position and a target position of the vehicle body is acquired.
It can be known that, after the automobile body passed through the movement equipment and moved to the assigned position, because of equipment process accuracy scheduling problem, the automobile body still has certain deviation with actual target location, in order to guarantee the accuracy that top cap and automobile body combine, improves the accuracy of combination, consequently needs to acquire the deviation volume between the assigned position of automobile body and the target location of automobile body.
In one embodiment, as shown in FIG. 7, at least one zero calibration device 71 is mounted around the designated location. Preferably on both sides of the designated position, zero-checking devices 71 are mounted. Wherein, the two sides of the designated position refer to the two sides of the length of the vehicle body when the vehicle body is at the designated position.
Shooting is carried out by adopting a vision sensor 72 to carry out shooting on the zero calibration device 71 so as to obtain a three-dimensional coordinate measured value O of a zero point1And further obtaining a three-dimensional coordinate measurement value O of the zero point1Comparing with the pre-stored preset zero coordinate value O to calculate the three-dimensional coordinate deviation value theta of the zero point, namely theta is equal to O1-O。
Further, as shown in fig. 8 and 9, a set of three-dimensional spatial coordinate measurements of a plurality of vital points on body 62 is acquired using vision sensor 72. Specifically, a plurality of feature points suitable for collection are selected on the vehicle body, and the vehicle body 62 is scanned and shot by the vision sensor 72 to obtain three-dimensional space coordinate measurement values of the plurality of feature points, which are recorded as t1、t2……tnIts three-dimensional space coordinate measurement value set t1，t1…tnThe symbol is marked T.
As shown in fig. 8, the vision sensor 72 of the present embodiment may be mounted on the robot, and as shown in fig. 9, the vision sensor 72 may be fixedly mounted, but the present application is not limited thereto. The present embodiment employs a laser imaging measurement technique by a vision sensor,to obtain three-dimensional space coordinate measurement value set T of a plurality of physical sign points on the vehicle body and three-dimensional coordinate measurement value O of a zero point1。
In order to ensure that the selected characteristic points can fully represent the size state of the vehicle body and fully consider the lapping relation between the vehicle body and the top cover, the splicing effect of the vehicle body and the top cover can be better ensured. Here, selection of a plurality of feature points is defined.
In an embodiment, the feature points include a plurality of first feature points and a plurality of second feature points. On the side walls on two sides of the width direction of the vehicle body, a plurality of first characteristic points are selected along two ends of the length direction of the vehicle body, and a plurality of second characteristic points are selected at the top of the vehicle body.
Specifically, as shown in fig. 10, the positions of the second feature points 100 are selected by collecting at least two second feature points 100 near the top of the vehicle body and the position matched with the roof, respectively, based on the principle that the distance between the second feature points 100 is the maximum. To cope with the potential problem of non-uniformity in the widthwise direction of the vehicle body in the longitudinal direction front and rear ends of the vehicle body. By measuring each second feature point 100 at least twice, the obtained result is used as a basis for calculating the deviation in the vehicle body width direction.
In one embodiment, a plurality of circular holes or circular grooves near the top of the vehicle at the position where the roof is matched are selected as the plurality of second feature points 100. And the included angle between the plane of the vehicle body structure where the plurality of second characteristic points 100 are respectively located and the horizontal plane is within the preset included angle range.
Preferably, the predetermined included angle ranges from-10 to + 10.
In another embodiment, as shown in fig. 11, the plurality of second feature points 100 are respectively located at a portion of the top of the vehicle body where the dog-ear structure is provided. More specifically, the plurality of second characteristic points 100 are selected on a structure having a distinct style line on the top of the vehicle body. At this time, the angle line of the included angle of the cross section of the structure with the vision sensor facing the modeling line needs to be measured.
Preferably, the included angle between the two sides of the bevel structure is smaller than or equal to a preset angle. Specifically, the preset included angle is 150 °.
The outer diameter of the included angle is not too large, so that two edges of the folded angle structure can be clearly grabbed in the measurement coverage range.
