CN116000510A - Tool positioning deviation compensation method and tool positioning equipment - Google Patents

Abstract

The invention provides a tool positioning deviation compensation method and tool positioning equipment. The tool positioning deviation compensation method comprises the following steps: inputting preset information of a vehicle body in a controller, and inputting a deviation threshold value of the vehicle body; the acquisition device acquires key elements of the vehicle body and transmits the key elements to the controller; the controller compares the key elements of the vehicle body with preset information of the vehicle body to obtain an actual deviation value of the vehicle body; the controller compares the actual deviation value of the vehicle body with a vehicle body deviation threshold value; when the actual deviation value of the vehicle body is more than or equal to A times of the deviation threshold value of the vehicle body, the controller calculates a vehicle body compensation value and controls the mobile positioning device to move according to the vehicle body compensation value; and ending when the actual deviation value of the vehicle body is less than A times of the deviation threshold value of the vehicle body. According to the tool positioning deviation compensation method, the in-place condition of the vehicle body carried by the mobile positioning device is monitored through the acquisition device, and meanwhile, the controller calculates compensation values through various numerical values returned by the acquisition device, so that the controller can perform out-of-tolerance compensation on the mobile positioning device through the servo motor.

Description

Tool positioning deviation compensation method and tool positioning equipment

technical field

The invention relates to the technical field of tool positioning equipment, in particular to a tool positioning deviation compensation method and tool positioning equipment.

Background technique

In the body-in-white production process, the side wall fixture positioning of the body-in-white is the most critical technology, which directly determines the qualified rate of the body-in-white.

After the fixture is positioned in the prior art, only the contact switch is used to qualitatively detect the position of the fixture, and there is no quantitative detection. The overall accuracy can only be guaranteed by the mechanical state of the fixture actuator. The precision and accuracy are not scientific and accurate, and there are the following problems : The tooling equipment deviates and cannot be corrected in time when it is in place. It is necessary to stop the line and retest, and adjust the accuracy by adding or subtracting gaskets. Under the load of the working condition, the accuracy is unknown. Problems were found; it was necessary to adjust the in-place benchmark of the tooling sliding mechanism afterwards, and it could only be adjusted manually, which took a long time; in order not to affect the quality of the subsequent body-in-white, the line had to be stopped for adjustment, which would affect the output of body-in-white.

Contents of the invention

The purpose of the present invention is to provide a tool positioning deviation compensation method, the tool positioning deviation compensation method can monitor the position of the vehicle body carried by the mobile positioning device through the acquisition device, and at the same time, the controller calculates the actual position of the vehicle body through various values returned by the acquisition device. Deviation value, so that the controller can perform over-tolerance compensation on the mobile positioning device through the servo motor.

For realizing the object of the present invention, the present invention adopts following technical scheme:

According to one aspect of the present invention, a tool positioning deviation compensation method is provided, which is applied to the combined tool positioning of the body-in-white on the tool positioning equipment. The tool positioning equipment includes a controller, a collection device and a mobile positioning device. The controller communicates with the collection device and the mobile positioning device respectively, the body-in-white is connected to the mobile positioning device, the collection device is configured to collect key elements of the body-in-white, and the tool positioning The deviation compensation method includes: inputting preset information of the body into the controller, and inputting the deviation threshold of the body; the acquisition device collects the key elements of the body and transmits them to the controller; the controller compares the key elements of the body with the preset information of the body to obtain the actual Deviation value; the controller compares the actual deviation value of the vehicle body with the deviation threshold value of the vehicle body; when the actual deviation value of the vehicle body is greater than or equal to A times the deviation threshold value of the vehicle body, the controller calculates the compensation value of the vehicle body and controls the mobile positioning device to move according to the compensation value of the vehicle body; When the actual deviation value<A times of the vehicle body deviation threshold, the process ends.

