CN111846028A - Flexible assembling system and method for automobile windshield - Google Patents
Flexible assembling system and method for automobile windshield Download PDFInfo
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- CN111846028A CN111846028A CN202010553281.9A CN202010553281A CN111846028A CN 111846028 A CN111846028 A CN 111846028A CN 202010553281 A CN202010553281 A CN 202010553281A CN 111846028 A CN111846028 A CN 111846028A
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- windshield
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- 239000011521 glass Substances 0.000 claims abstract description 116
- 238000009434 installation Methods 0.000 claims abstract description 22
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- 230000007246 mechanism Effects 0.000 claims description 27
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- 241000252254 Catostomidae Species 0.000 claims description 5
- 239000003292 glue Substances 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 15
- 238000001514 detection method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
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Classifications
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- 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
- B62D65/024—Positioning of sub-units or components with respect to body shell or other sub-units or components
- B62D65/028—Positioning of sub-units or components with respect to body shell or other sub-units or components by determining relative positions by measurement
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- 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
- B62D65/024—Positioning of sub-units or components with respect to body shell or other sub-units or components
- B62D65/026—Positioning of sub-units or components with respect to body shell or other sub-units or components by using a jig or the like; Positioning of the jig
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- 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
Abstract
The invention discloses a flexible assembling system and a method for an automobile windshield, wherein the assembling system comprises: the primary positioning device is used for scanning the threshold profile of the automobile body and sending the position deviation value of the automobile body to the fine positioning device; the fine positioning device is used for scanning the outline of the frame of the windshield of the vehicle body when the deviation value is smaller than a set value, acquiring the position of the characteristic point of the frame of the windshield, and sending the position of the characteristic point to the workpiece grabbing robot; and the grabbing robot is used for grabbing the glass to be assembled and completing the assembly of the glass to be assembled according to the positions of the characteristic points. The invention realizes the automatic installation of the automobile windshield.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing process equipment, in particular to a flexible assembling system and method for an automobile windshield.
Background
With the rapid development of information technology, the industrial automation degree is higher and higher, and the high-efficiency and low-cost industrial automation is realized during flexible production. The application of the robot flexible production line representing the development trend of the current design robot technology not only represents a national industrial automation level, but also is an important way for improving the industrial flexibility. The robot system based on the laser scanner has the advantages of high precision, good stability and the like, and is widely applied to the fields of measurement, workpiece positioning, defect detection, robot navigation and the like.
The installation of the automobile windshield is an important process in the production and the manufacture of automobiles, and the prior art mainly adopts a manual assembly mode or an automatic assembly solution based on binocular vision positioning. Binocular stereo vision is an important form of machine vision, and is a method for acquiring three-dimensional geometric information of an object from a plurality of images based on the parallax principle. The binocular stereo vision system generally obtains two digital images of a measured object from different angles by two cameras simultaneously, or obtains two digital images of the measured object from different angles at different moments by a single camera, recovers three-dimensional geometric information of an object based on a parallax principle, and reconstructs a three-dimensional contour and a position of the object. This mode based on binocular vision location has certain limitation, and the exposure degree has factors such as difference, sunshine, indoor lighting to the interference of vision shooting quality, influences the precision and the stability of location.
The automatic assembly method for binocular vision positioning has the following disadvantages:
(1) the different colors of the car body have certain influence on the shooting precision. Due to the diversification of the colors of the car bodies in the assembly workshop, the exposure degrees of the vision systems are different, and the shooting precision is influenced.
(2) Factors such as sunlight, indoor illumination, day and night difference interfere with the visual shooting quality, and the shooting stability is influenced.
(3) The debugging is troublesome and the flexibility is relatively poor. Before formal production, a large amount of data is needed for verification, and the optimal visual shooting position and the optimal glass position on the vehicle body are selected according to different vehicle types, so that the shooting deviation is ensured to be within a set value range. The subsequent new different colour motorcycle types of customer need the professional to debug, can't realize quick flexible production.
Disclosure of Invention
The invention aims to solve the technical problem that the prior art is not enough, and provides a flexible assembling system and method for an automobile windshield, so that the automatic installation of the automobile windshield is realized.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an automotive windshield flexible assembly system comprising:
the primary positioning device is used for scanning the threshold profile of the automobile body and sending the position deviation value of the automobile body to the fine positioning device;
the fine positioning device is used for scanning the outline of the frame of the windshield of the vehicle body when the deviation value is smaller than a set value, acquiring the position of the characteristic point of the frame of the windshield, and sending the position of the characteristic point to the workpiece grabbing robot;
and the grabbing robot is used for grabbing the glass to be assembled and completing the assembly of the glass to be assembled according to the positions of the characteristic points.
Preferably, the system of the present invention further comprises:
the conveying device is used for conveying the glass to be assembled to the centering device;
the centering device is used for centering and positioning the glass to be assembled;
and the workpiece grabbing robot grabs the glass to be assembled after being centered and positioned by the centering device.
The conveying device comprises a frame; two parallel synchronous belts are arranged on the rack; the synchronous belt is connected with a driving device arranged on the rack. The conveying device is simple in structure and easy to realize.
