CN115593537B - Multi-vehicle type mixed-flow panoramic sunroof assembly system - Google Patents
Multi-vehicle type mixed-flow panoramic sunroof assembly system Download PDFInfo
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- CN115593537B CN115593537B CN202211223726.2A CN202211223726A CN115593537B CN 115593537 B CN115593537 B CN 115593537B CN 202211223726 A CN202211223726 A CN 202211223726A CN 115593537 B CN115593537 B CN 115593537B
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- 239000000463 material Substances 0.000 claims abstract description 145
- 238000004519 manufacturing process Methods 0.000 claims abstract description 27
- 238000009434 installation Methods 0.000 claims abstract description 21
- 238000003860 storage Methods 0.000 claims abstract description 17
- 238000012546 transfer Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 8
- 230000006698 induction Effects 0.000 claims description 5
- 241001165494 Rhodiola Species 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
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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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- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The application discloses a multi-vehicle mixed-flow panoramic sunroof assembly system, which relates to the technical field of panoramic sunroof assembly and comprises a vehicle identification device for identifying vehicle information of vehicles to be assembled on a production line; the vehicle information includes position data of a plurality of first installation sites on the sunroof installation site; the material storage and pickup device picks up panoramic sunroof of corresponding type on 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 to move the panoramic sunroof into the vehicle to be assembled to connect with the plurality of first mounting holes. The panoramic sunroof assembly method and the panoramic sunroof assembly device can be used for assembling corresponding panoramic sunroofs for 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 models of automobile main engine factories and the increase of mixed-line production requirements of multiple automobile models, the increase of labor cost and the shortening of production and delivery periods, the sensitivity of automobile final assembly factories to advanced assembly technologies and automation equipment is greatly improved. All automobile factories are improving the technical level of general assembly process equipment, and more advanced assembly equipment is adopted to improve the product quality so as to meet the requirements of emerging markets and improving the market competitiveness of the products. The final assembly process of the automobile is taken as the most important link of automobile manufacture, and influences market competitiveness in aspects of scale, quality, instantaneity, cost, product advancement and the like. The current automobile assembly process technology is towards the trend of modularization, automation, flexibility and intelligent digitization. In a large environment where the market is highly competitive, these technological trends are evolving from dominant technologies of enterprise competition to requisite technologies of another enterprise competition.
At present, an automatic means for assembling the panoramic sunroof is not available, particularly, the panoramic sunroof for different vehicle types is assembled, and at present, a proper technical means is not available. With the improvement of the living standard of people, the passenger car experience with higher configuration of market demand, wherein the automobile panoramic sunroof becomes an important component for the development of the high-configuration passenger car, how to realize the automatic assembly of the panoramic sunroof in industrial production, and how to realize the mixed flow production of the panoramic sunroof with the same production station and multiple vehicle types and differentiation are more technical difficulties.
The panoramic sunroof has large outline dimension, heavy weight and multiple fixing points, and two semi-automatic assembly modes are generally adopted at present. Firstly, adopting manual work and skylight auxiliary positioning frock assembly, at the assembly scene, needing two to three operators manually to lift the skylight into the car, then lifting the skylight to a preset assembly position by the operators, controlling the centering of the peripheral ring clearance surface difference of the automobile top cover by the skylight auxiliary positioning frock, thereby completing the assembly of the automobile full-face window. Secondly, a single-person operation power-assisted mechanical arm is adopted to grasp the skylight at the production line, the skylight is overturned and transferred, the skylight enters the vehicle body, one person in the vehicle visually completes positioning hole alignment, and the skylight is assembled after pre-tightening.
According to the technical scheme, at least two operators are required to work in a matched mode, the requirement on the number of 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 auxiliary positioning frock, this frock positioning accuracy is low, and repeatability is poor, fragile etc..
The second technical scheme needs at least two operators to work cooperatively, so that the requirement on the number of operators is high, the operation level of the operators is also high, the production efficiency is low, and the working time is long. And the booster mechanical arm has no positioning function, needs manual visual completion of positioning and the like, is difficult to adapt to the working condition of mixed flow of multiple vehicle types, and cannot grasp the common use of the supplied materials of the different skylight.
