CN115593537A - Multi-vehicle type mixed-flow panoramic sunroof assembling system - Google Patents
Multi-vehicle type mixed-flow panoramic sunroof assembling system Download PDFInfo
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- CN115593537A CN115593537A CN202211223726.2A CN202211223726A CN115593537A CN 115593537 A CN115593537 A CN 115593537A CN 202211223726 A CN202211223726 A CN 202211223726A CN 115593537 A CN115593537 A CN 115593537A
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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
- B62D65/06—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being doors, windows, openable roofs, lids, bonnets, or weather strips or seals therefor
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Abstract
The application discloses a multi-vehicle type mixed flow panoramic sunroof assembling system, which relates to the technical field of panoramic sunroof assembling and comprises a vehicle identification device, a control device and a control device, wherein the vehicle identification device identifies vehicle information of vehicles to be assembled on a production line; the vehicle information comprises position data of a plurality of first mounting positions on the skylight mounting position; the material storage and pickup device picks up the panoramic sunroof of the corresponding type to the material centering platform according to the vehicle information; the material centering platform adjusts the positions of a plurality of second mounting holes on the panoramic sunroof according to the vehicle information until the positions of the second mounting holes are matched with the positions of the first mounting holes; the material transferring and mounting device adjusts the positions of the mounting pins according to the vehicle information until the positions of the mounting pins are matched with the positions of the first mounting holes; and moving the plurality of mounting pins into the plurality of second mounting holes so as to move the panoramic sunroof into the vehicle to be assembled to be connected with the plurality of first mounting holes. The panoramic sunroof can be assembled corresponding to various vehicle types with various offset angles on a production line.
Description
Technical Field
The application relates to the technical field of automobile assembly, in particular to a multi-vehicle type mixed flow panoramic sunroof assembly system.
Background
With the increase of platform vehicle types in an automobile main machine factory, the mixed production requirement of multiple vehicle types, the rise of labor cost and the shortening of production delivery time, the sensitivity of an automobile assembly factory to advanced assembly technology and automatic equipment is greatly improved. Each automobile factory improves the technical level of final assembly process equipment, and adopts more advanced assembly equipment to improve the product quality so as to meet the requirements of emerging markets and improving the market competitiveness of products. As the most important link in automobile manufacturing, the automobile assembly process influences the market competitiveness in the aspects of scale, quality, instantaneity, cost, product advancement and the like. At present, the automobile assembly process technology develops towards the trends of modularization, automation, flexibility and intelligent digitization. In a large environment with intense market competition, the technical trends are developing from a dominant technique for enterprise competition to a requisite technique for enterprise competition.
At present, an automatic means for assembling the panoramic sunroof is lacked, especially, an appropriate technical means for assembling the panoramic sunroof of different vehicle types is lacked. Along with the improvement of the living standard of people, the passenger car experience with higher market demand configuration is realized, wherein the automobile panoramic sunroof becomes an important component for development of high-configuration passenger cars, the automatic assembly of the panoramic sunroof in industrial production is realized, and the mixed flow production of the panoramic sunroof with the differentiation of multiple vehicle types on the same production station is realized.
The panoramic sunroof is large in overall dimension, heavy in mass and multiple in fixed points, and two semi-automatic assembling modes are generally adopted at present. Firstly, the assembly is carried out by adopting a manual work and a skylight auxiliary positioning tool, two to three operators are needed to manually lift the skylight into the automobile at an assembly site, then the operators lift the skylight to a preset assembly position, and the skylight auxiliary positioning tool controls the gap surface difference alignment of the periphery of the automobile top cover, so that the assembly of the automobile all-weather-a-chin window is completed. Secondly, adopting one person to operate the assistance-assisted mechanical arm to grab the skylight on the production line side, overturning the skylight and transferring the skylight to the vehicle body, visually finishing the hole aligning of the positioning hole by one person in the vehicle, and pre-tightening the rear assembly.
According to the technical scheme, at least two operators are required to cooperate to operate, the requirement on the number of the operators is high, the operation level of the operators is high, the production efficiency is low, and the working time is long. And when using skylight assistance-localization real-time frock, this frock positioning accuracy is low, and repeatability is poor, fragile etc..
The second technical scheme needs at least two operators to work in a matching way, so that the second technical scheme has high requirements on the number of the operators, high operation level of the operators, low production efficiency and long working time. And helping hand formula arm does not have the locate function, needs artifical visual completion location etc. is difficult to adapt to the operating mode of multi-vehicle type mixed flow, can't snatch the universalization of difference skylight supplied materials.
In conclusion, how to improve the assembly efficiency of the automobile full-rhodiola window on the premise of finishing basic assembly, reduce the development cost, and avoid the quality problems of water leakage, abnormal sound and the like of the skylight is a technical problem which is urgently needed to be solved at present.
Disclosure of Invention
Aiming at the defects in the prior art, the application aims to provide a multi-vehicle type mixed-flow panoramic sunroof assembling system and method, which can be compatible with the assembling requirements of panoramic skylights of different specifications, realize identification, automatic grabbing, transferring, centering and positioning and assembling of different vehicle type skylights, and improve the assembling efficiency and the assembling quality of a full sedum window.