Preferably, the invention further comprises a jacking slewing device, wherein the jacking slewing device is used for jacking the glass to be assembled when the glass to be assembled needs to be glued, so that the glass to be assembled is separated from the synchronous belt; after the gluing is finished, the jacking and rotating device drives the glass to be assembled to fall back to the synchronous belt. The jacking slewing device comprises a supporting seat; a lifting mechanism is fixed on the supporting seat; the lifting mechanism top is connected with the tray subassembly, just lifting mechanism can drive the tray subassembly is two move in the vertical direction between the hold-in range. The tray assembly comprises a moving plate; the movable plate is provided with a connecting disc; at least two parallel brackets are arranged on the connecting disc; at least one first sucker is fixed on each bracket; preferably, two ends of each bracket are respectively provided with a first sucker; preferably, at least one supporting piece is arranged on the bracket between the two suckers at the two ends of each bracket.
The connecting disc is connected with the moving plate through a rotating mechanism; the rotating mechanism can drive the connecting disc to rotate by taking the gravity center of the connecting disc as a center. The worker can conveniently finish gluing the windshield.
The invention also comprises a turnover device for conveying the glass to be assembled from the conveying device to the centering device; the turnover device comprises a bracket; the top of the bracket is provided with a turnover shaft; the turnover shaft is fixedly connected with the turnover arm, and the turnover shaft can drive the turnover arm to rotate by taking the turnover shaft as an axis; and a grabbing mechanism is fixed at one end of the turnover arm far away from the turnover shaft. The glass can be conveyed accurately.
The turnover arm comprises two cross rods which are arranged in parallel; one ends of the two cross rods are fixedly connected with the turnover shaft; the other ends of the two cross rods are vertically connected with the sucker fixing seat; a second sucker is fixed at both ends of the sucker fixing seat; when the centering device is in an initial position, the conveying device conveys the glass to be assembled to the position above the second sucker, the second sucker adsorbs the glass to be assembled, and the turnover arm turns over 180 degrees, so that the glass to be assembled falls into the centering device. The turnover device disclosed by the invention is simple in structure, the turnover speed can be adjusted according to the actual use condition, and the turnover operation is stable.
In order to detect the position of the automobile body and improve the assembly precision, the primary positioning device comprises a line laser sensor which is arranged near the automobile body and is used for detecting the theoretical coordinate value of the B column of the automobile body.
The fine positioning device comprises an industrial robot; a three-dimensional laser vision sensor is fixed at the top end of a mechanical arm of the industrial robot; the three-dimensional laser vision sensor is arranged above the automobile body. The characteristic points of the windshield frame comprise the centers of three circular holes which are respectively arranged on the upper frame and one side frame of the windshield of the automobile body; the third circular hole is positioned on the side frame; the first round hole and the second round hole are located on the upper frame, and the distance from the circle center of the second round hole to the circle center of the third round hole is smaller than the distance from the circle center of the first round hole to the circle center of the third round hole. And the assembly position can be accurately positioned.
The specific implementation process for completing the assembly of the glass to be assembled according to the positions of the characteristic points comprises the following steps: taking the circle center of the second round hole as the origin of the reference world coordinate system, and setting the three-dimensional coordinates of the circle center of the first round hole, the circle center of the second round hole and the circle center of the third round hole of the first vehicle body under the reference world coordinate system as P 1(X1、Y1、Z1)、P2(X2、Y2、Z2)、P3(X3、Y3、Z3) (ii) a The three-dimensional coordinates of the circle centers of the three round holes of the current vehicle body under the reference world coordinate system are respectively P detected by using a three-dimensional laser vision sensor1’(X’1、Y’1、Z’1)、P2’(X’2、Y’2、Z’2)、P3’(X’3、Y’3、Z’3) (ii) a The following positioning offsets are calculated: delta P1＝(P1-P’1)、ΔP2＝(P2-P’2)、ΔP3＝(P3-P’3) (ii) a Sending the positioning offset to the gripperThe robot converts the space positioning error of the windshield installation window into a variable under a base coordinate of the grabbing robot, sets an adjusting position, adjusts the to-be-assembled glass to a position which is parallel to the installation surface and is in the X, Y, Z direction under a tool coordinate system after the grabbing robot moves to the adjusting position, and moves along the Z direction to install the to-be-assembled glass into a windshield frame; the mounting surface is formed by three round holes P on the current vehicle body1’(X’1、Y’1、Z’1)、P2’(X’2、Y’2、Z’2)、P3’(X’3、Y’3、Z’3) A determined plane; the tool coordinate system refers to the center P2 ' (X ') of a second circular hole of the current vehicle body '2、Y’2、Z’2) The current width direction of the vehicle body is an X direction, the current length direction of the vehicle body is a Y direction, and the current height direction of the vehicle body is a Z direction.
The invention also provides a flexible assembling method of the automobile windshield, which comprises the following steps:
1) a first round hole and a second round hole are arranged on the upper frame of the automobile windshield, and a third round hole is arranged on one side frame; taking the center of the second round hole as the origin of the reference world coordinate system, and setting the three-dimensional coordinates of the center of the first round hole, the center of the second round hole and the center of the third round hole in the reference world coordinate system to be P 1(X1、Y1、Z1)、P2(X2、Y2、Z2)、P3(X3、Y3、Z3)；
2) Three-dimensional coordinates of the centers of the three circular holes, which are detected by the three-dimensional laser vision sensor, in the reference world coordinate system are respectively P1’(X’1、Y’1、Z’1)、P2’(X’2、Y’2、Z’2)、P3’(X’3、Y’3、Z’3) (ii) a The following positioning offsets are calculated: delta P1＝(P1-P’1)、ΔP2＝(P2-P’2)、ΔP3＝(P3-P’3)；
3) Sending the positioning offset to the piece grabbing robot, converting the space positioning error of a windshield installation window into a variable under a base coordinate of the piece grabbing robot, setting an adjusting position, adjusting the to-be-assembled glass to a position which is parallel to an installation surface and is in the X, Y, Z direction under a tool coordinate system after the piece grabbing robot moves to the adjusting position, and moving along the Z direction to install the to-be-assembled glass into a windshield frame; the mounting surface is formed by three round holes P on the current vehicle body1’(X’1、Y’1、Z’1)、P2’(X’2、Y’2、Z’2)、P3’(X’3、Y’3、Z’3) A determined plane; the tool coordinate system refers to the center P2 ' (X ') of a second circular hole of the current vehicle body '2、Y’2、Z’2) The current width direction of the vehicle body is an X direction, the current length direction of the vehicle body is a Y direction, and the current height direction of the vehicle body is a Z direction.