In summary, how to improve the assembly efficiency of the full-sedum window of the automobile on the premise of completing the basic assembly, reduce the development cost, avoid the quality problems of water leakage, abnormal sound and the like of the skylight, and is a technical problem which needs to be solved urgently at present.
Disclosure of Invention
Aiming at the defects existing in the prior art, the aim of the application is to provide a multi-vehicle type mixed-flow panoramic sunroof assembly system and method, which can be compatible with the assembly requirements of panoramic sunroofs of different specifications, realize the recognition, automatic grabbing, transferring, centering and positioning and assembly of the differentiated vehicle type sunroofs, and improve the assembly efficiency and the assembly quality of the full-sedum window.
In order to achieve the above purpose, the technical scheme adopted is as follows:
the first aspect of the present application provides a multi-vehicle type mixed-flow panoramic sunroof assembly system, comprising:
a vehicle identification device for identifying vehicle information of a vehicle to be assembled on a production line; the sunroof mounting position of the vehicle to be assembled is provided with a plurality of first mounting holes, 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 sunroofs and picking up the panoramic sunroofs of corresponding types onto 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 plurality of 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 plurality of first mounting holes; and the mounting pins are further used for moving into the second mounting holes so as to move the panoramic sunroof into the vehicle to be assembled, and moving into the first mounting holes so as to realize the mounting of the panoramic sunroof into the sunroof mounting position.
In some embodiments, the front end of the vehicle to be assembled faces the feeding direction of the assembly line;
the material storage and pickup device, the material centering platform and the material transferring and mounting device are all arranged on the same side of the assembly line and are sequentially arranged from the feeding direction to the feeding direction of the assembly line.
In some embodiments, the vehicle type recognition apparatus includes:
the microwave acquisition sensor is used for reading an electronic tag preset on a vehicle to be assembled so as to acquire the type of the panoramic sunroof on the vehicle, and acquiring relative position data among the plurality of first mounting holes according to the type of the panoramic sunroof.
In some embodiments, the vehicle type recognition device further includes:
the first image recognition device is used for collecting first images of the skylight installation positions in the vehicle to be assembled and carrying out image recognition to obtain offset angle data of the plurality of first installation holes relative to the axis of the assembly line.
In some embodiments, the material storage 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 vertical to the guide bases after the position detection sensor detects that the material frame on the guide base is placed in place; the guide base is perpendicular 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 carrying one material frame in cooperation with one side guide base and carrying the other material frame in cooperation with the other side guide base; a first material area is arranged between the material frame guide roller way and the guide base on one side, a second material area is arranged between the material frame guide roller way and the guide base on the other side, and the two material areas are used for placing the material frame;
the infrared induction sensor is used for detecting whether a panoramic sunroof exists in the material frame;
and the pick-up manipulator is used for picking up the material frame onto the guide base and the material frame guide roller way and picking up the panoramic sunroof in the material frame onto the material centering platform.
In some embodiments, the material centering platform comprises:
the platform rack is a cuboid frame, and an opening is formed in the front end of the platform rack; the opening of the platform rack is close to the feeding direction of the assembly line;
the first lifting supporting blocks are distributed at the top of the platform rack and are used for supporting the panoramic sunroof;
the first position adjusting component is arranged at the top of the platform rack and is used for adjusting the position of the rhodiola window in the front-back direction and the left-right direction;
the second image recognition device is used for collecting a second image of the panoramic sunroof, carrying out image recognition, outputting an alignment instruction corresponding to vehicle information to the first position adjustment assembly when the image recognition result is that the sunroof type is matched with the vehicle type to be assembled, and adjusting the positions of a plurality of second mounting holes on the panoramic sunroof by the first position adjustment assembly according to the alignment instruction until the positions of the 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 assemblies are arranged on two sides of the front end opening of the platform rack and used for pushing the panoramic sunroof in the front-rear direction, each first front end adjusting assembly 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-rear movement of a corresponding first front end push plate;
the second rear end adjusting assembly is arranged at the rear end of the platform rack and used for pushing the panoramic sunroof in the front-rear direction, 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 used for controlling the front-rear movement of a corresponding first rear end push plate;
the first left and right adjusting assembly is arranged on one side of the platform rack and used for pushing the panoramic sunroof in the left and right direction, the first left and right adjusting assembly comprises a plurality of first left and right servo electric cylinders and a plurality of first left and right pushing plates, and each first left and right servo electric cylinder is used for controlling left and right movement of a corresponding first left and right pushing plate.