And further, calculating to obtain the current three-dimensional space coordinate value set of the plurality of characteristic points according to the three-dimensional coordinate deviation value and the three-dimensional space coordinate measurement value set.
Specifically, the three-dimensional space coordinate measurement value set T of a plurality of sign points and the obtained three-dimensional coordinate deviation value θ of the zero point are superimposed to obtain current three-dimensional space coordinate values of a plurality of feature points, and the current three-dimensional space coordinate values are recorded as m1、m2……mnIts current set of three-dimensional spatial coordinate values { m }1，m2……mnMark M, i.e.: m ═ T + θ; and determining the current position of the vehicle body according to the current three-dimensional space coordinate value set of the plurality of feature points.
And further, calculating the vehicle body deviation amount according to a preset three-dimensional space coordinate value set of the plurality of characteristic points and the current three-dimensional space coordinate value set.
Specifically, comparing the current three-dimensional space coordinate value set M with a pre-stored preset three-dimensional space coordinate value set M of a plurality of feature points of the vehicle body0I.e. vehicle body deviation δ being M-M0。
In step S14, the actual attachment position of the roof is calculated from the theoretical attachment position and the vehicle body deviation amount.
Specifically, the acquired theoretical mounting position P of the roof is superimposed on the vehicle body deviation δ, and the actual mounting position P of the roof is calculated1I.e. P1＝P+δ。
In step S15, the roof panel is moved to the actual installation position and placed vertically downward on the vehicle body.
Specifically, the position of the top cover is adjusted to the actual mounting position P by controlling the robot1And vertically moving downwards to place the top cover on the vehicle body, so that the top cover is overlapped with the vehicle body.
Further, under the condition that the clamp of the robot assists in clamping, the relative position of the vehicle body and the roof is kept unchanged. Then, the vehicle body and the vehicle roof are connected into a whole by adopting electric welding, laser welding and other modes.
Before the clamp assists in clamping, the measurement of the relative positional relationship between the vehicle body and the roof can be confirmed again to perform the functions of confirmation and error correction again. If the found deviation still exists between the top cover and the vehicle body, the robot is controlled to correct the deviation, or the robot is controlled to grab the top cover to the initial position, and the process of installing and positioning the ejector rod is restarted.
After the top cover welding is finished, the robot is controlled to detach the top cover clamp on the vehicle body and move the top cover clamp to the initial position so as to prepare for the installation of the next top cover.
And finally, separating the vehicle body from the positioning mechanism, and transporting the vehicle body away from the specified position through the mechanical transportation equipment.
The embodiment of the invention also provides a mounting and positioning device of a car body top cover, which comprises a movement control module 10 and a position determining module 20, as shown in fig. 2.
The movement control module 10 is configured to move the vehicle body to a specified position, limit the degree of freedom of the vehicle body in a space coordinate system, move the roof to a theoretical installation position, and limit the degree of freedom of the roof in the space coordinate system; a position determination module 20 configured to acquire a vehicle body deviation amount between the designated position and a target position of the vehicle body, and calculate an actual mounting position of the roof cover according to the theoretical mounting position and the vehicle body deviation amount; and the movement control module 10 is also configured to move the roof cover to the actual installation position and place the roof cover vertically downward on the vehicle body.
Specifically, the movement control module 10 controls a mechanical transportation device, which may be a transportation rolling machine, to transport the vehicle body to a designated working position (i.e., a designated position). After the vehicle body moves to the designated position, the positioning mechanism is matched with a positioning structure on a chassis of the vehicle body, so that the degree of freedom of the vehicle body in a space coordinate system is limited. The degree of freedom in the space coordinate is the degree of freedom in the direction of the XYZ coordinate axis in the whole vehicle coordinate system.