The method is not limited by environment, space, color and size of the automobile body, can stably detect the position data of the automobile body, improves the detection efficiency and the detection reliability, and ensures the assembly quality of the automobile windshield glass.
In order to further improve the assembly precision, before the step 1), the following processes are carried out: calculating a deviation value between the actual position of the automobile body and the theoretical position of the automobile body detected by the primary positioning device, and stopping assembly if the deviation value is greater than a set value; otherwise, step 1) is entered.
For accurate positioning of the glass, before calculating the deviation value, the following process is also performed: and a displacement sensor is arranged on the centering device, the displacement sensor detects the moving distance of the glass to be assembled on the centering device, and when the glass to be assembled moves to a specified position, the glass to be assembled is controlled to stop moving.
And after the glass to be assembled is coated with glue on the jacking and rotating device, the glass to be assembled is conveyed to the turnover device by the conveying device, and the turnover device conveys the glass to be assembled to the centering device.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention realizes the automatic installation of the automobile windshield, improves the installation quality and reduces the production cost;
2. the invention combines the three-dimensional laser vision technology and the spatial coordinate algorithm, and under the condition of larger shape and position deviation of a car body window frame, the glass assembly process is changed from the traditional manual production or single car type production module into an intelligent, efficient and flexible production mode, so that the installation efficiency and the installation precision are greatly improved;
3. The method of the invention is not limited by environment, space, color and size of the automobile body, can stably detect the position data of the automobile body, improves the detection efficiency and the detection reliability, and ensures the assembly quality of the automobile windshield glass.
Drawings
FIG. 1 is a schematic view of the overall structure of the assembling system of the present invention;
FIG. 2 is a schematic structural diagram of a jacking swiveling device according to the present invention;
FIG. 3 is a cross-sectional view of a jacking slewing device of the present invention;
FIG. 4 is a schematic view of the structure of the conveying device of the present invention;
FIG. 5 is a schematic structural view of the turning device of the present invention;
FIG. 6 is a schematic view of a centering device according to the present invention;
FIG. 7 is a schematic view of the structure of the gripper (gripper robot) for glass according to the present invention;
FIG. 8 is a schematic structural diagram of the primary positioning device of the present invention;
FIG. 9 is a schematic view of a fine positioning apparatus according to the present invention;
FIG. 10 is a diagram of a glass-mounted three-dimensional solid model according to the present invention;
FIG. 11 is a schematic view of a mathematical model of a glass mounting surface according to the present invention;
FIG. 12 is a mathematical model of the installation surface of the present invention in a reference world coordinate system;
FIG. 13 is a block diagram of the assembly system of the present invention;
FIG. 14 is a flowchart of a method according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, the assembling system of the present invention comprises a jack-up turning device 1 provided at a feed end (right end in fig. 1) of a glass conveying device 2; a worker places the windshield on the jacking and rotating device 1, the jacking and rotating device is lifted, and the sucker fixes the glass to perform manual primer coating and other work. After the completion, a worker presses a switch (which can be arranged on the jacking rotary device, or arranged on the ground or on a conveying device, the switch can be a button or a foot switch and the like, the switch is electrically connected with a controller (a PLC control system), when the worker presses the switch, the controller receives a level signal and sends a signal for finishing a gluing instruction), the jacking rotary device 1 descends to place the glass 3 on the glass conveying device, the conveying line conveys the glass to the turnover device 4, a sucker on the turnover device sucks the glass, then the glass is turned over for 180 degrees and conveyed to the centering device 5, the glass is released, and the glass returns to reset; the centering device 5 is used for centering and identifying the type of the glass, and after the type is correct, the vacuum chuck rises and fixes the glass, and the centering device is reset; the primary positioning device 9 scans the vehicle body threshold contour (namely a windshield frame) and sends the deviation value of the stopping position of the vehicle body 6 to the fine positioning device 7; the fine positioning device 7 scans the outline of the windshield window frame and sends a related position signal to the grabbing robot 8; the workpiece grabbing robot grabs the workpiece and is automatically guided by the control system to accurately move to the installation position of the windshield window frame, and the assembly of the glass is completed.