According to an embodiment of the present invention, wherein the collection device includes a visual sensor, the visual sensor is used to collect key elements of the vehicle body at several measuring points on the body in white, and the key elements of the vehicle body are corresponding to the measuring points. 3D position information.

According to an embodiment of the present invention, wherein the collection device is further configured to collect key elements of the equipment of the mobile positioning device, the method for compensating tool positioning deviation further includes: inputting equipment preset information in the controller, and Input the equipment deviation threshold; when the actual deviation value of the vehicle body ≥ the deviation threshold value of the vehicle body, the acquisition device collects the key elements of the equipment and transmits them to the controller; the controller compares the key elements of the equipment with the preset information of the equipment to obtain the actual deviation of the equipment; the controller will The actual deviation of the equipment is compared with the threshold of equipment deviation; when the actual deviation of the equipment ≥ the threshold of equipment deviation, the controller calculates the compensation value of the equipment and controls the mobile positioning device to move according to the compensation value of the equipment; the acquisition device re-acquires the key elements of the car body; When the equipment deviation threshold is reached, the controller controls the mobile positioning device to move according to the vehicle body compensation value.

According to an embodiment of the present invention, wherein the tool positioning device further includes an accompanying device and a zeroing device, the inputting device preset information in the controller includes: installing the mobile positioning device on the accompanying device, and moving it to the Fit the zero alignment device; set the equipment preset information in the controller; calibrate the reading of the acquisition device to 0 and remove the zero alignment device to avoid contact with the zero alignment device during the movement of the mobile positioning device.

According to an embodiment of the present invention, wherein, the movement of the mobile positioning device is controlled by a servo motor, and the servo motor is connected to the accompanying device, and the acquisition device is also configured to obtain the real-time position of the servo motor, and the control The controller calculates the body compensation value and controls the mobile positioning device to move according to the body compensation value, including: the controller calculates and obtains the actual deviation value Y ₀ of the body; the acquisition device obtains the actual position X _actual of the servo motor, and transmits this as equipment preset information to the control According to the corresponding angle of the pulse of the servo motor, calculate the number of turns N that the servo motor needs to rotate when the mobile positioning device moves 1mm; the controller calculates the body compensation value X _compensation = X _actual - Y ₀ × N, and controls it through the servo motor The mobile positioning device moves X _compensation .

According to an embodiment of the present invention, wherein the equipment deviation threshold is -0.15 mm to 0.15 mm, the acquisition device includes a first position sensor connected in communication with the controller, and the transmitting end of the first position sensor moves toward Positioning device, when the reading of the first position sensor is positive and greater than 0.15 mm, the mobile positioning device moves to the direction of the first position sensor for compensation; when the reading of the first position sensor is negative and less than When -0.15mm, the moving positioning device moves away from the first position sensor for compensation.

According to an embodiment of the present invention, wherein the reading of the first position sensor is converted by a conversion module and then transmitted to the controller, the conversion process includes: setting the range reading of the first position sensor to include L _min , L ₀ and L _max , wherein, L _min <L ₀ <L _max , and L ₀ =0; set the reading of the first position sensor as L, and the reading received by the conversion module is the one received by the controller The key element of the body is H; when L _min <L<L ₀ , H=k ₁ L+b ₁ ; when L ₀ <L<L _max , H=k ₂ L+b ₂ .

According to an embodiment of the present invention, wherein the tool positioning device further includes an alarm device communicated with the controller, when the actual deviation value of the vehicle body is < A times the deviation threshold value of the vehicle body, the end includes: when the deviation threshold value of the vehicle body exceeds When B times ≤ actual body deviation value < A times the body deviation threshold, the controller transmits an alarm signal to the alarm device, and the alarm device alarms and ends; when the actual body deviation value < B times the body deviation threshold, the end ; where, 0.8≤B≤0.95, where 1≤A≤2.