In order to achieve the purposes, the technical scheme is as follows:
the application provides a multi-vehicle type mixed flow panorama skylight assembly system in a first aspect, includes:
a vehicle identification device for identifying vehicle information of a vehicle to be equipped on the production line; a plurality of first mounting holes are formed in the skylight mounting position of the vehicle to be assembled, and the vehicle information comprises position data of the first mounting positions;
the material storage and pickup device is used for storing various types of panoramic skylights and picking up the panoramic skylights of the corresponding types to the material centering platform according to the vehicle information;
the material centering platform is used for adjusting the positions of a plurality of second mounting holes on the panoramic sunroof according to the vehicle information until the positions of the second mounting holes are matched with the positions of the first mounting holes;
the material transferring and mounting device is used for adjusting the positions of a plurality of mounting pins arranged on the material transferring and mounting device according to the vehicle information until the positions of the mounting pins are matched with the positions of the first mounting holes; the panoramic sunroof mounting structure is further used for moving the plurality of mounting pins into the plurality of second mounting holes so as to move the panoramic sunroof into a vehicle to be assembled, and moving the plurality of mounting pins into the plurality of first mounting holes so as to mount the panoramic sunroof into the sunroof mounting position.
In some embodiments, the front end of the vehicle to be equipped faces the feed direction of the assembly line;
the material storage and pickup device, the material centering platform and the material transfer and installation device are arranged on the same side of the assembly line and are sequentially arranged from the material feeding direction to the material feeding direction of the assembly line.
In some embodiments, the vehicle type recognition apparatus includes:
and the microwave acquisition sensor is used for reading an electronic tag which is preset on the vehicle to be assembled so as to acquire the type of the panoramic sunroof on the vehicle, and relative position data among the plurality of first mounting holes is obtained according to the type of the panoramic sunroof.
In some embodiments, the vehicle type recognition apparatus further includes:
the first image recognition device is used for collecting a first image of a skylight installation position in the vehicle to be assembled and carrying out image recognition to obtain offset angle data of the first installation holes relative to the axis of the production line.
In some embodiments, the material storage and pickup apparatus comprises:
the two guide bases are arranged in parallel, the front ends of the two guide bases are respectively provided with a position detection sensor and a rotatable material frame in-place baffle, and the material frame in-place baffle is used for rotating to be perpendicular to the guide bases after the position detection sensors detect that the material frames on the guide bases are placed in place; the guide base is vertical to the axis of the assembly line, and the front end of the guide base faces the assembly line;
the material frame guide roller way is arranged between the two guide bases and is used for bearing one material frame in a matching way with one side guide base and bearing the other material frame in a matching way with the other side guide base; a first material area is arranged between the material frame guide roller way and the guide base at one side, a second material area is arranged between the material frame guide roller way and the guide base at the other side, and the two material areas are used for placing a material frame;
the infrared induction sensor is used for detecting whether a panoramic sunroof exists in the material frame;
and the picking manipulator is used for picking the material frame to the guide base and the material frame guide roller way and picking the panoramic sunroof in the material frame to the material centering platform.
In some embodiments, the material centering platform comprises:
the platform rack is a cubic frame, and the front end of the platform rack is provided with an opening; the opening of the platform rack is close to the feeding direction of the production line;
the first lifting support blocks are distributed at the top of the platform rack and used for supporting the panoramic sunroof;
the first position adjusting assembly is arranged at the top of the platform rack and used for adjusting the position of the full sedum window in the front-back direction and the left-right direction;
and the second image recognition device is used for acquiring a second image of the panoramic sunroof, performing image recognition, outputting an alignment instruction corresponding to the vehicle information to the first position adjusting assembly when the image recognition result is that the type of the sunroof is matched with the type of the vehicle to be assembled, and adjusting the positions of the plurality of second mounting holes in the panoramic sunroof by the first position adjusting assembly according to the alignment instruction until the positions of the plurality of second mounting holes are matched with the positions of the plurality of first mounting holes.
In some embodiments, the first position adjustment assembly comprises:
the first front end adjusting assembly is arranged on two sides of the front end opening of the platform rack and used for pushing the panoramic sunroof in the front-back direction, and comprises a plurality of first front end servo electric cylinders and a plurality of first front end push plates, and each first front end servo electric cylinder is respectively used for controlling the front-back movement of one corresponding first front end push plate;
the first rear end adjusting assembly comprises a plurality of first rear end servo electric cylinders and a plurality of first rear end push plates, and each first rear end servo electric cylinder is respectively used for controlling the front and back movement of a corresponding first rear end push plate;
the first left-right adjusting assembly is arranged on one side of the platform rack and used for pushing the panoramic sunroof in the left-right direction, the first left-right adjusting assembly comprises a plurality of first left-right servo electric cylinders and a plurality of first left-right push plates, and each first left-right servo electric cylinder is used for controlling left-right movement of one corresponding first left-right push plate.