In some embodiments, the material transfer mounting apparatus comprises:
a fixed frame having a first pin, a second pin, and a third pin at a front end, a rear end, and one side thereof, respectively; 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 the position of the first pin in the front-rear direction and the left-right direction according to the vehicle information;
a second rear end adjustment assembly 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 adjustment assembly provided on the fixed frame for adjusting the position of the third pin in the front-rear direction and the left-right direction according to the vehicle information;
and the integral moving assembly is connected with the fixed frame and is used for moving the fixed frame position 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 transferring and installing device by connecting the plurality of installing pins with the plurality of second installing holes, and move the panoramic sunroof from the material centering platform to the inside of a vehicle to be assembled, and after the panoramic sunroof is lifted, the panoramic sunroof is installed to the sunroof installing position by connecting the plurality of first installing holes, the plurality of installing pins and the plurality of second installing holes.
In some embodiments, the material transfer mounting apparatus further comprises:
and the second lifting supporting blocks are distributed at the top of the fixed frame and are used for bearing the panoramic sunroof.
In some embodiments, the integral movement assembly comprises:
a spindle 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 is used for abutting against a front windshield of the vehicle to be assembled after the fixed frame stretches into the vehicle to be assembled so as to limit the fixed frame;
a first lifting device arranged below the front end of the main shaft arm and used for moving the position of the main shaft arm in the up-down direction;
and a second lifting device arranged between the main shaft arm and the fixed frame for moving the position of the fixed frame in the up-down direction.
The beneficial effects that technical scheme that this application provided brought include:
the flexible panoramic sunroof assembly system is designed, can be compatible with the assembly requirements of panoramic sunroofs of different specifications, can identify and automatically grab, transfer, center and position and assemble various vehicle type sunroofs of various offset angles on a production line, and improves the assembly efficiency and the assembly quality of the full-sedum sunroof.
Drawings
Fig. 1 is an application schematic diagram of a multi-vehicle type mixed-flow panoramic sunroof assembly system in an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a material storage pickup device according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a material centering platform according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a material transferring and mounting device according to an embodiment of the present invention.
Reference numerals:
1-a material storage pickup device; 1.1-a guide base; 1.2-a material frame guide roller way; 1.3-a material frame in-place baffle; 1.4-infrared induction sensor; 2-a material centering platform; 2.1-a platform stage; 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-a second image recognition device; 2.7-front opening; 3-a material transferring and mounting device; 3.1-spindle arm; 3.2-a second lifting support block; 3.3-a body induction switch; 3.4-a front end X-direction sliding electric cylinder; 3.5-a front end Y-direction sliding electric cylinder; 3.6-first pins; 3.7-right X-direction sliding electric cylinder; 3.8-right Y-direction sliding cylinder; 3.9-third pin; 3.10-a rear end X-direction sliding electric cylinder; 3.11-a rear end Y-direction sliding electric cylinder; 3.12-a second pin; 3.13-front end positioning stop.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings and examples.
As shown in fig. 1, an embodiment of the present invention provides a multi-vehicle type mixed-flow panorama sunroof assembly system, including: a vehicle identification device (not shown in the figure) identifies vehicle information of a vehicle (not shown in the figure) to be assembled on the production line. The vehicle information includes position data of a plurality of first mounting positions (not shown in the drawings) on the sunroof mounting position. The material storage pickup device 1 picks up a panorama sunroof (not shown) of a corresponding type onto the material centering platform 2 according to 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 plurality of first mounting holes are matched. The material transfer and installation device 3 adjusts the positions of the plurality of installation pins according to the vehicle information until the positions of the plurality of installation pins are matched with the positions of the plurality of first installation holes. And moving the plurality of mounting pins into the plurality of second mounting holes to move the panoramic sunroof into the vehicle to be assembled to connect with the plurality of first mounting holes.