According to an embodiment of the present invention, wherein, when the actual deviation value of the vehicle body is greater than or equal to A times the deviation threshold value of the vehicle body, the controller calculates the compensation value of the vehicle body and controls the mobile positioning device to move according to the compensation value of the vehicle body, wherein 1≤A≤2.

According to another aspect of the present invention, a tool positioning device is provided. It is controlled by the aforementioned tool positioning deviation compensation method.

An embodiment of the present invention has the following advantages or beneficial effects:

In the tool positioning deviation compensation method of the present invention, the first position sensor and the visual sensor of the acquisition device are used to monitor the in-position situation of the vehicle body carried by the mobile positioning device, and at the same time, the controller uses the first position sensor, the second position sensor and the visual The various values returned by the sensor calculate the actual deviation value of the body and the actual deviation value of the equipment, so that the controller can compensate the over-tolerance of the mobile positioning device through the servo motor, and finally make the side wall assembly, roof assembly and chassis assembly of the body The components are moved to the appropriate relative positions, which reduces manual participation in matching tooling, reduces labor costs, and improves economic benefits; it can independently debug and introduce new models, reduce sensor installation, save space, avoid interference, and reduce development costs.

Description of drawings

The above and other features and advantages of the present invention will become more apparent by describing in detail example embodiments thereof with reference to the accompanying drawings.

Fig. 1 is a flow chart of a tool positioning deviation compensation method according to an exemplary embodiment.

Fig. 2 is a perspective view of a tool positioning device according to an exemplary embodiment.

Fig. 3 is a perspective view of a positioning fixture of a tool positioning device according to an exemplary embodiment.

Fig. 4 is another perspective view of a positioning fixture of a tool positioning device according to an exemplary embodiment.

Wherein, the reference signs are explained as follows:

1. Mobile positioning device; 11. Positioning fixture; 12. Accompanying fixture; 2. Accompanying device; 3. Zeroing device; 4. Servo motor.

Detailed ways

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed descriptions will be omitted.

The terms "a", "an", "the", "said" are used to indicate the presence of one or more elements/components/etc; the terms "comprising" and "have" are used to indicate an open-ended inclusion means and means that additional elements/components/etc. may be present in addition to the listed elements/components/etc.

As shown in FIG. 1 to FIG. 4 , FIG. 1 shows a flow chart of a tool positioning deviation compensation method provided by the present invention. Fig. 2 shows a perspective view of a tool positioning device provided by the present invention. FIG. 3 shows a perspective view of a positioning fixture 11 of a tool positioning device provided by the present invention. FIG. 4 shows another perspective view of a positioning fixture 11 of a tool positioning device provided by the present invention.

The embodiment of the present invention provides a tool positioning deviation compensation method, which is applied to the combined tool positioning of the body-in-white on the tool positioning equipment. The tool positioning equipment includes a controller, a collection device and a mobile positioning device 1, the controller and the collection device and The mobile positioning devices 1 are respectively connected by communication. The body-in-white is connected to the mobile positioning device 1. The acquisition device is configured to collect the key elements of the body-in-white. The tool positioning deviation compensation method includes:

S1: Input the body preset information in the controller, and input the body deviation threshold;

S2: The collection device collects the key elements of the body and transmits them to the controller;

S3: The controller compares the key elements of the body with the preset information of the body to obtain the actual deviation value of the body; the controller compares the actual deviation value of the body with the deviation threshold of the body;

S4: When the actual deviation value of the vehicle body is greater than or equal to A times the deviation threshold value of the vehicle body, the controller calculates the compensation value of the vehicle body and controls the mobile positioning device 1 to move according to the compensation value of the vehicle body;

S5: When the actual deviation value of the vehicle body is < A times the deviation threshold value of the vehicle body, end.

The collection device includes a visual sensor, and the visual sensor is used to collect key elements of the vehicle body at several measuring points on the body-in-white. The key elements of the vehicle body are the three-dimensional position information corresponding to the measuring points.

