CN114985209B - Gluing method and gluing system for hinge side of rear vehicle door - Google Patents
Gluing method and gluing system for hinge side of rear vehicle door Download PDFInfo
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- CN114985209B CN114985209B CN202210746239.8A CN202210746239A CN114985209B CN 114985209 B CN114985209 B CN 114985209B CN 202210746239 A CN202210746239 A CN 202210746239A CN 114985209 B CN114985209 B CN 114985209B
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- 238000004026 adhesive bonding Methods 0.000 title claims abstract description 135
- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 230000000007 visual effect Effects 0.000 claims abstract description 25
- 239000003292 glue Substances 0.000 claims description 26
- 238000009826 distribution Methods 0.000 claims description 6
- 230000001154 acute effect Effects 0.000 claims description 2
- 238000010073 coating (rubber) Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 239000000565 sealant Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
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Abstract
The invention provides a gluing method and a gluing system for a hinge side of a rear vehicle door, and relates to the field of gluing. The gluing method comprises the following steps: 1. when the vehicle body is positioned at the first station, starting a door closing mechanism to close the rear door; 2. detecting the distance between the rear door and the distance detection element when the vehicle body is at the second station to determine whether the rear door is completely closed; 3. the laser emitter projects laser beams to the edge of the front face of the rear vehicle door, and the laser beams are intersected with the edge of the rear vehicle door to form positioning points; starting an industrial camera to shoot a positioning image, and acquiring a space coordinate parameter of a positioning point by an image processor; 4. repeatedly implementing the third step, the visual positioning device acquires the space coordinate parameters of a plurality of positioning points and determines the space position information of the rear vehicle door; 5. the main controller generates a gluing path corresponding to the hinge side of the rear vehicle door; 6. the gluing robot extends into the hinge side of the rear door from the outer side of the vehicle body, gluing operation is carried out along a preset gluing path, and the vehicle is moved out after gluing is finished.
Description
Technical Field
The invention relates to the technical field of gluing, in particular to a gluing method and a gluing system for a hinge side of a rear vehicle door.
Background
In the production of motor vehicles, the hinge side of the rear door is subjected to a glue application process, which is usually carried out with the door open. Due to the limitation of the hinge and the limiting stopper, the gluing robot can only adopt a sectional gluing mode, and the molding quality of the sealant is poor.
For example, the chinese utility model patent with the publication number CN214864783U and publication date 2021.11.26 discloses an automatic gluing system, which specifically comprises a hanger assembly, at least one robot, a gluing assembly, a visual detection device and a controller; the hanger assembly comprises a hanger for carrying a vehicle door; the robot is arranged on one side of the lifting appliance, and the tail end of the robot corresponds to the car door; the gluing component comprises a gluing gun which is arranged at the tail end of the robot; the visual detection device is arranged at the tail end of the robot; the controller is respectively and electrically connected with the robot, the gluing component and the visual detection device. The characteristic hole of door is obtained through the visual inspection device, relevant information is sent to the controller, the controller sends a control instruction to the robot to adjust the specific position of its terminal rubber coating rifle, the controller sends control instruction again and controls the rubber coating rifle to go out gluey, will glue the coating on the door plant.
An automatic gluing system in the prior art integrates a gluing gun and a visual detection device, and is used for bearing a vehicle door through bearing parts on two sides of a lifting appliance and quickly executed by a robot to realize the purpose of quick gluing. However, in actual production, the rear door is generally installed on the vehicle body first, and then the gluing process is performed, but the existing automatic gluing system cannot be used according to the actual process flow, if the vehicle door is installed after gluing, the sealant is easily damaged when the vehicle door is installed and debugged, and the gluing forming quality is poor.
Disclosure of Invention
In order to solve the above problems, the present invention aims to provide a gluing method and a gluing system for a hinge side of a rear door, so as to solve the problems that the existing automatic gluing system cannot be used according to the actual process flow, if a door is installed after gluing, the sealant is easily damaged when the door is installed and debugged, and the gluing forming quality is poor.