Fig. 2 is a structural diagram of the lifting and rotating device of the present invention, wherein the lifting cylinder 105 and the guide shaft 111 are both connected to the moving plate 109, the guide shaft 111 is a telescopic shaft, and the guide shaft 111 is used for preventing the moving plate 109 from rotating when the lifting cylinder is lifted. The jacking cylinder drives the driving moving plate 109 and the mechanism thereon to move in the vertical direction, the guide support 112 is used for fixing the guide seat 106, the guide support 112 is itself fixed on the bottom plate 107 (i.e. the support seat), and the support block 113 is used for reinforcing the guide support 112. The rotating assembly 104 (i.e., the rotating mechanism) is mounted on the moving plate 109, and one end of the fixed bracket 110 is connected to the moving plate 109, and the other end is connected to the housing 1046 of the rotating assembly 104, so as to structurally reinforce the rotating assembly. The rotation element 104 is connected to the connection plate 108, and the rotation of the rotation element drives the connection plate 108 and the above parts to rotate. The bracket 103 is fixed on the connecting disc, and the suction cup 101 (the first suction cup, the position of the suction cup can be adjusted according to different vehicle types) and the supporting component 102 are both fixed on the bracket 103. The number of the supports 103 is two, the supports are arranged on the connecting disc 108 in parallel (the two supports are symmetrically arranged on the connecting disc), two suckers 101 (first suckers) are arranged on each support 103, and two supporting assemblies 102 (supporting pieces) are arranged on the support 103 between the two suckers 101. The moving plate 109 and the components thereon constitute the tray assembly of the present invention. In the present invention, the cross section of the connecting disc 108 is circular, and the center of gravity of the connecting disc refers to the geometric center of the connecting disc.
Manually placing the glass to be assembled on the sucker 101, enabling the jacking cylinder 105 to ascend (namely the piston rod jacking cylinder 105 extends outwards), stretching the guide shaft 111, enabling the movable plate and the upper component of the movable plate to ascend, enabling the glass to be assembled to be separated from the glass conveying device, enabling the supporting component 102 to be used for limiting the glass to be assembled, manually gluing the glass, enabling the jacking cylinder 105 to descend (namely the piston rod of the jacking cylinder 105 is restored to the initial position) after the operation is completed, retracting the guide shaft 111, enabling the movable plate and the upper component of the movable plate to integrally move downwards, and enabling the glass to fall to.
Fig. 3 is a cross-sectional view of the jacking swiveling device, the swiveling component 104 includes a swiveling main shaft 1045, one end of the swiveling main shaft 1045 is fixedly connected to the connecting disc 108, the other end of the swiveling main shaft 1045 is disposed in a retaining ring 1043, the retaining ring 1043 is fixedly connected to the moving plate 109, the retaining ring 1043 is used for limiting the bearing 1044, and a bushing 1042 is disposed outside the swiveling main shaft 1045 (the bushing 1042 is fixedly connected to the swiveling main shaft 1045); the bushing 1042 is mounted inside the bearing 1044 (i.e. the bushing 1042 is located between the main rotating shaft 1045 and the bearing 1044); the connecting disc 108 is connected to the main shaft 1045, and when the connecting disc 108 is pushed, the connecting disc 108 drives the main shaft 1045 to rotate. The lower part of the retainer ring 1043 is fixedly connected with the moving plate 109, the upper part thereof is provided with a limiting groove, and the bottom end of the main rotating shaft 1045 is arranged in the limiting groove (the inner diameter of the limiting groove is matched with the outer diameter of the bottom end of the main rotating shaft). The number of the bearings 1044 is two, and the bearings are respectively arranged at the upper end and the lower end of the lining. Bearings 1044 are disposed within housing 1046. The bottom end of the housing 1046 is fixedly connected with the moving plate 109, and a certain gap is formed between the top end of the housing 1046 and the connecting disc 108, so that the connecting disc can rotate conveniently.
The cover of main pivot 1045 top (using fig. 3 as the reference) is equipped with supplementary pivot 1041, supplementary pivot 1041 top and connection pad 108 fixed connection, and supplementary pivot 1041 bottom sets up between the bearing 1044 and the shell 1046 inner wall of main pivot 1045 upper end (being close to the one end of connection pad 108 promptly), and supplementary pivot can rotate along with the connection pad, and supplementary pivot 1041 is as auxiliary stay, guarantees that the structure is more steady at the rotation in-process.
The jacking and rotating device has the main function of facilitating workers to clean glass, coat primer and the like. The sucking disc is adaptable to different motorcycle types of windscreen. The jacking slewing device has the advantages of simple structure, flexible movement, safety and reliability. The jacking slewing device is used for pneumatic jacking and free rotation, and is suitable for other manual or automatic assembly operation procedures.
As shown in fig. 4, after the glass falls into the conveying device, a motor driving assembly 202 (driving device) disposed on the frame 201 drives the rotating shaft 203 to rotate, two synchronous belts 204 (arranged in parallel) are connected to the rotating shaft 203, the glass is placed on the synchronous belts, and finally the glass is driven by the synchronous belts to be conveyed forward (left side of fig. 3). The tension pulley assembly 206 is used for relaxation adjustment of the synchronous belt. The connecting rod 205 is arranged at one end of the frame 201, so that the structure is more stable. The conveying belt frame (the frame 201) is built by adopting an aluminum profile structure, the appearance is attractive and firm, the height adjusting foot cup is installed on the conveying belt supporting leg, and the conveying belt is provided with a profile ground fixing foot 207, so that the conveying belt can be directly fixed on the ground through a chemical lance after installation, positioning and leveling are finished; the working length of the conveying line is about 7m, and the height is adjusted to be 0.8m (+/-80 mm); belt specification: the width of the H-shaped belt is not less than 50mm, the surface of the belt is coated with 3mm of glue, and a conveying belt material for preventing glass from being scratched is adopted; the conveying speed of the belt is not lower than 15 m/min.
In the invention, the supporting seat 107 of the jacking slewing device is arranged on the ground below the two synchronous belts, and when the jacking cylinder acts, the tray assembly moves up and down between the two synchronous belts, so that the glass is separated from the synchronous belts or falls on the synchronous belts.