As shown in Figures 1 to 4, the mobile positioning device 1 includes positioning fixtures 11 on the left and right sides and accompanying fixtures 12 slidingly connected to the accompanying device 2, and the vehicle body includes a pre-assembled side wall assembly and a top cover assembly. and chassis assembly, etc., the side wall assembly and the top cover assembly are respectively clamped by the positioning fixtures 11 on the left and right sides at this positioning welding station. When the vehicle body is transported to this station, there are several The measuring point, the acquisition device is fixed at this station, and is used to monitor several measuring points, collect the key elements of the vehicle body of these several measuring points, in step S1, set the preset information of the vehicle body in the controller, including the design time The three-dimensional position information of each measuring point, and input the deviation threshold of the vehicle body, that is, the standard that requires adaptive compensation. In step S2, the acquisition device collects the real-time three-dimensional position information of each measuring point on the vehicle body on the mobile positioning device 1 and transmits it to the control As the key element of the vehicle body, in step S3, the controller compares the key information of the vehicle body with the preset information of the vehicle body to obtain the actual deviation value of the vehicle body, so that in steps S4 and S5, according to whether the actual deviation value of the vehicle body is greater than or equal to the threshold value of the deviation of the vehicle body A times to judge whether it is necessary to perform self-adaptive compensation for out-of-tolerance. When compensation is required, the controller calculates the compensation value of the vehicle body and controls the mobile positioning device 1 to the preset position.

In a preferred embodiment of the present invention, the collection device is further configured to collect key elements of the equipment of the mobile positioning device 1, and the tool positioning deviation compensation method further includes: inputting equipment preset information in the controller, and inputting the equipment deviation threshold; When the actual deviation value of the vehicle body ≥ the deviation threshold value of the vehicle body, the acquisition device collects the key elements of the equipment and transmits them to the controller; the controller compares the key elements of the equipment with the preset information of the equipment to obtain the actual deviation of the equipment; the controller compares the actual deviation of the equipment with the equipment The deviation threshold is compared; when the actual deviation of the equipment ≥ the deviation threshold of the equipment, the controller calculates the compensation value of the equipment and controls the mobile positioning device 1 to move according to the compensation value of the equipment; the acquisition device re-collects the key elements of the vehicle body; when the actual deviation of the equipment < the deviation threshold of the equipment , the controller controls the mobile positioning device 1 to move according to the vehicle body compensation value.

As shown in Figure 1 and Figure 2, when it is judged that the measuring points on any part of the side wall assembly, roof assembly and chassis assembly of the body need to be compensated, you can further check the mobile positioning device 1 Whether there is an offset, the key elements of the equipment of the mobile positioning device 1 are collected by the acquisition device and transmitted to the controller. The controller obtains the actual deviation of the equipment by comparing the key elements of the equipment with the preset information of the equipment, and compares the actual deviation of the equipment with the preset information It is compared with the equipment deviation threshold within it. When the actual deviation of the equipment exceeds the equipment deviation threshold, the controller calculates the equipment compensation value, and the controller first controls the mobile positioning equipment to move to the preset point according to the equipment compensation value, and then passes through the The acquisition device collects the key elements of the vehicle body, and recalculates the compensation value of the vehicle body. When the actual deviation of the equipment is less than the deviation threshold of the equipment, the controller calculates the compensation value of the vehicle body and controls the mobile positioning device 1 to move according to the compensation value of the vehicle body.

In a preferred embodiment of the present invention, the tool positioning equipment also includes an accompanying device 2 and a zero alignment device 3 connected to the accompanying device 2, and inputting preset information of the equipment in the controller includes: installing the mobile positioning device 1 to the accompanying device 2, and move to fit with the zero alignment device 3; set the equipment preset information in the controller; the reading of the acquisition device is calibrated to 0 and move out of the zero alignment device 3, so as to avoid the movement of the mobile positioning device 1 and the zero alignment Device 3 contacts.