Specifically, two to three first mounting holes are generally provided on the sunroof mounting position of the vehicle to be assembled. Taking three first mounting holes as an example on a skylight mounting position, a first mounting hole is generally formed in the front part of a vehicle body, which is close to a vehicle head, a first mounting hole is formed in the rear part of the vehicle body, which is close to a vehicle tail, and a first mounting hole is formed in one side of the vehicle body, which is close to a left window or a right window. If two first mounting holes are provided in the skylight mounting site, two of the three first mounting holes are selected from the three first mounting hole embodiments described above.
Correspondingly, two to three second mounting holes are also generally formed in the panoramic sunroof, a plurality of first mounting holes in the sunroof mounting position correspond to a plurality of second mounting holes in the panoramic sunroof, and when the panoramic sunroof is assembled, each second mounting hole in the panoramic sunroof is required to be aligned with each first mounting hole in the panoramic sunroof. Because different types of panoramic sunroof are adopted by different vehicle types, the panoramic sunroof structures, the sizes and the number distribution of the second mounting holes on the panoramic sunroof structures are different, the conventional sunroof assembly either needs manual assistance for assembly or can only be assembled for a single vehicle type, and the conventional material transfer and mounting device 3 can only drive the panoramic sunroof to move later, move up and down and move left and right and can not drive the panoramic sunroof to perform rotary motion, so that the conventional sunroof assembly system can not perform efficient and accurate sunroof assembly for vehicles to be assembled of different vehicle types, which are transmitted on a production line and have different offset (or rotary) angles relative to the axis of a production line.
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 obtained, so that the position data of all the first mounting holes on the vehicle to be assembled can be obtained. The material storage and pickup device 1 picks up the panoramic sunroof of the corresponding type onto the material centering platform 2 according to the vehicle information. And 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 to lift up the panorama skylight from material centering platform 2 after, move and carry to wait to assemble the vehicle inside to upwards assemble the panorama skylight to the skylight installation position from the vehicle inside, wherein a plurality of mounting pins on the material moves and carries the platform and adjust each position in order to match with first mounting hole and second mounting hole according to vehicle information, conveniently dock with the second mounting hole on the panorama skylight in material centering platform 2 department, also conveniently dock with the first mounting hole on the skylight installation position in wait to assemble the vehicle department.
The invention can identify, automatically grasp, transfer, center and position and assemble various vehicle type skylights with various offset angles on the assembly line, and improves the assembly efficiency and the assembly quality of the full-sedum window.
In a preferred embodiment, the front end of the vehicle to be fitted faces in the feeding direction of the line.
The material storage and pickup device 1, the material centering platform 2 and the material transferring and mounting device 3 are all arranged on the same side of the assembly line and are sequentially arranged from the feeding direction to the feeding direction of the assembly line.
In this embodiment, the feeding side of the assembly line is used as the front, the feeding side of the assembly line is used as the back, the front-back direction is parallel to the axis of the assembly line, the left-right direction and the axis of the assembly line are located on the same plane and are perpendicular to each other, and the up-down direction and the axis of the assembly line are located on mutually perpendicular planes and are perpendicular to each other.
After the panoramic sunroof is lifted from the material centering platform 2, the material transferring and mounting device 3 is translated above a vehicle to be assembled on the assembly line, the material transferring and mounting device 3 and the panoramic sunroof move forward along with the vehicle to be assembled on the assembly line, and after the material transferring and mounting device and the panoramic sunroof descend, 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 a sunroof mounting position. After the panoramic sunroof is assembled, the material transferring and mounting device 3 withdraws from the vehicle to be assembled, and picks up a new panoramic sunroof again.