Referring to fig. 5, the tilt motor 403 is coupled to the tilt shaft assembly 404, the tilt shaft assembly 404 (i.e., the tilt shaft) is coupled to the tilt arm assembly (i.e., the tilt arm), and the suction cup 406 (second suction cup) is secured to the tilt arm 401 via a connecting bracket. The turnover motor 403 and the turnover shaft assembly 404 are arranged at the top end of the bracket 402. The overturning arm assembly comprises two cross rods 401 arranged in parallel, one ends of the two cross rods 404 are fixedly connected with the overturning shaft assembly 404, the other ends of the two cross rods 404 are respectively fixedly connected with two sucker fixing seats 407, the sucker fixing seats 407 are fixedly connected with a connecting rod 408, in this embodiment, one end of the connecting rod 408 passes through a mounting hole in the sucker fixing seat 407 and is fixedly connected with the sucker fixing seat 407, and the other end of the connecting rod 408 is fixedly connected with a second sucker (i.e., the sucker 406, i.e., a grabbing device). The plane of the two crossbars 401 is perpendicular to the support 402. In the initial position, the suction cup 406 is facing upward (i.e., opposite the suction cup orientation shown in FIG. 5), and when the glass is delivered to the suction cup 406, the invert arm assembly is inverted 180, the suction cup 406 is de-vacuumed, and the glass falls into the centering configuration.
The turnover device is designed with 2 status bits, wherein the 0 degree position is a piece connecting position, and the 180 degree position (i.e. the position shown in fig. 5) is a piece lower position. The initial state is 0 degree position, the glass conveying device conveys the glass to the position above the sucker, and the sucker acts to adsorb the glass; the turnover motor drives the turnover shaft assembly to rotate, the turnover shaft assembly is connected with the turnover arm assembly, the sucker is connected with the turnover arm assembly through the sucker fixing seat, and finally 180-degree rotation of glass on the turnover device is achieved. After rotating 180 degrees, the sucker unloads vacuum, and the glass falls into the centering structure.
The turnover device is driven by a variable frequency speed regulating motor (SEW, namely a turnover motor), the motor is provided with a brake, and when abnormal conditions occur, the turnover frame can be stopped at any position in an emergency, and the glass on the turnover frame is ensured not to fall off. The overturning speed can be adjusted according to the actual use condition, and the overturning operation is stable. The turnover device adopts four vacuum suction cups to adsorb glass, each suction cup is independently controlled by one vacuum generator and is provided with a vacuum detection sensor 408 (model ZK2A15K5JL-08), when one vacuum generator is damaged, the system alarms, and other three vacuum generators can normally work to ensure that the glass cannot drop suddenly. The vacuum chuck (model ZPX125HN-B01-B12) on the turnover device adopts a buffering mode, which can not only adapt to different glass shapes and radians, but also prevent the glass from being damaged when the rotating arm places the glass on the placing table.
Fig. 6 is a schematic structural diagram of the centering device, which includes an installation table 71, and an X-direction limiting mechanism 72, a Y-direction limiting mechanism 73, four Z-direction positioning posts 74 and a glass in-place travel switch 75 which are arranged on the installation table 71. Wherein, Y is the direction of glass conveying, X is all perpendicular Y to Z to the direction, and X is all arranged along the horizontal direction to Y. The mounting table 71 is provided with an X-direction slide rail and a Y-direction slide rail. The X-direction limiting mechanism 72 includes an X-direction sliding table 721, an X-direction displacement sensor 722 and an X-direction tensioning cylinder 723 mounted on the X-direction sliding table 721, and two sets of X-direction positioning pillars 724 disposed at the top of the X-direction sliding table 721 along the X-direction ends, wherein the two sets of X-direction positioning pillars 724 are connected through a gear and rack synchronization mechanism 76, and the X-direction sliding table 721 is slidably disposed on the X-direction sliding rail. The Y-direction limiting mechanism 73 comprises a Y-direction sliding table 731, a Y-direction displacement sensor 732 arranged on the Y-direction sliding table 731, a Y-direction tensioning cylinder 733, and two sets of Y-direction positioning columns 734 arranged at the top of the Y-direction sliding table 731 along the Y-direction two ends, wherein the two sets of Y-direction positioning columns 734 are also connected through a gear-rack synchronization mechanism 76, and the Y-direction sliding table 731 is arranged on the Y-direction sliding rail in a sliding manner.
The working principle of the centering device is as follows:
the turnover device buckles the glass to the centering equipment, the glass is in point contact with the 4Z-direction positioning columns, the glass in-place travel switch outputs signals at the moment, the X/Y-direction tensioning air cylinders simultaneously act to drive the driving rack, the driven rack is driven through the driving rack and the gear, the driven rack is driven, the X/Y-direction sliding table and the X/Y-direction positioning columns translate towards the glass, the X/Y-direction positioning columns are in contact with the glass side lines, and the X/Y-direction positioning of the glass is completed.
The glass X/Y positioning solution for different vehicle types and different external dimensions is as follows: the X/Y direction displacement sensor is additionally arranged on the X/Y direction sliding table, glass centering programs of different vehicle types are set through a PLC program, when different vehicle types of glass are centered, the displacement sensor can record the walking stroke of the sliding table, when the sliding table moves to a glass moving position specified by the current program, the displacement sensor sends a signal to control the electromagnetic valve of the air cylinder to work, and the air cylinder stops. Therefore, the centering device can position all the glass with different sizes in the stroke of the sliding table and the recordable stroke of the displacement sensor. The flexibility is very strong.