In some embodiments, the material transfer installation comprises:
the front end, the rear end and one side of the fixed frame are respectively provided with a first pin, a second pin and a third pin; the plurality of mounting pins includes a first pin, a second pin, and a third pin;
a second front end adjusting assembly provided on the fixed frame for adjusting a position of the first pin in a front-rear direction and a left-right direction according to the vehicle information;
a second rear end adjusting member provided on the fixed frame for adjusting a position of the second pin in a front-rear direction and a left-right direction according to the vehicle information;
a second left-right adjusting assembly provided on the fixing frame for adjusting a position of the third pin in a front-rear direction and a left-right direction according to the vehicle information;
and the integral moving assembly is connected with the fixed frame and used for moving the position of the fixed frame in the front-back direction, the left-right direction and the up-down direction according to the vehicle information so as to connect the panoramic sunroof and the material transfer installation device by connecting the plurality of installation pins and the plurality of second installation holes and move the panoramic sunroof from the material centering platform to the interior of the vehicle to be assembled, and after the panoramic sunroof is lifted, the panoramic sunroof is installed on the sunroof installation position by connecting the plurality of first installation holes, the plurality of installation pins and the plurality of second installation holes.
In some embodiments, the material transfer installation apparatus further comprises:
and the second lifting support blocks are distributed at the top of the fixed frame and used for supporting the panoramic sunroof.
In some embodiments, the unitary moving assembly comprises:
a main shaft arm provided in the front-rear direction;
the front end positioning stop block is arranged above the front end of the main shaft arm and used for abutting against a front windshield of the vehicle to be assembled after the fixed frame extends into the vehicle to be assembled so as to limit the fixed frame;
a first lifting device which is arranged below the front end of the main shaft arm and is used for moving the position of the main shaft arm in the vertical direction;
and a second lifting device which is arranged between the main shaft arm and the fixed frame and is used for moving the position of the fixed frame in the vertical direction.
The beneficial effect that technical scheme that this application provided brought includes:
the flexible panoramic sunroof assembling system is designed, can be compatible with assembling requirements of panoramic skylights of different specifications, can identify and automatically grab, move, center and position and assemble various vehicle type skylights with various offset angles on a production line, and improves assembling efficiency and assembling quality of a full sedum window.
Drawings
FIG. 1 is a schematic application diagram of a multi-vehicle mixed-flow panoramic sunroof assembling system in an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a material storage and pickup device according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a material centering platform in the embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a material transfer and installation apparatus in an embodiment of the present invention.
Reference numerals:
1-a material storage and pickup device; 1.1-a guide base; 1.2-material frame guide roller way; 1.3-material frame in-place baffle; 1.4-infrared induction sensor; 2-a material centering platform; 2.1-platform rack; 2.2-a first lifting support block; 2.3-a first front end adjustment assembly; 2.4-a second back end adjustment assembly; 2.5-a first left-right adjustment assembly; 2.6-second image recognition means; 2.7-front opening; 3-material transfer mounting device; 3.1-a main shaft arm; 3.2-a second lifting support block; 3.3-vehicle body inductive switch; 3.4-front end X-direction sliding electric cylinder; 3.5-front end Y-direction sliding electric cylinder; 3.6-a first pin; 3.7-right X-direction sliding electric cylinder; 3.8-right Y-direction sliding electric cylinder; 3.9-third pin; 3.10-rear end X-direction sliding electric cylinder; 3.11-rear end Y-direction sliding electric cylinder; 3.12 — a second pin; 3.13-front positioning block.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples.
As shown in fig. 1, an embodiment of the present invention provides a multi-vehicle mixed-flow panoramic sunroof assembly system, including: the vehicle identification device (not shown in the figure) identifies vehicle information of a vehicle (not shown in the figure) to be equipped on the production line. The vehicle information includes position data of a plurality of first mounting locations (not shown) on the sunroof mounting location. The material storage and pickup device 1 picks up a panoramic sunroof (not shown in the figure) of a corresponding type to the material centering platform 2 according to the vehicle information. The material centering platform 2 adjusts the positions of a plurality of second mounting holes (not shown in the figure) on the panoramic sunroof according to the vehicle information until the positions of the second mounting holes are matched with the positions of the first mounting holes. The material moves and carries installation device 3 according to vehicle information, adjusts the position of a plurality of mounting pins, and is until with the position matching of a plurality of first mounting holes. And moving the plurality of mounting pins into the plurality of second mounting holes so as to move the panoramic sunroof into the vehicle to be assembled to be connected with the plurality of first mounting holes.
Specifically, two to three first mounting holes are generally formed in a skylight mounting position of a vehicle to be mounted. Taking three first mounting holes arranged on the skylight mounting position as an example, a first mounting hole is generally arranged at the front part of the vehicle body close to the vehicle head, a first mounting hole is arranged at the rear part of the vehicle body close to the vehicle tail, and a first mounting hole is arranged at one side of the vehicle body close to the left vehicle window or the right vehicle window. If two first mounting holes are arranged on the skylight mounting position, two first mounting holes are selected from the three first mounting holes.