In one embodiment, as shown in fig. 2, the movement control module 10 includes a determining unit 101 and an adjusting unit 102. The judging unit 101 is configured to acquire a current position coordinate of the top cover and judge whether the current position coordinate is consistent with a drawing position coordinate of the top cover in a finished automobile coordinate system; the adjusting unit 102 is configured to adjust the position of the top cover according to the drawing position coordinate when the current position coordinate is not consistent with the drawing position coordinate, so as to move the top cover to the theoretical installation position.
Specifically, the top cover is placed on the centering stand by controlling the robot, and the top cover is moved to a theoretical installation position. The theoretical installation position refers to the position of a top cover drawing under a finished automobile coordinate system. The degree of freedom of the top cover in a spatial coordinate system is limited by the reference mechanical positioning of the centering stand. The degree of freedom in the space coordinate is the degree of freedom in the direction of the XYZ coordinate axis in the whole vehicle coordinate system.
In an embodiment, after the top cover is placed on the centering stage, the determining unit 101 obtains the current position coordinate P of the top cover0The current position coordinates of the top cover can be acquired through a visual sensor, and other modes can also be adopted for acquiring. Determining unit 101 acquires current position coordinate P of top cover0Then, the current position coordinate P is judged0Whether the position coordinates of the top cover are consistent with the drawing position coordinates of the top cover under the whole vehicle coordinate system or not. If the position coordinates of the top cover are not consistent with the position coordinates of the drawing, the adjusting unit 102 adjusts the position of the top cover according to the position coordinates of the drawing, that is, the current position coordinates of the top cover are adjusted to be consistent with the position coordinates of the drawing, so that the top cover is located at the theoretical installation position P. If the current position of the top cover is consistent with the theoretical installation position P, the current position of the top cover is the theoretical installation position P.
Through the embodiment, the position of the top cover can be adjusted through the stand reference of the position of the top cover in the whole vehicle manufacturing link, and the position adjustment of the top cover is simplified.
As shown in fig. 4, the position determination module 20 includes a zero calibration unit 201, a calculation unit 202, and an acquisition unit 203.
It can be known that, after the automobile body passed through the movement equipment and moved to the assigned position, because of equipment process accuracy scheduling problem, the automobile body still has certain deviation with actual target location, in order to guarantee the accuracy that top cap and automobile body combine, improves the accuracy of combination, consequently needs to acquire the deviation volume between the assigned position of automobile body and the target location of automobile body.
In one embodiment, at least one zero calibration device is installed around the designated location. Preferably, zero-checking devices are installed on both sides of the designated position. Wherein, the two sides of the designated position refer to the two sides of the length of the vehicle body when the vehicle body is at the designated position.
The zero calibration unit 201 shoots the zero calibration device by using a vision sensor to obtain a three-dimensional coordinate measurement value O of the zero point1And further the calculation unit 202 will obtain the three-dimensional coordinate measurement value O of the zero point1Comparing with the pre-stored preset zero coordinate value O to calculate the three-dimensional coordinate deviation value theta of the zero point, namely theta is equal to O1-O。
Further, the acquisition unit 203 acquires three-dimensional space coordinate measurement value sets of a plurality of sign points on the vehicle body by using a vision sensor. Specifically, a plurality of characteristic points suitable for collection are selected on the vehicle body, and the vehicle body is scanned and shot by adopting a vision sensor to obtain three-dimensional space coordinate measurement values of the characteristic points, wherein the three-dimensional space coordinate measurement values are recorded as t1、t2……tnIts three-dimensional space coordinate measurement value set t1，t1…tnThe symbol is marked T.
The vision sensor of the present embodiment may be mounted on a robot, or may be fixedly mounted, and the present application is not limited thereto. In this embodiment, the vision sensor adopts a laser imaging measurement technique to obtain three-dimensional space coordinate measurement value sets T of a plurality of sign points on the vehicle body and three-dimensional coordinate measurement value O of a zero point1。
In order to ensure that the selected characteristic points can fully represent the size state of the vehicle body and fully consider the lapping relation between the vehicle body and the top cover, the splicing effect of the vehicle body and the top cover can be better ensured. Here, selection of a plurality of feature points is defined.