The invention discloses a gluing method for a hinge side of a rear vehicle door, which adopts the technical scheme that:
the gluing method for the hinge side of the rear door comprises the following steps:
firstly, moving a vehicle body to a first station, and starting a door closing mechanism to close a rear vehicle door when the vehicle body is positioned at the first station;
when the vehicle body moves to a second station, detecting the distance between the rear vehicle door and the distance detection element by using the distance detection element so as to determine whether the rear vehicle door is completely closed; if the rear door is not completely closed, an alarm signal is sent out;
step three, after the rear vehicle door is confirmed to be completely closed, the laser transmitter projects laser beams to the front edge of the rear vehicle door, the space positions of the laser beams are preset, and the laser beams are intersected with the edge of the rear vehicle door to form positioning points;
starting an industrial camera to shoot a positioning image at a corresponding positioning point, and acquiring a space coordinate parameter of the positioning point by an image processor according to the distribution position of the positioning point on a laser beam;
step four, repeatedly implementing the step three, acquiring space coordinate parameters of a plurality of positioning points by the visual positioning device, and determining the space position information of the rear vehicle door according to the space coordinate parameters of the plurality of positioning points;
step five, the main controller generates a gluing path corresponding to the hinge side of the rear vehicle door according to the spatial position information of the rear vehicle door;
and step six, the gluing robot extends into the inner part of the hinge side of the rear door from the outer side of the vehicle body, gluing operation is carried out along a preset gluing path, and the gluing robot is moved out of the vehicle after gluing is finished.
Further, in the third step and the fourth step, the laser emitter projects two times of transverse laser beams to the front edge of the rear vehicle door, and the two times of transverse laser beams are arranged at intervals up and down and are respectively vertically intersected with the hinge side edge of the rear vehicle door; the laser emitter projects two times of vertical laser beams to the front edge of the rear vehicle door, and the two times of vertical laser beams are distributed at intervals left and right and are respectively vertically intersected with the lower window edge of the rear vehicle door.
Further, laser emitter with industry camera install respectively in on the rubber coating robot, laser emitter's projection direction with the shooting direction of industry camera is fixed contained angle setting, fixed contained angle is for being less than 60 acute angle.
Further, a fixed included angle formed by the projection direction of the laser emitter and the shooting direction of the industrial camera is any angle of 15-45 degrees.
Further, in the first step, when the vehicle body is located at the first station, the first travel switch detects the vehicle body and sends a first signal to the main controller; and when the main controller receives the first signal, the door closing mechanism is started to close the rear door.
Furthermore, in the first step, a pushing rubber head is installed at the movable end of the door closing mechanism, the pushing rubber head is in top-pressing fit with the outer surface of the rear vehicle door, and the movement path of the movable end of the door closing mechanism is matched with the closing movement path of the rear vehicle door.
Further, in the second step and the third step, when the vehicle body is positioned at the second station, the second travel switch detects the vehicle body and sends a second signal to the main controller; when the main controller receives the second signal, the distance detection element is controlled to detect whether the rear door is completely closed, and the visual positioning device is started to start to acquire the spatial position information of the rear door after the closing is confirmed.
The invention discloses a gluing system for the hinge side of a rear door, which adopts the technical scheme that:
the gluing system using the gluing method for the hinge side of the rear vehicle door comprises a door closing mechanism, a gluing robot, a distance detection element, a visual positioning device and a main controller, wherein the main controller is electrically connected with the door closing mechanism, the gluing robot, the distance detection element and the visual positioning device respectively;
the vision positioning device comprises a laser emitter, an industrial camera and an image processor, wherein the laser emitter and the industrial camera are respectively arranged on the gluing robot, and the industrial camera is electrically connected with the image processor.
The device is characterized by further comprising a vehicle body conveying mechanism, wherein a positioning support for fixing a vehicle body is movably arranged on the vehicle body conveying mechanism, the first station is arranged at the front part of the vehicle body conveying mechanism, and the second station is arranged at the rear part of the vehicle body conveying mechanism;
the door closing mechanism is arranged on the outer side of the vehicle body conveying mechanism and is arranged corresponding to the first station; the gluing robot is arranged on the outer side of the vehicle body conveying mechanism and corresponds to the second station.