Correspondingly, the panoramic sunroof is generally provided with two to three second mounting holes, the positions of the plurality of first mounting holes in the sunroof mounting positions correspond to the positions of the plurality of second mounting holes in the panoramic sunroof, and when the panoramic sunroof is assembled, each second mounting hole in the panoramic sunroof needs to be aligned to each first mounting hole in the panoramic sunroof. Because the panorama skylight of different grade type is adopted to different motorcycle types, the panorama skylight structure of different grade type, the size, and second mounting hole number distribution on it is different, current skylight assembly either needs artifical supplementary to assemble, or can only assemble to the single motorcycle type, and current material moves and carries installation device 3 and can only drive the panorama skylight and carry out the future removal, reciprocate, and remove about, can't drive the panorama skylight and carry out rotary motion, consequently, current skylight assembly system can't have different skew (or rotatory) angles to the assembly line axis to the possibility of conveying on the assembly line, the waiting of different motorcycle types assembles the vehicle and carries out high-efficient accurate skylight assembly.
In this embodiment, after the vehicle information of the vehicle to be assembled on the assembly line is identified by the vehicle identification device, the vehicle type and the offset of the vehicle relative to the axis of the assembly line can be known, so that the position data of all the first mounting holes on the vehicle to be assembled can be known. The material storage and pickup device 1 picks up the panoramic sunroof of the corresponding type to the material centering platform 2 according to the vehicle information. The material centering platform 2 adjusts the placement position of the panoramic sunroof on the material centering platform 2 according to the vehicle information, so that the positions of all second mounting holes on the panoramic sunroof are adjusted. The material moves and carries installation device 3 and lifts up the panorama skylight from material centering platform 2 back, moves and carries to waiting to assemble inside the vehicle to upwards assemble the panorama skylight to the skylight installation position from inside the vehicle, wherein a plurality of mounting pins on the material moves and carries platform can adjust each position according to vehicle information in order to match with first mounting hole and second mounting hole, conveniently at material centering platform 2 department and the second installation Kong Duijie on the panorama skylight, also conveniently at waiting to assemble vehicle department and the butt joint of first mounting hole on the skylight installation position.
The invention can identify, automatically grab, transfer, center locate and assemble various vehicle type skylights with various deviation angles on a production line, and improve the assembly efficiency and the assembly quality of the full sedum windows.
In a preferred embodiment, the front end of the vehicle to be equipped faces in the direction of feed of the line.
The material storage and pickup device 1, the material centering platform 2 and the material transfer and installation device 3 are all arranged on the same side of the production line and are sequentially arranged from the material feeding direction to the material feeding direction of the production line.
In this embodiment, the feeding side of the assembly line is the front side, the feeding side of the assembly line is the rear side, the front-rear direction is parallel to the axis of the assembly line, the left-right direction and the axis of the assembly line are on the same plane and perpendicular to each other, and the up-down direction and the axis of the assembly line are on the perpendicular plane and perpendicular to each other.
After lifting the panoramic sunroof from the material centering platform 2, the material transfer mounting device 3 translates to the position above a vehicle to be assembled on the assembly line, the material transfer mounting device 3 and the panoramic sunroof move forward along with the vehicle to be assembled on the assembly line, and after descending, the panoramic sunroof stretches into the vehicle to be assembled from a front windshield vacancy of the vehicle to be assembled, and finally the panoramic sunroof is lifted to the sunroof mounting position. After the panoramic sunroof is assembled, the material transferring and mounting device 3 is withdrawn from the vehicle to be assembled, and a new panoramic sunroof is picked up again.
In a preferred embodiment, the vehicle type recognition apparatus includes:
and the microwave acquisition sensor is used for reading an electronic tag which is preset on the vehicle to be assembled so as to acquire the type of the panoramic sunroof on the vehicle, and relative position data among the plurality of first mounting holes is obtained according to the type of the panoramic sunroof.
In the embodiment, when the vehicle type is on line, an electronic tag is provided for the vehicle to be assembled, MES system coded vehicle type information is written into the electronic tag, the electronic tag is pre-hung on the vehicle body and passes the line with the vehicle, the vehicle type recognition device reads the electronic tag by adopting a microwave acquisition sensor, the type of the panoramic sunroof on the vehicle is obtained, and relative position data among the first mounting holes is obtained according to the type of the panoramic sunroof.
Manufacturing Execution System MES (Manufacturing Execution System), is a set of production information management System facing the workshop Execution layer of the Manufacturing enterprise. The MES can provide management modules for enterprises, such as manufacturing data management, planning and scheduling management, production scheduling management, inventory management, quality management, human resource management, work center/equipment management, tool and tool management, purchasing management, cost management, project bulletin board management, production process control, bottom data integration analysis, upper data integration decomposition and the like, and creates a solid, reliable, comprehensive and feasible manufacturing cooperation management platform for the enterprises.
In a preferred embodiment, the vehicle type recognition apparatus further includes:
the first image recognition device is used for collecting a first image of a skylight installation position in the vehicle to be assembled and carrying out image recognition to obtain offset angle data of the first installation holes relative to the axis of the production line.
In this embodiment, the first image recognition device may be mounted to the material transfer and installation device 3, and the material transfer and installation device 3 moves to the inside of the vehicle to be assembled to acquire the first image of the sunroof mounting position when it is empty.
