CN109591919A - A kind of automatic mounting process of automotive seat - Google Patents
A kind of automatic mounting process of automotive seat Download PDFInfo
- Publication number
- CN109591919A CN109591919A CN201811634363.5A CN201811634363A CN109591919A CN 109591919 A CN109591919 A CN 109591919A CN 201811634363 A CN201811634363 A CN 201811634363A CN 109591919 A CN109591919 A CN 109591919A
- Authority
- CN
- China
- Prior art keywords
- robot
- seat
- vehicle
- vehicle body
- general assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/022—Transferring or handling sub-units or components, e.g. in work stations or between workstations and transportation systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/14—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being passenger compartment fittings, e.g. seats, linings, trim, instrument panels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention discloses a kind of automatic mounting process of automotive seat, which is characterized in that comprises the following processes: the manipulator of robot grabs seat to be mounted on seat conveyor line, waits in predetermined position；After the vehicle body on vehicle general assembly line reaches predetermined position, one enabling signal of robot is given, robot moves synchronously in robot running track with vehicle general assembly line；Seat is placed installation site in vehicle body by robot, and then the manipulator release seat of seat is grabbed by robot, and extracts out from vehicle body；It completes seat to carry and place, robot is synchronous with the cancellation of vehicle general assembly line, and robot returns to crawl seat position, and crawl seat realizes subsequent cycle.This automatic mounting process of automotive seat of the present invention, high degree of automation is quick and easy for installation, and accuracy is high, with good application prospect.
Description
Technical field
The invention belongs to automobile assembling technical field, more specifically to a kind of automatic mounting process of automotive seat.
Background technique
In the prior art, generally by manually installation site in seat carrier is assembled, there are also by
Seat is transported to interior and then installed by manipulator.Wherein the time-consuming and laborious production efficiency of manual handling installation is low, machine
The often installation accuracy of tool hand installation is difficult to control, inconvenient, influences normally to walk line process.
Summary of the invention
Present invention aim to address problems of the existing technology, provide a kind of high degree of automation, easy for installation fast
Victory, the automatic mounting process of the high automotive seat of accuracy.
To achieve the goals above, the technical scheme adopted by the invention is as follows: provided this automotive seat is installed automatically
Technique, which is characterized in that comprise the following processes: the manipulator of robot grabs seat to be mounted on seat conveyor line,
Predetermined position waits；After the vehicle body on vehicle general assembly line reaches predetermined position, one enabling signal of robot is given, robot exists
It is moved synchronously in robot running track with vehicle general assembly line；Seat is placed installation site in vehicle body by robot, then machine
People grabs the manipulator release seat of seat, and extracts out from vehicle body；It completes seat to carry and place, robot and vehicle general assembly line
Cancel and synchronizing, robot returns to crawl seat position, and crawl seat realizes subsequent cycle.
To keep above-mentioned technical proposal more detailed and specific, the present invention also provides optimization technique sides further below
Case, to obtain satisfied practical function:
It is equipped with seat conveyor line in vehicle general assembly line two sides, between vehicle general assembly line two sides and the seat conveyor line of two sides
It is equipped with robot running track.
The robot includes that can be equipped with connection control along the work block that robot running track moves, the work block
The working arm of manipulator.
To management system net, the robot workstation for controlling robot can for information of vehicles typing on the vehicle general assembly line
The information of vehicles on seat installation station is read by management system net, robot workstation configures model recognition system, and will
The result of identification reads information of vehicles with management system net and compares, and can then be assembled, can be played anti-when vehicle is consistent
Wrong function.
Robot realizes the positioning to vehicle body on production line using vision system detection vehicle body is positioned at the beginning of 3D, will after positioning
Vehicle body location coordinate information sends robot to.
D vision system is using the binocular camera being fixedly mounted on robot gripper.
Binocular camera identifies the two dimensional image coordinate of fixed character mark point, while according to the position relation of each camera
And coordinate of the mark point under bodywork reference frame, the correction vector between present orientation and theoretical orientation is calculated, by this
Vector is corrected, robot voluntarily adjusts motion profile.
The automatic mounting process of automotive seat of the present invention compared with prior art, has the advantage that this automobile of the present invention
The automatic mounting process of seat, high degree of automation is quick and easy for installation, and accuracy is high, with good application prospect.
Detailed description of the invention
The label in content and figure expressed by the attached drawing to this specification is briefly described below:
Fig. 1 is the automatic mounting production line structural schematic diagram of seat of the present invention；
In the figure, it is marked as 1, vehicle general assembly line, 2, seat conveyor line, 3, working arm, 4, work block, 5, robot operation
Track, 6, seat, 7, vehicle body.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to a specific embodiment of the invention further details of
Explanation.
The automatic mounting process of automotive seat of the present invention, as shown in Figure 1, using manipulator in robot in seat conveyor line 2
On seat 6 is caught, after the vehicle body 7 of vehicle general assembly line 1 reaches predetermined position, control system receives position signal for the signal
Output valve robot workstation, robot workstation give robot one enabling signal, and control robot runs rail in robot
It is synchronous with vehicle general assembly line 1 on road 5, it keeps opposing stationary；Robot workstation, which controls robot and places seat in vehicle body 7, to be pacified
Holding position, then the manipulator release seat of seat is grabbed by robot, and extracts out from vehicle body, completes seat and carries and place, machine
Device people is synchronous with the cancellation of vehicle general assembly line, and robot returns to crawl seat position, and crawl seat realizes subsequent cycle.