Further, the movable end of rubber coating robot installs the rubber coating rifle, the profile shape of rubber coating rifle is L shape, just the minor face inboard of rubber coating rifle has seted up the mouth of gluing, still be equipped with the gluing valve on the rubber coating rifle, the gluing valve with main control unit electricity is connected.
Has the advantages that: the gluing method for the hinge side of the rear vehicle door adopts the following steps: firstly, a vehicle body starts a door closing mechanism at a first station to close a rear vehicle door; 2. detecting whether the rear door is completely closed or not by a second station distance detection element; 3. the laser emitter projects a laser beam, and the industrial camera shoots a positioning image; 4. repeating the third step, and determining the spatial position information of the rear door; 5. generating a gluing path corresponding to the hinge side of the rear vehicle door; 6. and the rubber coating is finished by extending the rubber coating from the outside of the vehicle body into the inside of the hinge side and operating along the rubber coating way and then exiting. The gluing method is used for sequentially carrying out the steps of door closing, detection, positioning, path generation, gluing and the like on the rear vehicle door installed on the vehicle body, and is more in line with the actual process design.
Under the state that the rear vehicle door is closed, laser beams are projected through a laser transmitter and an industrial camera shoots a positioning image, an image processor acquires space coordinate parameters of positioning points, and a visual positioning device determines space position information of the rear vehicle door according to the space coordinate parameters of a plurality of positioning points; the main control unit generates a gluing path corresponding to the hinge side of the rear door according to the space position information of the rear door, the gluing path is more accurate and reliable, a gluing gun stretches into the hinge side from the outer side of the vehicle body, the interference of limitation caused by a hinge and a stopper when the door is opened is prevented, the gluing path is more smooth, the condition that the door is easily damaged and sealed by gluing after gluing is avoided, and the gluing forming quality is high.
Drawings
FIG. 1 is a schematic flow diagram of a method for glue application to the back door hinge side in an exemplary embodiment of the method for glue application to the back door hinge side of the present invention;
FIG. 2 is a diagram showing an operating state of a door closing mechanism in the embodiment of the method for glue applying to the hinge side of the back door of the present invention;
FIG. 3 is an operational view of a visual alignment device for a rear door hinge side gluing method according to an embodiment of the present invention;
FIG. 4 is a diagram showing an operating state of a gluing robot in an embodiment of the gluing method for the hinge side of the rear door of the present invention;
FIG. 5 is a schematic view of the distribution of laser beams and glue application paths on a tailgate in an embodiment of the method of the invention for gluing the hinge side of the tailgate.
In the figure: the automatic gluing machine comprises a vehicle body 1, a rear vehicle door 10, a gluing path 11, a door closing mechanism 2, a pushing glue head 20, a visual positioning device 3, a laser emitter 31, an industrial camera 32, a transverse laser beam 33, a vertical laser beam 34, a gluing robot 4, a gluing gun 40, a vehicle body conveying mechanism 6 and a positioning support 60.
Detailed Description
The following detailed description of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1 to 5, the gluing method for the hinge side of the back door of the present invention is a process for gluing a hinge side crack of a back door mounted on a vehicle body, and includes the steps of:
firstly, the vehicle body 1 is moved to a first station, and when the vehicle body 1 is located at the first station, the door closing mechanism 2 is started to close the rear door. In the first step, when the vehicle body 1 is at the first station, a first travel switch (not shown in the figure) detects the vehicle body 1 and sends a first signal to a main controller; when the main controller receives the first signal, the closing mechanism 2 is activated to perform a closing operation on the back door 10.
As a further preferable scheme, in the step one, the movable end of the door closing mechanism 2 is provided with a pushing rubber head 20, the pushing rubber head 20 is in abutting fit with the outer surface of the rear door 10, and the moving path of the movable end of the door closing mechanism 2 is matched with the closing moving path of the rear door 10. The pushing rubber head 20 is in contact with the outer surface of the rear door 10 to implement pushing action, so that vehicle paint on the surface of the door is prevented from being scratched, the moving path of the movable end of the door closing mechanism 2 is matched with the closing moving path of the rear door 10, and the door closing process is implemented more stably and reliably.