As shown in Fig. 1, Fig. 2 and Fig. 4, accompanying device 2 is a traveling roller bed, and accompanying roller bed is fixed on the ground, and accompanying fixture 12 can slide on the traveling roller bed, and vehicle body is installed on the traveling fixture 12, thereby vehicle body from The previous station is sent to this station, and the zero alignment device 3 is set at a position corresponding to a measuring point of the traveling fixture 12 of the mobile positioning device 1, which can be connected with the traveling roller bed, or directly installed on the ground , when the first traveling fixture 12 moves to this station with the chassis assembly, the mobile positioning device 1 is offset against the zero-setting device 3, at this time the reading of the acquisition device is marked as zero, and the position of the mobile positioning device 1 is set Set as the standard position, when the second and third accompanying fixtures 12 move to this station, this standard position shall be taken as the standard, so as to control the consistency of the body welding, after the position of the mobile positioning device 1 is calibrated , when other parts of the vehicle body may interfere with the chassis of the car, the mutual force will cause the mobile positioning device 1 to touch the zero position after exceeding the standard position, resulting in inaccurate results. It may also be because the load of the servo motor 4 is too small. As a result, the mobile positioning device 1 does not reach the standard position, so the zeroing device 3 is removed so that it does not contact the mobile positioning device 1, so as to realize adaptive compensation in this direction subsequently.

In a preferred embodiment of the present invention, the mobile positioning device 1 controls the movement through the servo motor 4, the servo motor 4 is connected with the accompanying device 2, the acquisition device is also configured to obtain the real-time position of the servo motor 4, and the controller calculates the vehicle body compensation value And controlling the mobile positioning device 1 to move according to the vehicle body compensation value includes: the controller calculates and obtains the actual deviation value Y ₀ of the vehicle body; the acquisition device obtains the actual position X _actual of the servo motor 4, and transmits this to the controller as equipment preset information; Calculate the corresponding angle of the pulse of the servo motor 4 when the mobile positioning device 1 moves 1 mm, the number of turns N required by the servo motor 4; the controller calculates the body compensation value X _compensation = X _actual - Y ₀ × N, and passes the Control the mobile positioning device 1 to move X _compensation .

As shown in Figures 2 to 4, the controller also includes a motion control module for controlling the operation of the servo motor 4, the system transmits _Y to the controller, and inputs the corresponding angle of the pulse of the servo motor 4 into the controller, so that the controller It can be measured that when the mobile positioning device 1 moves 1 mm, the number of turns of the servo motor 4 is N, then Y ₀ ×N is a certain point on the rotor of the servo motor 4. When the servo motor 4 drives the mobile positioning device 1 to move Y ₀ The acquisition device also includes a second position sensor for obtaining the actual position X _actual of a certain point on the rotor of the servo motor 4. The controller calculates the vehicle body compensation value and the servo motor 4 will eventually move the positioning device 1. The movement amount of the rotor when it is sent to the preset position, that is, the vehicle body compensation value, so that the motion control module drives the servo motor 4 to compensate the mobile positioning device 1 according to the vehicle body compensation value X _compensation .

In a preferred embodiment of the present invention, the equipment deviation threshold is -0.15mm to 0.15mm, and the acquisition device includes a first position sensor connected in communication with the controller, the transmitting end of the first position sensor faces the mobile positioning device 1, when the first position sensor When the reading of a position sensor is positive and greater than 0.15mm, the mobile positioning device 1 moves to the direction of the first position sensor for compensation; when the reading of the first position sensor is negative and less than -0.15mm, the mobile positioning device 1 moves away from the first position sensor. A position sensor is compensated for directional movement.