In the present invention, as shown in fig. 1, it is equipped with seat conveyor line 2 in 1 two sides of vehicle general assembly line, at 1 liang of vehicle general assembly line
Robot running track 5 is equipped between side and the seat conveyor line 2 of two sides.It is two sets of seats installations that i.e. the present invention program, which uses,
Robot is arranged in the two sides of vehicle general assembly line 1, and synchronous operation, the seat of left and right vehicle wheel two sides can synchronize installation, improves installation
Efficiency, in seat erector position, synthesis positioning accuracy of the vehicle general assembly line to vehicle: the direction X/Y/Z is ± 10mm, seat into
On the seat installation station of row installation, robot and vehicle body 7 are to move synchronously relative static conditions, in order to which seat is stablized effectively
Installation process, improve installation production efficiency.
In the present invention, robot includes that can be equipped with to connect along the work block 4 that robot running track 5 moves, work block 4
The working arm 3 of control manipulator is connect, to guarantee robot stabilized motion process and stable effective pick-and-place process.
In the present invention, it is equipped with management system net, management system net is the Control management system of terminal, on vehicle general assembly line 1
Information of vehicles typing to management system net, the robot workstation that machine controls robot can pass through management system net and read seat
Information of vehicles on station is installed, robot workstation configures model recognition system, and the result that model recognition system is identified
Information of vehicles is read with management system net to compare, can then be assembled when vehicle is consistent, can play error-disable function, is improved
The accuracy of installation avoids error from doing over again, and guarantees normal installation progress, improves installation qualification rate.
In the present embodiment, robot selects IRB6700-175/3.05 robot, ABB AB to complete, robot load
175kg, repetitive positioning accuracy are ± 0.05mm.The manipulator gripping apparatus of robot uses universal mounting structure, and robot uses six
Robot interior flexible motion in a limited space is convenient in shaft flange connection.
In the present invention, the process of specific robot installation seat: the manipulator of robot grabs on seat conveyor line 2
Seat 6 to be mounted waits in predetermined position；After the vehicle body on vehicle general assembly line reaches predetermined position, one, robot is given
Enabling signal, robot move synchronously in robot running track 5 with vehicle general assembly line 1；Seat 6 is placed vehicle body by robot
Installation site in 7, then the manipulator release seat of seat is grabbed by robot, and extracts out from vehicle body；Seat is completed to carry and pacify
It puts, robot is synchronous with the cancellation of vehicle general assembly line 1, and Robot robot running track 5 returns to crawl seat position, grabs seat
Chair is to realize subsequent cycle.
In the present invention, robot, which just positions vision system detection vehicle body using 3D, determines vehicle body on production line to realize
Position, sends vehicle body location coordinate information to robot after positioning.3D vision system is used and is fixedly mounted on robot gripper
Binocular camera, difference " see " vehicle body different parts from different perspectives, and from these images search for vehicle body fixed character mark
Remember point, identifies the two dimensional image coordinate of fixed character mark point, while according to the position relation and mark point of each camera
Coordinate under bodywork reference frame has mathematically determined that an optimal vehicle body orientation in this way, and has calculated present orientation
Correction vector (X, Y, Z, RX, RY, RZ) between theoretical orientation, by the correction vector, robot can be adjusted voluntarily
Motion profile.This design can greatly promote the degree of automation during mounting process, improve installation effectiveness, guarantee installation accuracy.
Binocular camera carries out reachable ± 2 mm of location determination precision to vehicle body position, and vision system measurement success rate reaches 99.9%, should
System is not influenced by body color and external light source, continuous and steady operation.
The automatic mounting process of automotive seat of the present invention can save two people's physical strength labor with robot carrying and installation seat
It is dynamic, labor intensity, automatic realizing system vehicle and seat matching are reduced, high degree of automation is quick and easy for installation, accuracy
Height, with good application prospect.
The present invention is exemplarily described above in conjunction with attached drawing, but the present invention is not limited to aforesaid way, only
The improvement for the various unsubstantialities to be carried out using the inventive concept and technical scheme of the present invention directly applies to other occasions
, it falls within the scope of protection of the present invention.
Claims (7)
1. a kind of automatic mounting process of automotive seat, which is characterized in that comprise the following processes: the manipulator of robot is defeated in seat
Seat to be mounted is grabbed in line sending, is waited in predetermined position；After the vehicle body on vehicle general assembly line reaches predetermined position, machine is given
One enabling signal of device people, robot move synchronously in robot running track with vehicle general assembly line；Seat is put in robot
Installation site in vehicle body is set, then the manipulator release seat of seat is grabbed by robot, and extracts out from vehicle body；Seat is completed to carry
And placement, robot is synchronous with the cancellation of vehicle general assembly line, and robot returns to crawl seat position, and crawl seat realizes next follow
Ring.