In an embodiment, the feature points include a plurality of first feature points and a plurality of second feature points. On the side walls on two sides of the width direction of the vehicle body, a plurality of first characteristic points are selected along two ends of the length direction of the vehicle body, and a plurality of second characteristic points are selected at the top of the vehicle body.
Specifically, the position of the second feature point is selected by collecting at least two second feature points near the top of the vehicle body and the position matched with the top cover respectively, and the principle that the distance between the second feature points is the maximum is adopted. To cope with the potential problem of non-uniformity in the widthwise direction of the vehicle body in the longitudinal direction front and rear ends of the vehicle body. And measuring each second characteristic point at least twice, and taking the obtained result as the calculation basis of the deviation in the width direction of the vehicle body.
In one embodiment, a plurality of round holes or round grooves near the top of the vehicle and the position matched with the top cover are selected as a plurality of second feature points. And the included angles between the plane of the structure of the vehicle body where the second characteristic points are respectively located and the horizontal plane are within the preset included angle range.
Preferably, the predetermined included angle ranges from-10 to + 10.
In another specific embodiment, the plurality of second characteristic points are respectively located at the positions of the top of the vehicle body with the bevel structures. More specifically, the plurality of second characteristic points are selected on a structure having a distinct style line at the top of the vehicle body. At this time, the angle line of the included angle of the cross section of the structure with the vision sensor facing the modeling line needs to be measured.
Preferably, the included angle between the two sides of the bevel structure is smaller than or equal to a preset angle. Specifically, the preset included angle is 150 °.
The outer diameter of the included angle is not too large, so that two edges of the folded angle structure can be clearly grabbed in the measurement coverage range.
Further, the calculating unit 202 calculates a current three-dimensional space coordinate value set of the plurality of feature points according to the three-dimensional coordinate deviation value and the three-dimensional space coordinate measurement value set.
Specifically, the calculating unit 202 superimposes the three-dimensional space coordinate measurement value set T of the multiple sign points and the obtained three-dimensional coordinate deviation value θ of the zero point to obtain current three-dimensional space coordinate values of the multiple feature points, which are recorded as m1、m2……mnIts current set of three-dimensional spatial coordinate values { m }1，m2……mnMark M, i.e.: m ═ T + θ; and determining the current position of the vehicle body according to the current three-dimensional space coordinate value set of the plurality of feature points.
Further, the calculating unit 202 calculates the vehicle body deviation amount according to a preset three-dimensional space coordinate value set of a plurality of feature points and the current three-dimensional space coordinate value set.
Specifically, comparing the current three-dimensional space coordinate value set M with a pre-stored preset three-dimensional space coordinate value set M of a plurality of feature points of the vehicle body0I.e. vehicle body deviation δ being M-M0。
In one embodiment, the position determination module 20 is configured to calculate the actual mounting position of the roof based on the theoretical mounting position and the amount of deviation from the vehicle body.
Specifically, the configuration determination module superimposes the acquired theoretical mounting position P of the roof on the vehicle body deviation δ, and calculates the actual mounting position P of the roof1I.e. P1＝P+δ。
In one embodiment, the movement control module 10 is configured to control the robot to move the roof to an actual installation position and place the roof vertically downward on the vehicle body.
Specifically, the movement control module 10 adjusts the position of the top cover to the actual installation position P by controlling the robot1And vertically moving downwards to place the top cover on the vehicle body, so that the top cover is overlapped with the vehicle body.
Further, under the condition that the clamp of the robot assists in clamping, the relative position of the vehicle body and the roof is kept unchanged. Then, the vehicle body and the vehicle roof are connected into a whole by adopting electric welding, laser welding and other modes.
Before the clamp assists in clamping, the measurement of the relative positional relationship between the vehicle body and the roof can be confirmed again to perform the functions of confirmation and error correction again. If the found deviation still exists between the top cover and the vehicle body, the robot is controlled to correct the deviation, or the robot is controlled to grab the top cover to the initial position, and the process of installing and positioning the ejector rod is restarted.