In a preferred embodiment, as shown in fig. 2, the material storage and pickup device 1 includes two guiding bases 1.1 and two frame guiding roller ways 1.2, which are disposed in parallel, a first material region is located between the frame guiding roller way 1.2 and the guiding base 1.1 on one side, a second material region is located between the frame guiding roller way 1.2 and the guiding base 1.1 on the other side, both the two material regions are used for placing a material frame (not shown), and the frame guiding roller way 1.2 is matched with the guiding base 1.1 on one side to support one material frame and is matched with the guiding base 1.1 on the other side to support the other material frame. A material storage pickup assembly 1 can store and put two kinds of type panorama skylight, in practical application, only need increase the quantity of direction base 1.1 and material frame direction roll table 1.2 just can store and place more kinds of panorama skylight.
The front ends of the two guide bases 1.1 are respectively provided with a position detection sensor (not shown in the figure) and a rotatable material frame in-place baffle 1.3, and the material frame in-place baffle 1.3 is used for rotating to be perpendicular to the guide bases 1.1 after the position detection sensors detect that the material frames on the guide bases 1.1 are placed in place. The guide base 1.1 is perpendicular to the axis of the production line, and the front end of the guide base 1.1 faces the production line. The material frame guide base 1.1 and the guide roller way are used for collecting and matching the AGV to smoothly drive in without clamping stagnation. An Automated Guided Vehicle (AGV), which is an Automated Guided Vehicle, is a Vehicle equipped with an electromagnetic or optical automatic guide device, can travel along a predetermined guide path, and has various transfer functions, safety protection, and AGV belongs to the category of a wheel-type mobile robot. In industrial application, the driver's transportation vehicle is not required, and the rechargeable battery is used as its power source. Generally, the traveling route and behavior can be controlled by a computer, or the electromagnetic track is used to establish the traveling route, the electromagnetic rail is adhered to the floor, and the unmanned transport vehicle moves and operates according to the information from the electromagnetic rail.
The material storage and pickup device 1 further comprises an infrared sensor 1.4 for detecting whether a panoramic sunroof is arranged in the material frame. The infrared sensor 1.4 can judge whether there is material in the material frame, can carry out the operation of absorbing on next step when there is, then judges to need to change the frame operation when not having.
The material storage and pickup device 1 further comprises a pickup manipulator (not shown in the figure) for picking up the material frame onto the guide base 1.1 and the material frame guide roller table 1.2, and for picking up the panoramic sunroof in the material frame onto the material centering platform 2.
In this embodiment, the picking manipulator picks up the panoramic sunroof and then rotates by 90 ° to place the panoramic sunroof on the first lifting support blocks 2.2 of the material centering platform 2.
In a preferred embodiment, as shown in fig. 3, the material centering platform 2 includes a platform frame 2.1, a plurality of first lift support blocks 2.2, a first position adjustment assembly, and a second image recognition device 2.6.
The platform rack 2.1 is a cubic frame, the front end of the platform rack is provided with an opening, and the opening of the platform rack 2.1 is close to the feeding direction of the production line.
A plurality of first supporting shoe 2.2 distribute and set up at platform rack 2.1 top for the bearing panorama skylight.
The first position adjusting assembly is arranged at the top of the platform rack 2.1 and used for adjusting the position of the full sedum window in the front-back direction and the left-right direction.
The second image recognition device 2.6 is used for collecting a second image of the panoramic sunroof, performing image recognition, and outputting an alignment instruction corresponding to vehicle information to the first position adjusting assembly when the image recognition result is that the type of the sunroof matches with the type of the vehicle to be assembled, wherein the first position adjusting assembly adjusts the positions of the plurality of second mounting holes in the panoramic sunroof according to the alignment instruction until the positions of the plurality of second mounting holes match with the positions of the plurality of first mounting holes.
In this embodiment, the second image recognition device 2.6 includes a vision detection camera, the vision detection camera is added below the inside of the platform rack 2.1, when the panoramic sunroof is moved to the plurality of first lifting support blocks 2.2 from the material area, the outline of the sunroof product is photographed and recognized, after the outline characteristics of the recognition detection glass are consistent with the vehicle type information, based on the position of the first mounting hole, the first position adjustment assembly clamps and centers the panoramic sunroof until the positions of the plurality of second mounting holes are matched with the positions of the plurality of first mounting holes.
In the preferred embodiment, the first position adjustment assembly includes a first front adjustment assembly 2.3, a second rear adjustment assembly 2.4, and a first left-right adjustment assembly 2.5.
The first front end adjusting component 2.3 is arranged on two sides of a front end opening 2.7 of the platform rack 2.1 and used for pushing the panoramic sunroof in the front-back direction, the first front end adjusting component 2.3 comprises a plurality of first front end servo electric cylinders and a plurality of first front end push plates, and each first front end servo electric cylinder is used for controlling the front-back movement of one corresponding first front end push plate.