As shown in fig. 7, the gripper robot 8 includes a mounting frame 61, the mounting frame 61 is a rectangular frame structure surrounded by two longitudinal beams 612 and two cross beams 613, a reinforcing beam is further connected between the two longitudinal beams 612, and a rectangular mounting surface 611 is formed on one surface of the rectangular frame structure (the mounting surface 611 is not the same surface as a mounting surface defined by a process hole described below).
Four sucker components, four positioning columns and a photoelectric sensing switch 66 are arranged on the mounting surface 611.
The four suction cup assemblies 62 are mounted at four corners of the mounting surface 611 by drive mechanisms 63, and the drive mechanisms 63 can drive the suction cup assemblies 62 toward or away from the mounting surface 611.
The suction cup assembly 62 includes a suction cup holder 621, a suction cup 622 fixed on the suction cup holder 621, and a universal rotation mechanism 623 connecting the suction cup holder 621 and the mounting frame 61. The universal swivel mechanism 623 is preferably a universal ball joint.
In this embodiment, the chuck assembly is a universal chuck manufactured by VMECA of pneumatic vacuum products manufacturer, model SP50-BJ03-VBF 60-PU. The sucking disc is a universal floating automatic return structure type sucking disc. After the vacuum is relieved, the sucker can automatically return.
The driving mechanism 63 includes a first mounting seat 631 fixed on the mounting surface 611, an air cylinder 632 disposed on the first mounting seat 631, and a second mounting seat 633 connected to an extending end of the air cylinder 632, wherein the universal rotating mechanism 623 is fixed on the second mounting seat 633, and an axis of the air cylinder 632 is perpendicular to the mounting surface 611.
Each longitudinal beam 612 is provided with two positioning columns 64, and the four positioning columns 64 are centrosymmetric with respect to the geometric center of the mounting surface 611. The axis of the positioning post 64 is perpendicular to the mounting surface 611, and the end of the positioning post 64 is used for being in contact with the surface of the windshield for positioning.
In this embodiment, the photoelectric sensing switch 66 is fixed to the reinforcing beam through the bracket 65.
After the centering mechanism finishes XY positioning of glass to be assembled, the control system PLC sends a grabbing command to the grabbing robot, and the grabbing robot (model KR2100R2700) grabs the glass through the sucker component 62 and moves to an adjusting position.
In fig. 8, there may be different deviations due to errors of the conveying system and the individual vehicle bodies; the three-dimensional laser vision sensor allows the deviation of the position of the vehicle body to be not more than 200 mm; initially positioning and selecting positions: a vehicle body B-pillar 10; firstly, the theoretical coordinate values (X1 and Y1) of the B column of the vehicle body are detected by the line laser sensor 702 by taking the first standard vehicle body (namely, the first vehicle body) as the reference, so that an optimal vehicle body orientation is determined mathematically, a deviation vector (RX is X2-X1 and RY is Y2-Y1) between the current orientation (X2 and Y2) and the theoretical orientation is calculated, and the PLC control system automatically judges whether normal assembly is available or not according to the deviation vector value. In fig. 8, a line laser sensor 702 of the primary positioning device 9 is fixed to the top end of a sensor holder 701, and a line laser beam 703 emitted therefrom is transmitted to the B-pillar of the vehicle body.
In fig. 9, a three-dimensional laser vision sensor 83 of the fine positioning device 7 is mounted on the end of the arm of the laser scanning industrial robot 81 via a connecting assembly 82.
Three fabrication holes (round holes) which are quite fixed in space and arranged on the glass frame are selected as objects for detection of the three-dimensional laser vision sensor. Meanwhile, the curved arc surface of the glass installation window is simplified into a plane passing through the three process holes. In fig. 10, the process hole 1 is a first circular hole, the process hole 2 is a second circular hole, and the process hole 3 is a third circular hole. The third circular hole is positioned on the side frame; the first round hole and the second round hole are located on the upper frame, and the distance from the circle center of the second round hole to the circle center of the third round hole is smaller than the distance from the circle center of the first round hole to the circle center of the third round hole.
The center of the fabrication hole 2 is selected as the origin of the world coordinate system, as shown in fig. 11.
As shown in FIG. 12, the three-dimensional coordinates P of the fabrication holes 1,2,3 in the reference world coordinate system can be measured by the three-dimensional laser vision sensor1(X1、Y1、Z1)、P2(X2、Y2、Z2)、P3(X3、Y3、Z3). After the next trolley finishes positioning at the station, three-dimensional laser vision sensing is adoptedThe device can also measure the three-dimensional coordinates P of the three process holes in the reference world coordinate system/ 1(X1、Y1、Z1)、P/ 2(X2、Y2、Z2)、P/ 3(X3、Y3、Z3). The spatial position of the mounting surface is defined by a reference surface (namely three process holes P)1(X1、Y1、Z1)、P2(X2、Y2、Z2)、P3(X3、Y3、Z3) Defined plane) in a reference coordinate system through X, Y, Z axis rotation and translation along X, Y, Z. The positioning offset delta P which can be used for the robot terminal point coordinate can be calculated by calling a space three-coordinate conversion mathematical function in three-dimensional laser vision software1＝(P1-P/ 1)、ΔP2＝(P2-P/ 2)、ΔP3＝(P3-P/ 3). Then, the computer control system transmits the positioning offset to a motion program of the grabbing robot, converts the space positioning error of the glass installation window into a variable under a robot base coordinate which can be identified, and sets an adjusting position (such as P)1(X1、Y1、Z1) Or set empirically) to a position where the mounting surface is parallel to and in the direction X, Y, Z under the tool coordinate system when the robot is moved to the adjusted position. And then the glass is accurately installed on the vehicle body by moving along the Z direction (the specific implementation process is shown in the specification: the research of an intelligent automobile windshield glass gluing system based on binocular vision, the Wangjiaoqiang and the like, the design and the research, the No. 1 year 2010).