After the top cover welding is finished, the robot is controlled to detach the top cover clamp on the vehicle body and move the top cover clamp to the initial position so as to prepare for the installation of the next top cover.
And finally, separating the vehicle body from the positioning mechanism, and transporting the vehicle body away from the specified position through the mechanical transportation equipment.
In order to further ensure the splicing precision of the vehicle body and the top cover, the repeated precision of vehicle body positioning obtained by vehicle body positioning is +/-0.3 mm; the repeated precision of the vehicle body characteristic manufacture related to the vehicle body data acquisition is +/-0.5 mm; the motion repetition precision of the robot carrying the vision sensor is +/-0.15 mm; the measurement repetition precision of the vision sensor is +/-0.05 mm; the repeated precision of the manufacture of the top cover characteristics related to the top cover data acquisition is +/-0.5 mm; the machining precision of a top cover clamp related to top cover assembling is +/-0.3 mm, and the motion repetition precision of a robot carried by the clamp is +/-0.15 mm.
In conclusion, under the condition that the manufacturing deviation of the vehicle body and parts is not considered, the positioning precision capability of the top cover can reach +/-0.5 mm, and under the condition that the manufacturing tolerance of the vehicle body and the top cover is considered, the positioning precision capability can reach +/-0.87 mm.
The embodiment of the present invention further provides a controller, which includes a memory and a processor, where the memory stores a computer program, and the program is executed by the processor to implement the steps of the above method.
Embodiments of the present invention also provide a computer-readable storage medium for storing a computer program, which when executed by a computer or a processor implements the steps of the above-mentioned method.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (18)
1. A method for controlling the installation and positioning of a car body top cover is characterized by comprising the following steps:
moving a vehicle body to a specified position, and limiting the degree of freedom of the vehicle body in a space coordinate system;
moving the top cover to a theoretical mounting position and limiting the degree of freedom of the top cover in a space coordinate system;
acquiring a vehicle body deviation amount between the specified position and a target position of the vehicle body;
calculating the actual mounting position of the top cover according to the theoretical mounting position and the deviation amount of the vehicle body;
and controlling the robot to move the top cover to the actual installation position and vertically and downwards placing the top cover on the vehicle body.
2. The method for controlling the mounting and positioning of a roof cover of a vehicle body according to claim 1, wherein the step of moving the roof cover to the theoretical mounting position comprises:
acquiring the current position coordinate of the top cover, and judging whether the current position coordinate is consistent with the drawing position coordinate of the top cover in the whole vehicle coordinate system;
and if not, adjusting the position of the top cover according to the drawing position coordinate so as to move the top cover to the theoretical installation position.
3. The vehicle body roof mounting positioning control method according to claim 1 or 2, wherein the step of acquiring the amount of vehicle body deviation between the specified position and the target position of the vehicle body includes:
shooting a zero calibration device by adopting a visual sensor to obtain a three-dimensional coordinate measured value of a zero point;
calculating a three-dimensional coordinate deviation value of the zero point according to the three-dimensional coordinate measured value and a preset zero point coordinate value;
collecting a three-dimensional space coordinate measurement value set of a plurality of characteristic points of the vehicle body by adopting a vision sensor;
calculating the current three-dimensional space coordinate value set of the plurality of characteristic points according to the three-dimensional coordinate deviation value and the three-dimensional space coordinate measurement value set;
and calculating the vehicle body deviation value according to the preset three-dimensional space coordinate value set of the plurality of characteristic points and the current three-dimensional space coordinate value set.
4. The vehicle body roof installation positioning control method according to claim 3, wherein the characteristic points include a plurality of first characteristic points and a plurality of second characteristic points;
selecting a plurality of first characteristic points at the two ends of the car body along the length direction on the side walls at the two sides of the car body in the width direction, and
and selecting a plurality of second characteristic points at the top of the vehicle body.