The second rear end adjusting component 2.4 is arranged at the rear end of the platform rack 2.1 and used for pushing the panoramic sunroof in the front and rear directions, the first rear end adjusting component comprises a plurality of first rear end servo electric cylinders and a plurality of first rear end push plates, and each first rear end servo electric cylinder is used for controlling the front and rear movement of one corresponding first rear end push plate.
The first left-right adjusting component 2.5 is arranged on one side of the platform rack 2.1 and used for pushing the panoramic sunroof in the left-right direction, the first left-right adjusting component 2.5 comprises a plurality of first left-right servo electric cylinders and a plurality of first left-right push plates, and each first left-right servo electric cylinder is used for controlling left-right movement of one corresponding first left-right push plate.
In this embodiment, the first front end adjusting assembly 2.3 pushes the skylight material to move backward along the X direction, and the moving stroke is 300mm. And the second rear end adjusting component 2.4 controls and pushes the skylight material to displace and clamp along the Y direction, and the moving stroke is 300mm. The first left-right adjusting component 2.5 controls and pushes the skylight material to move forwards along the X direction, and the moving stroke is 300mm. Here, the X direction refers to a direction from the line feeding side to the line discharging side, and the Y direction is on the same plane as the line axial direction and perpendicular to the X direction.
In one embodiment, all the electric cylinders of the first position adjusting assembly are in the initial zero position, and after clamping is completed, the electric cylinders automatically return to the zero position standby state. If the position coordinates of the skylight of the vehicle type A are (X200 mm, Y-150 mm) according to debugging requirements, namely in the actual debugging process, an action program A is designed, a first front-end servo electric cylinder is controlled to act first and then push the skylight by +200mm, and then a first rear-end servo electric cylinder is controlled to push a first rear-end push plate to be attached to the rear part of the skylight, so that the X-direction clamping is ensured. And then controlling the first left and right servo electric cylinder (selecting the right servo electric cylinder here) to push the first left and right push plate (selecting the right push plate here) 150mm to the left, and enabling the first left and right push plate (selecting the left servo electric cylinder here) to attach to the skylight by the action of the first left and right servo electric cylinder (selecting the left servo electric cylinder here), namely ensuring that the skylight is clamped in the Y direction. Through the actions, all the electric cylinders return, and the skylight reaches the required centering position. When the position coordinates of a skylight required mixed flow of a certain vehicle type B on a centering platform are (X +250mm, Y + 120mm), an action program B is designed again, and a corresponding electric cylinder is controlled to clamp at the required position. By analogy, the mixed flow positioning requirement of N vehicle types in the theoretical stroke can be supported.
In a preferred embodiment, as shown in fig. 4, the material transferring and mounting device 3 is a robot clamp, and includes a fixing frame, a second front end adjusting assembly, a second rear end adjusting assembly 2.4, a second left-right adjusting assembly, and a moving assembly.
The front end, the rear end and one side of the fixed frame are respectively provided with a first pin 3.6, a second pin 3.12 and a third pin 3.9. The plurality of mounting pins includes a first pin 3.6, a second pin 3.12, and a third pin 3.9.
The second front end adjusting assembly is provided on the fixed frame for adjusting the position of the first pin 3.6 in the front-rear direction and the left-right direction. The stroke is 200mm. The second front end adjustment assembly comprises a front end X-direction sliding electric cylinder 3.4 and a front end Y-direction sliding electric cylinder 3.5 for adjusting the position of the first pin 3.6 in the X-direction and the Y-direction, respectively.
A second rear end adjusting assembly 2.4 is provided on the fixed frame for adjusting the position of the above-mentioned second pin 3.12 in the front-rear direction and the left-right direction. The stroke is 300mm. The second rear end adjustment assembly 2.4 comprises a rear end X-slide cylinder 3.10 and a rear end Y-slide cylinder 3.11 for adjusting the position of the second pin 3.12 in the X-direction and the Y-direction, respectively.
The second left-right adjusting assembly is provided on the fixed frame for adjusting the position of the third pin 3.9 in the front-rear direction and the left-right direction. The stroke is 200mm. The second left-right adjustment assembly may include a right X-slide cylinder 3.7 and a right Y-slide cylinder 3.8 for adjusting the position of the third pin 3.9 in the X-direction and Y-direction, respectively.
The integral moving assembly is connected with the fixed frame and used for moving the position of the fixed frame in the front-back direction, the left-right direction and the up-down direction so as to connect the panoramic sunroof and the material transfer mounting device 3 by connecting the plurality of mounting pins with the plurality of second mounting holes, move the panoramic sunroof from the material centering platform 2 to the interior of the vehicle to be assembled, and mount the panoramic sunroof to the sunroof mounting position by connecting the plurality of first mounting holes, the plurality of mounting pins and the plurality of second mounting holes after the panoramic sunroof is lifted.
In this embodiment, if a vehicle type a needs to be debugged and positioned, the first pin is 3.6 (X100 mm, Y150 mm), the third pin is 3.9 (X150 mm, Y100 mm), and the second pin is 3.12 (X150 mm, Y100 mm), the corresponding program a is designed to control the electric cylinder to move to a coordinate required position, and finally, it is ensured that the three positioning pins are aligned with the vehicle body mounting hole. After the assembly cycle is completed once, the electric cylinder automatically restores the initial position, and further, a program B can be added according to requirements to adapt to the coordinates of the positioning pin. By parity of reasoning, the mixed flow positioning requirement of multiple vehicle types is met.