Step two, when the vehicle body 1 moves to a second station, detecting the distance between the rear door 10 and the distance detection element by using the distance detection element so as to determine whether the rear door 10 is completely closed; if the rear door 10 is completely closed, the next step is carried out; if the rear door 10 is not completely closed, an alarm signal is sent. Specifically, the distance detection element is a distance sensor, the distance sensor is fixedly installed in a workshop, and the detection direction of the distance sensor is arranged in a mode that the distance sensor is inclined forwards from the rear part. If the back door 10 is closed, detecting that the distance between the back door 10 and the distance sensor is in a set range, and judging that the back door 10 is completely closed; if the rear door 10 is not completely closed, the fact that the distance between the rear door 10 and the distance sensor exceeds the set range is detected, the fact that the rear door 10 is not completely closed is judged, and an operator is reminded of abnormality.
Step three, after the rear door 10 is confirmed to be completely closed, the laser emitter 31 projects laser beams to the front edge of the rear door 10, the space positions of the laser beams are preset, and the laser beams are intersected with the edge of the rear door 10 to form positioning points; the industrial camera 32 is started to shoot a positioning image at the corresponding positioning point, and the image processor acquires the space coordinate parameter of the positioning point according to the distribution position of the positioning point on the laser beam. In fact, the laser emitter 31 projects in a fan shape to the front surface of the back door 10, the locating point is equivalent to a breakpoint where the laser beam intersects with the front surface edge of the back door 10, and the spatial coordinate position of the locating point can be obtained according to the distribution position of the breakpoint on the laser beam and knowing the spatial position of the laser beam.
In the second step and the third step, when the vehicle body 1 is positioned at the second station, the second travel switch detects the vehicle body 1 and sends a second signal to the main controller; when the main controller receives the second signal, the distance detection element is controlled to detect whether the back door 10 is completely closed, and after the detection, the visual positioning device 3 is started to start to acquire the spatial position information of the back door 10. In this embodiment, the visual positioning device 3 includes a laser emitter 31, an industrial camera 32 and an image processor, the industrial camera 32 is electrically connected to the image processor, the laser emitter 31 and the industrial camera 32 are respectively installed on the gluing robot 4, a projection direction of the laser emitter 31 and a shooting direction of the industrial camera 32 form a fixed included angle, and the fixed included angle is 30 °.
In order to meet different use requirements, a fixed included angle formed by the projection direction of the laser emitter and the shooting direction of the industrial camera can be adaptively adjusted, for example: in other embodiments, the fixed angle formed by the projection direction of the laser emitter and the shooting direction of the industrial camera is 15 ° or 45 °, or is any angle smaller than 60 °.
And step four, repeatedly implementing the step three, wherein the visual positioning device 3 acquires the space coordinate parameters of the positioning points, and determines the space position information of the rear vehicle door 10 according to the space coordinate parameters of the positioning points. In the third step and the fourth step, as shown in fig. 3 and 5, the laser transmitter 31 projects two times of transverse laser beams 33 to the front edge of the back door 10, and the two times of transverse laser beams 33 are arranged at intervals up and down and vertically intersect with the hinge side edge of the back door 10 respectively; the laser emitter 31 projects two times of vertical laser beams 34 to the front edge of the back door 10, and the two times of vertical laser beams 34 are distributed at intervals left and right and are respectively vertically intersected with the lower window edge of the back door 10.
The laser transmitter 31 respectively projects two times of transverse laser beams 33 to the hinge side edge of the rear vehicle door 10, the industrial camera 32 shoots a positioning image, and the image processor acquires space coordinate parameters of two positioning points on the hinge side edge; the laser transmitter projects two times of vertical laser beams 34 to the lower window edge of the rear door 10 respectively, the industrial camera 32 shoots a positioning image, the image processor obtains space coordinate parameters of two positioning points of the lower window edge, and the space coordinate parameters of the four positioning points are integrated to determine the space position information of the rear door 10.