2. the automatic mounting process of automotive seat described in accordance with the claim 1, it is characterised in that: be equipped in vehicle general assembly line two sides
Seat conveyor line is equipped with robot running track between vehicle general assembly line two sides and the seat conveyor line of two sides.
3. the automatic mounting process of automotive seat according to claim 2, it is characterised in that: the robot includes can be along machine
The work block of device people's running track movement, the work block are equipped with the working arm of connection control manipulator.
4. the automatic mounting process of automotive seat described in accordance with the claim 1, it is characterised in that: the vehicle on the vehicle general assembly line
To management system net, the robot workstation for controlling robot can read seat erector by management system net for data input
Information of vehicles on position, robot workstation configures model recognition system, and the result of identification and management system net are read vehicle
Information compares, and can then be assembled when vehicle is consistent, can play error-disable function.
5. the automatic mounting process of automotive seat according to claim 4, it is characterised in that: robot just positions view using 3D
System detection vehicle body is felt to realize the positioning to vehicle body on production line, sends vehicle body location coordinate information to machine after positioning
People.
6. the automatic mounting process of automotive seat according to claim 5, it is characterised in that: D vision system is using fixed peace
Binocular camera on robot gripper.
7. the automatic mounting process of automotive seat according to claim 6, it is characterised in that: binocular camera identifies fixed character
The two dimensional image coordinate of mark point, while the seat according to the position relation of each camera and mark point under bodywork reference frame
Mark calculates the correction vector between present orientation and theoretical orientation, and by the correction vector, robot voluntarily adjusts movement rail
Mark.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634363.5A CN109591919A (en) | 2018-12-29 | 2018-12-29 | A kind of automatic mounting process of automotive seat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634363.5A CN109591919A (en) | 2018-12-29 | 2018-12-29 | A kind of automatic mounting process of automotive seat |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109591919A true CN109591919A (en) | 2019-04-09 |
Family
ID=65964630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811634363.5A Pending CN109591919A (en) | 2018-12-29 | 2018-12-29 | A kind of automatic mounting process of automotive seat |
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| Country | Link |
|---|---|
| CN (1) | CN109591919A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200338739A1 (en) * | 2018-01-09 | 2020-10-29 | Abb Schweiz Ag | Vehicle body assembly station |
| CN112975331A (en) * | 2021-03-24 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Automatic assembly equipment for balance shaft of heavy truck |
| CN113697010A (en) * | 2021-09-18 | 2021-11-26 | 江西五十铃汽车有限公司 | Light truck body and chassis conveying following assembling method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1110854A2 (en) * | 1999-12-23 | 2001-06-27 | Hyundai Motor Company | Robot system synchronized with conveyor speed and car seat providing method using such a robot system |
| CN1798678A (en) * | 2003-06-04 | 2006-07-05 | 本田技研工业株式会社 | Method and mechanism for fixing window glass of automobile |
| CN101169657A (en) * | 2007-11-28 | 2008-04-30 | 安徽江淮自动化装备有限公司 | Automobile wind shield glass mounting method based on automatic glue application and artificial mounting |
| CN102910223A (en) * | 2011-08-05 | 2013-02-06 | 通用汽车环球科技运作有限责任公司 | Moving stop station for robotic assembly |
| CN205769699U (en) * | 2016-06-14 | 2016-12-07 | 成都龙科重型机械制造有限公司 | Car belt installs ancillary works seat |
-
2018
- 2018-12-29 CN CN201811634363.5A patent/CN109591919A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1110854A2 (en) * | 1999-12-23 | 2001-06-27 | Hyundai Motor Company | Robot system synchronized with conveyor speed and car seat providing method using such a robot system |
| CN1798678A (en) * | 2003-06-04 | 2006-07-05 | 本田技研工业株式会社 | Method and mechanism for fixing window glass of automobile |
| CN101169657A (en) * | 2007-11-28 | 2008-04-30 | 安徽江淮自动化装备有限公司 | Automobile wind shield glass mounting method based on automatic glue application and artificial mounting |
| CN102910223A (en) * | 2011-08-05 | 2013-02-06 | 通用汽车环球科技运作有限责任公司 | Moving stop station for robotic assembly |
| CN205769699U (en) * | 2016-06-14 | 2016-12-07 | 成都龙科重型机械制造有限公司 | Car belt installs ancillary works seat |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200338739A1 (en) * | 2018-01-09 | 2020-10-29 | Abb Schweiz Ag | Vehicle body assembly station |
| US11698627B2 (en) * | 2018-01-09 | 2023-07-11 | Abb Schweiz Ag | Vehicle body assembly station |
| CN112975331A (en) * | 2021-03-24 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Automatic assembly equipment for balance shaft of heavy truck |
| CN113697010A (en) * | 2021-09-18 | 2021-11-26 | 江西五十铃汽车有限公司 | Light truck body and chassis conveying following assembling method |
| CN113697010B (en) * | 2021-09-18 | 2022-07-22 | 江西五十铃汽车有限公司 | Light truck body and chassis conveying accompanying combination method |
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Application publication date: 20190409 |