In a preferred embodiment, the material transferring and mounting device 3 further includes a plurality of second lifting support blocks 3.2, which are distributed on the top of the fixed frame and used for supporting the panoramic sunroof.
The integral moving assembly includes a spindle arm 3.1, a front positioning block 3.13, a first lifting device (not shown), and a second lifting device (not shown).
The spindle arm 3.1 is arranged in the front-rear direction.
The front end positioning stop block 3.13 is arranged above the front end of the main shaft arm 3.1 and used for abutting against a front windshield of a vehicle to be assembled after the fixed frame extends into the vehicle to be assembled so as to limit the fixed frame.
The first lifting device is arranged below the front end of the spindle arm 3.1 and used for moving the position of the spindle arm 3.1 in the vertical direction.
The second lifting device is arranged between the spindle arm 3.1 and the fixed frame for moving the position of the fixed frame in the up-down direction.
In this embodiment, the material moves and carries installation device 3 according to vehicle information, and the flexible servo electric cylinder slide rail of the X of three directions in the front, back, right side and Y is to removing, makes three locating pin remove to the demand position to from lifting the panorama skylight to the material middle platform from bottom to top, three locating pin passed the second mounting hole and fixes a position in this process, then moves and carries installation device 3 to lift the panorama skylight and move and carry to the assembly line top and await the order. The material moves and carries installation device 3 and lifts panorama skylight to automobile body top, follow to automobile body the place ahead safe position, operation panorama skylight descends and in the front windshield advance, the front end design has front end location dog 3.13, when the dog touches automobile body forward position panel beating, the material moves and carries installation device 3 to stop and follow and wait to assemble the vehicle and follow, the locating pin position should keep the centering state with first mounting hole this moment, finally, the material moves and carries installation device 3 to switch into the state of floating, the operation lifts panorama skylight to with the automobile body laminating position, and guarantee that the locating pin passes first mounting hole. The material transferring and mounting device 3 descends and exits from the vehicle body after the panoramic sunroof is mounted, and automatically returns to the position below the material centering platform 2 to be ready.
The material transfer mounting device 3 can also be provided with an automobile body induction switch 3.3 for inducing an automobile body, judging the position relation between the manipulator and the automobile body and facilitating safe action.
The control system of the present embodiment is applied to the above control methods.
The present application is not limited to the above embodiments, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present application, and such modifications and improvements are also considered to be within the scope of the present application.
Claims (10)
1. The utility model provides a multi-vehicle type mixed flow panorama skylight assembly system which characterized in that includes:
the vehicle identification device is used for identifying vehicle information of the vehicle to be assembled on the production line; a plurality of first mounting holes are formed in the skylight mounting position of the vehicle to be assembled, and the vehicle information comprises position data of the first mounting positions;
the material storage and pickup device is used for storing various types of panoramic skylights and picking up the panoramic skylights of the corresponding types to the material centering platform according to the vehicle information;
the material centering platform is used for adjusting the positions of a plurality of second mounting holes on the panoramic sunroof according to the vehicle information until the positions of the second mounting holes are matched with the positions of the first mounting holes;
the material transferring and mounting device is used for adjusting the positions of a plurality of mounting pins arranged on the material transferring and mounting device according to the vehicle information until the positions of the mounting pins are matched with the positions of the first mounting holes; the panoramic sunroof mounting structure is further used for moving the plurality of mounting pins into the plurality of second mounting holes so as to move the panoramic sunroof into a vehicle to be assembled, and moving the plurality of mounting pins into the plurality of first mounting holes so as to mount the panoramic sunroof into the sunroof mounting position.
2. The multi-vehicle type mixed-flow panoramic sunroof assembling system according to claim 1, wherein a vehicle front end of a vehicle to be assembled faces a feeding direction of a production line;
the material storage and pickup device, the material centering platform and the material transfer and installation device are arranged on the same side of the assembly line and are sequentially arranged from the material feeding direction to the material feeding direction of the assembly line.
3. The multi-vehicle type mixed-flow panoramic sunroof assembling system according to claim 1, wherein the vehicle type recognition means comprises:
and the microwave acquisition sensor is used for reading an electronic tag which is preset on the vehicle to be assembled so as to acquire the type of the panoramic sunroof on the vehicle, and relative position data among the plurality of first mounting holes is obtained according to the type of the panoramic sunroof.
4. The multi-vehicle type mixed-flow panoramic sunroof assembling system according to claim 1, wherein the vehicle type recognition means further comprises:
the first image recognition device is used for collecting a first image of a skylight installation position in the vehicle to be assembled and carrying out image recognition to obtain offset angle data of the first installation holes relative to the axis of the production line.