5. The method for controlling the installation and positioning of the vehicle body roof according to claim 4, wherein an included angle between a plane of the structure of the vehicle body, in which the plurality of second characteristic points are respectively located, and a horizontal plane is within a preset included angle range.
6. The vehicle body roof mounting positioning control method according to claim 4 or 5, wherein the second characteristic point is a circular hole or a circular groove.
7. The method of controlling the mounting and positioning of a vehicle body roof according to claim 4, wherein the plurality of second characteristic points are respectively located at positions where the roof of the vehicle body has a dog-ear structure.
8. The method for controlling the installation and positioning of the vehicle body roof according to claim 7, wherein an included angle between two sides of the bevel structure is smaller than or equal to a preset angle.
9. The utility model provides a car body roof's installation positioning control device which characterized in that includes:
the movement control module is configured to move the vehicle body to a specified position, limit the degree of freedom of the vehicle body in a space coordinate system, move the top cover to a theoretical installation position and limit the degree of freedom of the top cover in the space coordinate system;
the position determining module is configured to acquire a vehicle body deviation amount between the specified position and a target position of the vehicle body, and calculate an actual mounting position of the top cover according to the theoretical mounting position and the vehicle body deviation amount; and
the movement control module is further configured to move the roof to the actual installation position and place the roof vertically downward on the vehicle body.
10. The mounting positioning control device of a vehicle body roof according to claim 9, characterized in that the movement control module comprises:
the judging unit is configured to acquire the current position coordinate of the top cover and judge whether the current position coordinate is consistent with the drawing position coordinate of the top cover in the finished automobile coordinate system;
and the adjusting unit is configured to adjust the position of the top cover according to the drawing position coordinate when the current position coordinate is inconsistent with the drawing position coordinate, so that the top cover is moved to the theoretical installation position.
11. The vehicle roof installation positioning control device according to claims 9 and 10, wherein the position determination module includes:
the zero calibration unit is configured to shoot the zero calibration device by adopting a vision sensor so as to obtain a three-dimensional coordinate measured value of a zero point;
the calculating unit is configured to calculate a three-dimensional coordinate deviation value of the zero point according to the three-dimensional coordinate measured value and a preset zero point coordinate value;
the acquisition unit is used for acquiring a three-dimensional space coordinate measurement value set of a plurality of characteristic points of the vehicle body by adopting a vision sensor; and
the calculation unit is further configured to calculate current three-dimensional space coordinate value sets of the plurality of feature points according to the three-dimensional coordinate deviation value and the three-dimensional space coordinate measurement value set, and calculate the vehicle body deviation value according to preset three-dimensional space coordinate value sets of the plurality of feature points and the current three-dimensional space coordinate value set.
12. The vehicle roof installation positioning control device according to claim 11, wherein the characteristic points include a plurality of first characteristic points and a plurality of second characteristic points;
selecting a plurality of first characteristic points at the two ends of the car body along the length direction on the side walls at the two sides of the car body in the width direction, and
and selecting a plurality of second characteristic points at the top of the vehicle body.
13. The vehicle roof installation positioning control device according to claim 12, wherein an angle between a plane of the vehicle body structure in which the plurality of second characteristic points are respectively located and a horizontal plane is within a preset angle range.
14. The vehicle roof mounting and positioning control device according to claim 12 or 13, wherein the second characteristic point is a circular hole or a circular groove.
15. The apparatus for controlling mounting and positioning of a vehicle body roof according to claim 12, wherein the plurality of second characteristic points are respectively located at portions of the roof of the vehicle body having a dog-ear structure.
16. The apparatus for controlling the mounting and positioning of a vehicle body roof according to claim 15, wherein an angle between both sides of the dog-ear structure is smaller than or equal to a predetermined angle.
17. A controller, characterized in that it comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, is capable of carrying out the steps of the method of any one of claims 1 to 8.
18. A computer-readable storage medium for storing a computer program which, when executed by a computer or processor, implements the steps of the method of any one of claims 1 to 8.
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