And step five, generating a gluing path corresponding to the hinge side of the rear door by the main controller according to the spatial position information of the rear door 10.
And step six, the gluing robot 4 extends into the hinge side inner part of the rear door 10 from the outer side of the vehicle body 1, and as shown in fig. 4 and 5, gluing operation is carried out along a preset gluing path 11, and the gluing robot 4 moves out of the vehicle after gluing is finished. In this embodiment, a glue gun 40 is installed at the movable end of the glue robot 4, the glue gun 40 is L-shaped in profile, a glue applying opening is formed in the inner side of the short side of the glue gun 40, a glue applying valve is further installed on the glue gun 40, the glue applying valve is electrically connected with a main controller, the main controller controls the glue applying valve to open at the starting position of the glue applying path and close at the end position of the glue applying path, so that the glue applying operation can be accurately performed on the hinge side seam of the rear vehicle door 10.
The gluing method is used for sequentially carrying out the steps of door closing, detection, positioning, path generation, gluing and the like on the rear vehicle door installed on the vehicle body, and is more in line with the actual process design. Under the state of closing the back door, confirm the spatial position information of back door through visual positioning device, main control unit generates the rubber coating route that corresponds back door hinge side according to the spatial position information of back door, the rubber coating route is more accurate reliable, stretch into hinge side inside from the automobile body outside with the rubber coating rifle, prevent to interfere because of the produced restriction of hinge and stopper when opening the door, the rubber coating route is more smooth and easy, avoided earlier rubber coating installation debugging door to damage the sealed circumstances of gluing easily again, rubber coating shaping high quality.
The gluing method for the hinge side of the rear vehicle door is applied to a gluing system in the implementation process, the gluing system comprises a door closing mechanism 2, a gluing robot 4, a distance detection element, a visual positioning device 3 and a main controller, and the main controller is electrically connected with the door closing mechanism 2, the gluing robot 4, the distance detection element and the visual positioning device 3 respectively; the visual positioning device 3 comprises a laser emitter 31, an industrial camera 32 and an image processor, wherein the laser emitter 31 and the industrial camera 32 are respectively installed on the gluing robot 4, and the industrial camera 32 is electrically connected with the image processor.
The specific working principle is as follows: the main controller is used for controlling the door closing mechanism 2 to close the rear vehicle door when the vehicle body moves to the first station; when the vehicle body 1 is at the second station, the distance detection element is used for detecting the distance between the rear vehicle door 10 and the distance sensor and sending a distance signal to the main controller, and the main controller is used for receiving the distance signal and judging whether the rear vehicle door 10 is completely closed; after confirming that the back door 10 is completely closed, the visual positioning device 3 is configured to acquire the spatial position information of the back door 10 and transmit the spatial position information of the back door 10 to the main controller.
The laser emitter is used for respectively projecting laser beams to the front edge of the rear vehicle door 10, and the spatial position of each laser beam is determined; the industrial camera is used for shooting a positioning image at the intersection of each laser beam and the edge of the rear vehicle door, a positioning point is formed at the intersection of each laser beam and the edge of the rear vehicle door, and the shot positioning image is sent to the image processor. The image processor is used for determining the space coordinate parameters of the positioning points according to the distribution positions of the positioning points on the laser beams and acquiring the space position information of the rear vehicle door 10 by combining the space coordinate parameters of a plurality of the positioning points.
The main controller is used for receiving the space position information of the rear door 10 and generating a gluing path corresponding to the hinge side of the rear door; the movable end of the gluing robot 4 is provided with a gluing gun 40, the main controller is used for controlling the gluing gun 40 of the gluing robot 4 to extend into the inner part of the hinge side of the rear vehicle door 10 from the outer side, enabling the gluing gun to carry out gluing operation on the hinge side of the rear vehicle door 10 according to a gluing path, and moving out the gluing gun after the gluing operation is finished. The glue gun 40 is L-shaped in outline, the glue gun 40 is also provided with a glue valve, the glue valve is electrically connected with the main controller, and the opening and closing of the glue valve are controlled by the main controller.