Wherein, when the reading of the first position sensor is positive and greater than 0.15mm, it means that the mobile positioning device 1 has not yet reached the position marked as 0 by the first position sensor, that is, the calibration position of the mobile positioning device 1, and the mobile positioning device 1 is in the direction of The direction movement of the first position sensor is compensated. When the reading of the first position sensor is negative and less than -0.15mm, it means that the mobile positioning device 1 has moved beyond the position marked as 0 by the first position sensor, that is, the mobile positioning device 1 calibrated position, the mobile positioning device 1 moves away from the first position sensor for compensation, when the reading of the first position sensor is between -0.15mm and 0.15mm, the controller considers that the mobile positioning device 1 is in an ideal working condition, thus The controller does not issue a compensation signal.

In a preferred embodiment of the present invention, the readings of the first position sensor are converted by the conversion module and then transmitted to the controller. The conversion process includes: setting the range readings of the first position sensor to include L _min , L ₀ and L _max , Among them, L _min <L ₀ <L _max , and L ₀ =0; set the reading of the first position sensor as L, and the reading received by the conversion module as the key element of the vehicle body received by the controller is H; when L _min <L< When L ₀ , H=k ₁ L+b ₁ ; when L ₀ <L<L _max , H=k ₂ L+b ₂ .

Wherein, the range reading of the first position sensor includes the minimum value of the range L _min , the middle value of the range L ₀ and the maximum value of the range L _max , after the first position sensor is zeroed, the mobile positioning device 1 may exceed or fail to reach the first position sensor If the zero mark position is set, L _min =-L _max is usually set, for example, set L _min =-10mm, L _max =10mm, L ₀ =0, then when the reading of the first position sensor is L _min , you can set The reading of the conversion module is H _min =-32767 constant, when the reading of the first position sensor is L _max , the reading of the conversion module can be set as H _max =32767 constant, then when the reading of the first position sensor is L ₀ , the reading of the conversion module can be set as H ₀ =0. At this time, H ₀ is a theoretical value, and there may be errors. When there is a slight error in L ₀ , H ₀ may be -390 or other values. When H ₀ =-390 , it is equivalent to an error of 0.01mm in L ₀ , when L _min <L<L ₀ , the reading of the first position sensor is negative, then the conversion module reads H=k ₁ L+b ₁ output by the controller, After several experiments, it is found that this embodiment is preferably k ₁ =1/32.4, b ₁ =12, when L ₀ <L<L _max , the reading of the first position sensor is positive, then the conversion module outputs to the controller The reading H=k ₂ L+b ₂ , after several experiments, it is obtained that k ₂ =1/33.2, b ₂ =12 in this embodiment is preferred.

In a preferred embodiment of the present invention, the tooling positioning equipment also includes an alarm device communicated with the controller. When the actual deviation value of the vehicle body is < A times the vehicle body deviation threshold, the end includes: when B times the vehicle body deviation threshold ≤ the vehicle body When the actual deviation value<A times the body deviation threshold, the controller transmits an alarm signal to the alarm device, and the alarm device alarms and ends; when the actual deviation value of the body is<B times the body deviation threshold, it ends; where, 0.8≤B≤0.95 , where 1≤A≤2.

Among them, when the actual deviation value of the vehicle body is greater than or equal to the B times of the set vehicle body deviation threshold and less than A times, the controller feedbacks this data only as an early warning and does not control compensation, but the relevant areas need to continue to pay attention to the body changes during continuous production , when the actual deviation value of the vehicle body is less than B times the deviation threshold value of the vehicle body, the controller will feedback that this data is normal, the vehicle body is in an ideal working condition, and the compensation will end without control. Where B is any number between 0.8 and 0.95, and A is any number between 1 and 2.

In a preferred embodiment of the present invention, when the actual deviation of the vehicle body ≥ A times the threshold deviation of the vehicle body, the controller calculates the compensation value of the vehicle body and controls the mobile positioning device 1 to move according to the compensation value of the vehicle body, where 1≤A≤2.