Referring to fig. 13 and 14, the main process of the present invention is as follows:
1. the fixed line laser detects the position data of the automobile body on the automobile body conveying device, the PLC control system compares the measured value with the pre-calculated value and calculates the deviation value, the deviation value is larger than 200mm, manual confirmation is carried out, and if the automobile body belongs to a bad automobile, offline processing is carried out. The interference caused by the deviation of the stop position of the conveying device and the deviation of the poor precision of the quality of the vehicle body is prevented, so that the reliability and the assembly precision of the three-dimensional laser measurement are improved.
2. And the computer control system presets the three-dimensional positioning data of the standard assembly size as a reference value of the subsequent assembly state according to the requirement.
3. The computer control system directly obtains three-dimensional data of the characteristic points (fabrication holes) through three-dimensional images measured by three-dimensional laser, the control system respectively confirms the state of the vehicle body and the state of the glass after comparing and analyzing the template data (reference surface), the relative spatial position of the vehicle body and the glass is calculated by utilizing the three-coordinate principle for conversion and matching, and finally the motion coordinate of the robot is obtained according to the robot coordinate conversion principle, and the robot is guided to be automatically installed.
Claims (17)
1. An automotive windshield flexible assembly system, comprising:
The primary positioning device is used for scanning the threshold profile of the automobile body and sending the position deviation value of the automobile body to the fine positioning device;
the fine positioning device is used for scanning the outline of the frame of the windshield of the vehicle body when the deviation value is smaller than a set value, acquiring the position of the characteristic point of the frame of the windshield, and sending the position of the characteristic point to the workpiece grabbing robot;
and the grabbing robot is used for grabbing the glass to be assembled and completing the assembly of the glass to be assembled according to the positions of the characteristic points.
2. The system of claim 1, further comprising:
the conveying device is used for conveying the glass to be assembled to the centering device;
the centering device is used for centering and positioning the glass to be assembled;
and the workpiece grabbing robot grabs the glass to be assembled after being centered and positioned by the centering device.
3. The system of claim 2, wherein the conveyor comprises a frame; two parallel synchronous belts are arranged on the rack; the synchronous belt is connected with a driving device arranged on the rack.
4. The system according to claim 3, further comprising a jacking and rotating device, wherein the jacking and rotating device is used for jacking the glass to be assembled to separate the glass to be assembled from the synchronous belt when the glass to be assembled needs to be glued; after the gluing is finished, the jacking and rotating device drives the glass to be assembled to fall back to the synchronous belt.
5. The system of claim 4, wherein the jacking swivel device comprises a support base; a lifting mechanism is fixed on the supporting seat; the lifting mechanism top is connected with the tray subassembly, just lifting mechanism can drive the tray subassembly is two move in the vertical direction between the hold-in range.
6. The system of claim 5, wherein the tray assembly comprises a moving plate; the movable plate is provided with a connecting disc; at least two parallel brackets are arranged on the connecting disc; at least one first sucker is fixed on each bracket; preferably, two ends of each bracket are respectively provided with a first sucker; preferably, at least one supporting piece is arranged on the bracket between the two suckers at the two ends of each bracket.
7. The system of claim 6, wherein the connecting disc is connected to the moving plate via a rotating mechanism; the rotating mechanism can drive the connecting disc to rotate by taking the gravity center of the connecting disc as a center.
8. The system of claim 2, further comprising a turnover device for transporting the glass to be assembled from the conveyor to the centering device; the turnover device comprises a bracket; the top of the bracket is provided with a turnover shaft; the turnover shaft is fixedly connected with the turnover arm, and the turnover shaft can drive the turnover arm to rotate by taking the turnover shaft as an axis; and a grabbing mechanism is fixed at one end of the turnover arm far away from the turnover shaft.
9. The system of claim 8, wherein the invert arm comprises two parallel cross bars; one ends of the two cross rods are fixedly connected with the turnover shaft; the other ends of the two cross rods are vertically connected with the sucker fixing seat; a second sucker is fixed at both ends of the sucker fixing seat; when the centering device is in an initial position, the conveying device conveys the glass to be assembled to the position above the second sucker, the second sucker adsorbs the glass to be assembled, and the turnover arm turns over 180 degrees, so that the glass to be assembled falls into the centering device.
10. The system of claim 1, wherein the primary positioning device comprises a line laser sensor disposed near the body of the vehicle for detecting the theoretical coordinate value of the B-pillar of the body of the vehicle; preferably, the calculation process of the vehicle body position deviation value comprises the following steps: and detecting the current B-column coordinate value of the vehicle body by using the line laser sensor by taking the B-column coordinate value of the first vehicle body as a reference, wherein the current vehicle body position deviation value is the difference between the current B-column coordinate value of the vehicle body and the B-column coordinate value of the first vehicle body.
11. The system of claim 1, wherein the fine positioning device comprises an industrial robot; a three-dimensional laser vision sensor is fixed at the top end of a mechanical arm of the industrial robot; the three-dimensional laser vision sensor is arranged above the automobile body.