The gluing system for the hinge side of the rear door further comprises a vehicle body conveying mechanism 6, wherein a positioning bracket 60 for fixing the vehicle body 1 is movably arranged on the vehicle body conveying mechanism 6, a first station is arranged at the front part of the vehicle body conveying mechanism 6, and a second station is arranged at the rear part of the vehicle body conveying mechanism 6; the door closing mechanism 2 is arranged on the outer side of the vehicle body conveying mechanism 6, and the door closing mechanism 2 is arranged corresponding to the first station; the gluing robot 4 is arranged on the outer side of the vehicle body conveying mechanism 6, and the gluing robot 4 is arranged corresponding to the second station.
The specific embodiment of the gluing system for the back door hinge side of the present invention is the same as each specific embodiment of the gluing system to which the gluing method is applied in the implementation process in the specific embodiment of the gluing method for the back door hinge side of the present invention, and is not described herein again.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A gluing method for a hinge side of a rear vehicle door is characterized by comprising the following steps:
firstly, moving a vehicle body to a first station, and starting a door closing mechanism to close a rear vehicle door when the vehicle body is positioned at the first station;
when the vehicle body moves to a second station, detecting the distance between the rear vehicle door and the distance detection element by using the distance detection element so as to determine whether the rear vehicle door is completely closed; if the rear door is not completely closed, an alarm signal is sent out;
thirdly, the visual positioning device comprises a laser emitter, an industrial camera and an image processor, and the industrial camera is electrically connected with the image processor;
after the rear vehicle door is confirmed to be completely closed, a laser transmitter projects a laser beam to the edge of the front face of the rear vehicle door, the spatial position of the laser beam is preset, and the laser beam and the edge of the rear vehicle door are intersected to form a positioning point;
starting an industrial camera to shoot a positioning image at a corresponding positioning point, and acquiring a space coordinate parameter of the positioning point by an image processor according to the distribution position of the positioning point on a laser beam;
step four, repeatedly implementing the step three, acquiring space coordinate parameters of a plurality of positioning points by the visual positioning device, and determining the space position information of the rear vehicle door according to the space coordinate parameters of the plurality of positioning points;
fifthly, generating a gluing path corresponding to the hinge side of the rear door by the main controller according to the spatial position information of the rear door;
and step six, the gluing robot extends into the inner part of the hinge side of the rear door from the outer side of the vehicle body, gluing operation is carried out along a preset gluing path, and the gluing robot is moved out of the vehicle after gluing is finished.
2. The glue spreading method for the hinge side of the back door according to claim 1, wherein in the third step and the fourth step, the laser emitter projects two times of transverse laser beams to the front edge of the back door, the two times of transverse laser beams are arranged at intervals up and down and respectively vertically intersect with the hinge side edge of the back door; the laser emitter projects two times of vertical laser beams to the front edge of the rear vehicle door, and the two times of vertical laser beams are distributed at intervals left and right and are respectively vertically intersected with the lower window edge of the rear vehicle door.
3. The gluing method for the hinge side of the back door as claimed in claim 1, wherein the laser emitter and the industrial camera are respectively installed on the gluing robot, a projection direction of the laser emitter and a shooting direction of the industrial camera are arranged at a fixed included angle, and the fixed included angle is an acute angle smaller than 60 degrees.
4. The glue spreading method for the hinge side of the back door as claimed in claim 1, wherein a fixed angle formed by a projection direction of the laser transmitter and a photographing direction of the industrial camera is any angle of 15 ° to 45 °.
5. The method for gluing the hinge side of the rear door as claimed in claim 1, wherein in the first step, when the vehicle body is in the first station, a first travel switch detects the vehicle body and sends a first signal to a main controller; and when the main controller receives the first signal, the door closing mechanism is started to close the rear door.
6. The method for gluing the hinge side of the back door as claimed in claim 1, wherein in the first step, a pushing rubber head is mounted at the movable end of the door closing mechanism, the pushing rubber head is in abutting fit with the outer surface of the back door, and the moving path of the movable end of the door closing mechanism is matched with the closing moving path of the back door.