Wherein, when the actual deviation value of the vehicle body is greater than or equal to A times the deviation threshold value of the vehicle body, the controller feeds back that the data is out of tolerance, and the mobile positioning device 1 needs precision compensation, the controller sends compensation information, and the first position sensor performs compensation information Confirm that when the compensation is in place, the device completes the adaptive compensation.

In the tooling positioning deviation compensation method of the present invention, the first position sensor and the visual sensor of the acquisition device are used to monitor the position of the vehicle body carried by the mobile positioning device 1, and the controller simultaneously passes the first position sensor, the second position sensor and the first position sensor of the acquisition device. The various values returned by the visual sensor calculate the actual deviation value of the vehicle body and the actual deviation value of the equipment, so that the controller can compensate the mobile positioning device 1 through the servo motor 4, and finally make the side wall assembly and roof assembly of the vehicle body It moves to the appropriate relative position with the chassis assembly, which reduces manual participation in matching tooling, reduces labor costs, and improves economic benefits; it can independently debug the introduction of new models, reduce sensor installation, save space, avoid interference, and reduce development costs.

A tool positioning device according to an embodiment of the present invention is controlled by the aforementioned tool positioning deviation compensation method.

In the embodiments of the present invention, the term "multiple" refers to two or more, unless otherwise clearly defined. Terms such as "installation", "connection" and "fixation" should be understood in a broad sense, for example, "connection" can be a fixed connection, a detachable connection, or an integral connection. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present invention according to specific situations.

In the description of the embodiments of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "upper" and "lower" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present invention and The description is simplified, but does not indicate or imply that the referred device or unit must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the embodiments of the present invention.

In the description of this specification, the description of the terms "one embodiment", "one preferred embodiment" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one of the embodiments of the present invention Examples or examples. In this specification, schematic representations 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 any one or more embodiments or examples.

The above are only preferred embodiments of the embodiments of the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various modifications and changes may be made to the embodiments of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the embodiments of the present invention shall be included in the protection scope of the embodiments of the present invention.

Claims (10)