12. The system of claims 1-11, wherein the windshield frame feature points comprise the centers of three circular holes respectively disposed on the upper frame and one side frame of the automobile body windshield; the third circular hole is positioned on the side frame; the first round hole and the second round hole are located on the upper frame, and the distance from the circle center of the second round hole to the circle center of the third round hole is smaller than the distance from the circle center of the first round hole to the circle center of the third round hole.
13. The system of claim 12, wherein the detailed implementation of completing the glazing of the glazing to be mounted according to the location of the feature point comprises: taking the center of the second round hole of the first vehicle body as the origin of the reference world coordinate system, the three-dimensional coordinates of the center of the first round hole, the center of the second round hole and the center of the third round hole in the reference world coordinate system are respectively P1(X1、Y1、Z1)、P2(X2、Y2、Z2)、P3(X3、Y3、Z3) (ii) a The three-dimensional coordinates of the circle centers of the three round holes of the current vehicle body under the reference world coordinate system are respectively P detected by using a three-dimensional laser vision sensor1’(X’1、Y’1、Z’1)、P2’(X’2、Y’2、Z’2)、P3’(X’3、Y’3、Z’3) (ii) a The following positioning offsets are calculated: delta P1＝(P1-P’1)、ΔP2＝(P2-P’2)、ΔP3＝(P3-P’3) (ii) a Sending the positioning offset to the piece grabbing robot, converting the space positioning error of a windshield installation window into a variable under a base coordinate of the piece grabbing robot by using the positioning offset, setting an adjusting position, adjusting the to-be-assembled glass to a position parallel to the installation surface and in the X, Y, Z direction under a tool coordinate system to be in place after the piece grabbing robot moves to the adjusting position, and moving along the Z direction to install the to-be-assembled glass into a windshield frame; the mounting surface is formed by three round holes P on the current vehicle body 1’(X’1、Y’1、Z’1)、P2’(X’2、Y’2、Z’2)、P3’(X’3、Y’3、Z’3) A determined plane; the tool coordinate system refers to the center P2 ' (X ') of a second circular hole of the current vehicle body '2、Y’2、Z’2) The current width direction of the vehicle body is an X direction, the current length direction of the vehicle body is a Y direction, and the current height direction of the vehicle body is a Z direction.
14. A flexible assembling method for an automobile windshield is characterized by comprising the following steps:
1) a first round hole and a second round hole are arranged on the upper frame of the automobile windshield, and a third round hole is arranged on one side frame;
taking the circle center of the second round hole as the origin of the reference world coordinate system, and setting the three-dimensional coordinates of the circle center of the first round hole, the circle center of the second round hole and the circle center of the third round hole of the first vehicle body under the reference world coordinate system as P1(X1、Y1、Z1)、P2(X2、Y2、Z2)、P3(X3、Y3、Z3)；
2) The three-dimensional coordinates of the circle centers of the three round holes of the current vehicle body under the reference world coordinate system are respectively P detected by using a three-dimensional laser vision sensor1’(X’1、Y’1、Z’1)、P2’(X’2、Y’2、Z’2)、P3’(X’3、Y’3、Z’3) (ii) a The following positioning offsets are calculated: delta P1＝(P1-P’1)、ΔP2＝(P2-P’2)、ΔP3＝(P3-P’3)；
3) Sending the positioning offset to the piece grabbing robot, converting the space positioning error of a windshield installation window into a variable under a base coordinate of the piece grabbing robot, setting an adjusting position, adjusting the to-be-assembled glass to a position which is parallel to an installation surface and is in the X, Y, Z direction under a tool coordinate system after the piece grabbing robot moves to the adjusting position, and moving along the Z direction to install the to-be-assembled glass into a windshield frame; the mounting surface is formed by three round holes P on the current vehicle body 1’(X’1、Y’1、Z’1)、P2’(X’2、Y’2、Z’2)、P3’(X’3、Y’3、Z’3) A determined plane; the tool coordinate system refers to the center P2 ' (X ') of a second circular hole of the current vehicle body '2、Y’2、Z’2) The current width direction of the vehicle body is an X direction, the current length direction of the vehicle body is a Y direction, and the current height direction of the vehicle body is a Z direction.
15. The flexible assembling method for automobile windshields according to claim 14, characterized in that before the step 1), the following processes are further carried out: calculating a deviation value between the actual position of the automobile body and the theoretical position of the automobile body detected by the primary positioning device, and stopping assembly if the deviation value is greater than a set value; otherwise, step 1) is entered.
16. The method of claim 15, further comprising, prior to calculating the offset value: and a displacement sensor is arranged on the centering device, the displacement sensor detects the moving distance of the glass to be assembled on the centering device, and when the glass to be assembled moves to a specified position, the glass to be assembled is controlled to stop moving.
17. The flexible assembling method for automobile windshield glass according to claim 16, wherein the glass to be assembled is conveyed to a turnover device by a conveying device after the glue application on the jacking rotary device is completed, and the turnover device conveys the glass to be assembled to the centering device.
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| CN113156607A (en) * | 2021-04-14 | 2021-07-23 | 广景视睿科技（深圳）有限公司 | Method for assembling prism, device for assembling prism and equipment for assembling prism |
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| CN115320749A (en) * | 2022-07-18 | 2022-11-11 | 中国第一汽车股份有限公司 | Assembly system and assembly method for high-precision centering of front-end module |
| CN115447694A (en) * | 2022-09-22 | 2022-12-09 | 东风汽车集团股份有限公司 | Assembling method for automobile battery pack, storage medium, electronic equipment and system |
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Application publication date: 20201030 |