5. The multi-vehicle type mixed flow panoramic sunroof assembling system according to claim 1, wherein the material storage and pickup device comprises:
the two guide bases are arranged in parallel, the front ends of the two guide bases are respectively provided with a position detection sensor and a rotatable material frame in-place baffle, and the material frame in-place baffle is used for rotating to be perpendicular to the guide bases after the position detection sensors detect that the material frames on the guide bases are placed in place; the guide base is vertical to the axis of the assembly line, and the front end of the guide base faces the assembly line;
the material frame guide roller way is arranged between the two guide bases and is used for bearing one material frame by matching with the guide base at one side and bearing the other material frame by matching with the guide base at the other side; a first material area is arranged between the material frame guide roller way and the guide base at one side, a second material area is arranged between the material frame guide roller way and the guide base at the other side, and the two material areas are both used for placing material frames;
the infrared induction sensor is used for detecting whether a panoramic sunroof exists in the material frame;
and the picking manipulator is used for picking the material frame to the guide base and the material frame guide roller way and picking the panoramic sunroof in the material frame to the material centering platform.
6. The multi-vehicle type mixed-flow panoramic sunroof assembly system of claim 1, wherein the material centering platform comprises:
the platform rack is a cubic frame, and the front end of the platform rack is provided with an opening; the opening of the platform rack is close to the feeding direction of the production line;
the first lifting support blocks are distributed at the top of the platform rack and used for supporting the panoramic sunroof;
the first position adjusting assembly is arranged at the top of the platform rack and used for adjusting the position of the whole sedum aizoon window in the front-back direction and the left-right direction;
and the second image recognition device is used for acquiring a second image of the panoramic sunroof, performing image recognition, outputting an alignment instruction corresponding to the vehicle information to the first position adjusting assembly when the image recognition result is that the type of the sunroof is matched with the type of the vehicle to be assembled, and adjusting the positions of the plurality of second mounting holes in the panoramic sunroof by the first position adjusting assembly according to the alignment instruction until the positions of the plurality of second mounting holes are matched with the positions of the plurality of first mounting holes.
7. The multi-vehicle type mixed-flow panoramic sunroof assembly system of claim 6, wherein the first position adjustment assembly comprises:
the first front end adjusting assembly is arranged on two sides of the front end opening of the platform rack and used for pushing the panoramic sunroof in the front-back direction, and comprises a plurality of first front end servo electric cylinders and a plurality of first front end push plates, and each first front end servo electric cylinder is respectively used for controlling the front-back movement of one corresponding first front end push plate;
the first rear end adjusting assembly comprises a plurality of first rear end servo electric cylinders and a plurality of first rear end push plates, and each first rear end servo electric cylinder is respectively used for controlling the front and back movement of a corresponding first rear end push plate;
the first left-right adjusting assembly is arranged on one side of the platform rack and used for pushing the panoramic sunroof in the left-right direction, the first left-right adjusting assembly comprises a plurality of first left-right servo electric cylinders and a plurality of first left-right push plates, and each first left-right servo electric cylinder is used for controlling left-right movement of one corresponding first left-right push plate.
8. The multi-vehicle type mixed-flow panoramic sunroof assembling system according to claim 1, wherein the material transfer mounting device comprises:
the front end, the rear end and one side of the fixed frame are respectively provided with a first pin, a second pin and a third pin; the plurality of mounting pins includes a first pin, a second pin, and a third pin;
a second front end adjusting assembly provided on the fixed frame for adjusting a position of the first pin in a front-rear direction and a left-right direction according to the vehicle information;
a second rear end adjusting member provided on the fixed frame for adjusting a position of the second pin in a front-rear direction and a left-right direction according to the vehicle information;
a second left-right adjusting assembly provided on the fixing frame for adjusting a position of the third pin in a front-rear direction and a left-right direction according to the vehicle information;
and the integral moving assembly is connected with the fixed frame and used for moving the position of the fixed frame in the front-back direction, the left-right direction and the up-down direction according to the vehicle information so as to connect the panoramic sunroof and the material transfer installation device by connecting the plurality of installation pins and the plurality of second installation holes and move the panoramic sunroof from the material centering platform to the interior of the vehicle to be assembled, and after the panoramic sunroof is lifted, the panoramic sunroof is installed on the sunroof installation position by connecting the plurality of first installation holes, the plurality of installation pins and the plurality of second installation holes.
9. The multi-vehicle mixed-flow panoramic sunroof assembling system according to claim 8, wherein the material transfer mounting device further comprises:
and the second lifting support blocks are distributed at the top of the fixed frame and used for supporting the panoramic sunroof.
10. The multi-vehicle type mixed flow panoramic sunroof assembly system of claim 8, wherein the integral moving assembly comprises:
a main shaft arm provided in the front-rear direction;
the front end positioning stop block is arranged above the front end of the main shaft arm and used for abutting against a front windshield of the vehicle to be assembled after the fixed frame extends into the vehicle to be assembled so as to limit the fixed frame;
a first lifting device which is arranged below the front end of the main shaft arm and is used for moving the position of the main shaft arm in the vertical direction;
and a second lifting device which is arranged between the main shaft arm and the fixed frame and is used for moving the position of the fixed frame in the vertical direction.
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| CN115593537B (en) | 2024-04-02 |
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