1. A tool positioning deviation compensation method, applied to the combined tool positioning of the body-in-white on the tool positioning equipment, the tool positioning equipment includes a controller, an acquisition device and a mobile positioning device (1), the controller and the The collection device and the mobile positioning device (1) are respectively connected by communication, the body-in-white is connected to the mobile positioning device (1), and the collection device is configured to collect key elements of the body-in-white, and its features In, including: Input the body preset information in the controller, and input the body deviation threshold; The acquisition device collects the key elements of the body and transmits them to the controller; The controller compares the key elements of the body with the preset information of the body to obtain the actual deviation value of the body; The controller compares the actual deviation value of the vehicle body with the deviation threshold value of the vehicle body; When the actual deviation value of the vehicle body is greater than or equal to A times the deviation threshold value of the vehicle body, the controller calculates the compensation value of the vehicle body and controls the mobile positioning device (1) to move according to the compensation value of the vehicle body; When the actual deviation value of the vehicle body is < A times the deviation threshold value of the vehicle body, the process ends. 2. The tool positioning deviation compensation method according to claim 1, wherein the collection device includes a visual sensor, and the visual sensor is used to collect key elements of the vehicle body at several measuring points on the body-in-white, and the key elements of the vehicle body are The element is the three-dimensional position information corresponding to the measuring point. 3. The tool positioning deviation compensation method according to claim 1, wherein the collection device is further configured to collect key elements of equipment of the mobile positioning device (1), characterized in that, it also includes: Input equipment preset information in the controller, and input equipment deviation threshold; When the actual deviation value of the vehicle body ≥ the deviation threshold value of the vehicle body, the acquisition device collects the key elements of the equipment and transmits them to the controller; The controller compares the key elements of the equipment with the preset information of the equipment to obtain the actual deviation of the equipment; The controller compares the actual deviation of the equipment with the equipment deviation threshold; When the actual deviation of the equipment ≥ the equipment deviation threshold, the controller calculates the equipment compensation value and controls the mobile positioning device (1) to move according to the equipment compensation value; The acquisition device re-acquires the key elements of the vehicle body; When the actual deviation of the equipment is smaller than the equipment deviation threshold, the controller controls the mobile positioning device (1) to move according to the compensation value of the vehicle body. 4. The tool positioning deviation compensation method according to claim 3, characterized in that, the tool positioning equipment also includes an accompanying device (2) and a zero alignment device (3), and the device preset information input in the controller include: Install the mobile positioning device (1) to the accompanying device (2), and move it to fit with the zero alignment device (3); Set device preset information in the controller; The reading of the acquisition device is calibrated to 0 and moved out of the zero setting device (3), so as to avoid contact with the zero setting device (3) during the movement of the mobile positioning device (1). 5. The tool positioning deviation compensation method according to claim 4, wherein the mobile positioning device (1) is controlled to move by a servo motor (4), and the servo motor (4) is connected to the accompanying device (2), so that The collection device is also configured to obtain the real-time position of the servo motor (4), wherein the controller calculates the compensation value of the vehicle body and controls the movement of the mobile positioning device (1) according to the compensation value of the vehicle body, including: The controller calculates and obtains the actual deviation value Y ₀ of the vehicle body; The acquisition device acquires the actual position X _actual of the servo motor (4), and transmits this as equipment preset information to the controller; According to the corresponding angle of the pulse of the servo motor (4), when the mobile positioning device (1) moves by 1mm, the required number of turns N of the servo motor (4) should be rotated; The controller calculates the vehicle body compensation value X _compensation = X _actual - Y ₀ ×N, and controls the mobile positioning device (1) to move the X _compensation through the servo motor (4). 6. The tool positioning deviation compensation method according to claim 3, wherein the equipment deviation threshold is -0.15 mm to 0.15 mm, and the acquisition device includes a first position sensor communicated with the controller, and the The transmitting end of the first position sensor faces toward the mobile positioning device (1), and when the reading of the first position sensor is positive and greater than 0.15mm, the mobile positioning device (1) moves toward the first position sensor to carry out Compensation, when the reading of the first position sensor is negative and less than -0.15mm, the mobile positioning device (1) moves away from the first position sensor for compensation. 7. The tool positioning deviation compensation method according to claim 6, wherein the reading of the first position sensor is converted by a conversion module and then transmitted to the controller, and the conversion process includes: Setting the range reading of the first position sensor includes L _min , L ₀ and L _max , wherein L _min <L ₀ <L _max , and L ₀ =0; Set the reading of the first position sensor as L, and the reading received by the conversion module as the key element of the vehicle body received by the controller is H; When L _min <L<L ₀ , H=k ₁ L+b ₁ ; When L ₀ <L<L _max , H=k ₂ L+b ₂ . 8. The tooling positioning deviation compensation method according to claim 1, said tooling positioning equipment further comprising an alarm device communicated with said controller, characterized in that, when the actual deviation value of the vehicle body < A times the deviation threshold value of the vehicle body , ending with: When the B times of the body deviation threshold ≤ the actual body deviation value<A times of the body deviation threshold, the controller transmits an alarm signal to the alarm device, and the alarm device alarms and ends; When the actual deviation value of the vehicle body is less than B times the deviation threshold value of the vehicle body, the process ends; Among them, 0.8≤B≤0.95, where 1≤A≤2. 9. The tool positioning deviation compensation method according to claim 1, characterized in that, when the actual deviation value of the vehicle body ≥ A times the deviation threshold value of the vehicle body, the controller calculates the compensation value of the vehicle body and controls the mobile positioning device (1) according to the compensation value of the vehicle body Value shift, where 1≤A≤2. 10. A tool positioning device, characterized in that it is controlled by the tool positioning deviation compensation method according to any one of claims 1 to 9.

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