7. The method for gluing the hinge side of the rear door as claimed in claim 1, wherein in the second step and the third step, when the vehicle body is at the second station, the second travel switch detects the vehicle body and sends a second signal to the main controller; when the main controller receives the second signal, the distance detection element is controlled to detect whether the rear door is completely closed, and the visual positioning device is started to start to acquire the spatial position information of the rear door after the closing is confirmed.
8. A gluing system using the gluing method for the hinge side of the rear door as claimed in claim 1, comprising a door closing mechanism, a gluing robot, a distance detecting element, a visual positioning device and a main controller electrically connected to the door closing mechanism, the gluing robot, the distance detecting element and the visual positioning device, respectively;
the laser emitter and the industrial camera are respectively installed on the gluing robot.
9. The gluing system for the hinge side of the rear door as claimed in claim 8, further comprising a vehicle body conveying mechanism, wherein a positioning bracket for fixing a vehicle body is movably mounted on the vehicle body conveying mechanism, the first station is arranged at the front part of the vehicle body conveying mechanism, and the second station is arranged at the rear part of the vehicle body conveying mechanism;
the door closing mechanism is arranged on the outer side of the vehicle body conveying mechanism and is arranged corresponding to the first station; the gluing robot is arranged on the outer side of the vehicle body conveying mechanism and corresponds to the second station.
10. The gluing system for the hinge side of the rear vehicle door as claimed in claim 8, wherein a gluing gun is installed at the movable end of the gluing robot, the gluing gun is L-shaped in outline, a gluing port is formed in the inner side of the short side of the gluing gun, a gluing valve is further arranged on the gluing gun, and the gluing valve is electrically connected with the main controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210746239.8A CN114985209B (en) | 2022-06-28 | 2022-06-28 | Gluing method and gluing system for hinge side of rear vehicle door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210746239.8A CN114985209B (en) | 2022-06-28 | 2022-06-28 | Gluing method and gluing system for hinge side of rear vehicle door |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114985209A CN114985209A (en) | 2022-09-02 |
| CN114985209B true CN114985209B (en) | 2023-03-21 |
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| CN202210746239.8A Active CN114985209B (en) | 2022-06-28 | 2022-06-28 | Gluing method and gluing system for hinge side of rear vehicle door |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203598983U (en) * | 2013-11-12 | 2014-05-21 | 北汽银翔汽车有限公司 | Glue gun mouth for vehicle door hinge position |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005280582A (en) * | 2004-03-30 | 2005-10-13 | Toyota Auto Body Co Ltd | Carriage conveying device |
| ATE472392T1 (en) * | 2004-09-30 | 2010-07-15 | Abb As | DOOR OPENING ARRANGEMENT FOR USE WITH AN INDUSTRIAL ROBOT |
| JP4240064B2 (en) * | 2006-06-09 | 2009-03-18 | トヨタ自動車株式会社 | Vehicle door structure |
| JP2010022882A (en) * | 2008-07-15 | 2010-02-04 | Nissan Motor Co Ltd | Jig for use in painting automobile door |
| JP5054629B2 (en) * | 2008-07-16 | 2012-10-24 | 本田技研工業株式会社 | Electrostatic coating method and electrostatic coating apparatus |
| JP5585553B2 (en) * | 2011-08-01 | 2014-09-10 | 株式会社安川電機 | Opening and closing hand of painting system and door opening and closing robot |
| JP6451401B2 (en) * | 2015-02-27 | 2019-01-16 | 日産自動車株式会社 | Sealant coating device for vehicle door hinges |
| CN212018386U (en) * | 2020-07-30 | 2020-11-27 | 广汽本田汽车有限公司 | Four-door hinge gluing device for automobile |
| CN214864783U (en) * | 2021-02-10 | 2021-11-26 | 广汽本田汽车有限公司 | Automatic gluing system |
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| CN203598983U (en) * | 2013-11-12 | 2014-05-21 | 北汽银翔汽车有限公司 | Glue gun mouth for vehicle door hinge position |
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