In a preferred embodiment, the vehicle type recognition device includes:
the microwave acquisition sensor is used for reading an electronic tag preset on a vehicle to be assembled so as to acquire the type of the panoramic sunroof on the vehicle, and acquiring the relative position data among the plurality of first mounting holes according to the type of the panoramic sunroof.
In this embodiment, when a vehicle is on-line, an electronic tag is provided for a vehicle to be assembled, the information of the vehicle type encoded by the MES system is written into the electronic tag, the electronic tag is pre-hung on the vehicle body and passed through the vehicle, the vehicle type recognition device reads the electronic tag by using a microwave acquisition sensor, the type of a panoramic sunroof on the vehicle is obtained, and the relative position data among the plurality of first mounting holes are obtained according to the type of the panoramic sunroof.
MES (Manufacturing Execution System), namely a manufacturing enterprise production process execution system, is a set of production informatization management systems 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 fixture management, purchasing management, cost management, project signboard management, production process control, bottom-layer data integration analysis, upper-layer data integration decomposition and the like, and a solid, reliable, comprehensive and feasible manufacturing collaborative management platform is created for the enterprises.
In a preferred embodiment, the vehicle type recognition device further includes:
the first image recognition device is used for collecting first images of the skylight installation positions in the vehicle to be assembled and carrying out image recognition to obtain offset angle data of the plurality of first installation holes relative to the axis of the assembly line.
In this embodiment, the first image recognition device may be mounted to the material transfer mounting device 3, and the material transfer mounting device 3 is moved to the inside of the vehicle to be assembled to collect the first image of the sunroof mounting position when empty.
In a preferred embodiment, as shown in fig. 2, the material storage and pickup device 1 includes two guiding bases 1.1 and a material frame guiding roller way 1.2, which are disposed parallel to each other, a first material area is disposed between the material frame guiding roller way 1.2 and one guiding base 1.1, a second material area is disposed between the material frame guiding roller way 1.2 and the other guiding base 1.1, both material areas are used for placing material frames (not shown in the figure), and the material frame guiding roller way 1.2 cooperates with one guiding base 1.1 to carry one material frame and cooperates with the other guiding base 1.1 to carry the other material frame. One material storage pickup device 1 can store and place two types of panoramic sunroofs, and in practical application, more types of panoramic sunroofs can be stored and placed only by increasing the number of the guide bases 1.1 and the material frame guide roller tables 1.2.
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 frame on the guide bases 1.1 is 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 AGVs to drive into smoothly without clamping stagnation. AGV (Automated Guided Vehicle), an automatic guided transport vehicle, is a transport vehicle equipped with an automatic guiding device such as electromagnetic or optical, capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and is a category of a wheeled mobile robot. In industrial application, a carrier without a driver is used, and a rechargeable storage battery is used as a power source. Generally, the traveling route and behavior of the vehicle can be controlled by a computer, or the traveling route can be established by using an electromagnetic track, which is stuck on the floor, and the vehicle can be moved and operated by the unmanned vehicle according to the information brought by the electromagnetic track.
The material storage and pickup device 1 further comprises an infrared sensor 1.4 for detecting whether a panoramic sunroof exists in the material frame. The infrared sensor 1.4 can judge whether the material exists in the material frame, and can perform the next sucking operation when the material exists, and can judge that the frame replacement operation is required when the material does not exist.
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 way 1.2, and for picking up the panoramic sunroof in the material frame to the material centering platform 2.
In this embodiment, the pickup manipulator picks up the panoramic sunroof and then rotates it by 90 ° to place it on the plurality of 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 lifting support blocks 2.2, a first position adjusting assembly, and a second image recognition device 2.6.
The platform rack 2.1 is a cuboid frame, and an opening is arranged at the front end of the platform rack 2.1, and the opening of the platform rack 2.1 is close to the feeding direction of the assembly line.
The plurality of first lifting supporting blocks 2.2 are distributed and arranged at the top of the platform rack 2.1 and are used for bearing the panoramic sunroof.
The first position adjusting component is arranged at the top of the platform rack 2.1 and is used for adjusting the position of the rhodiola 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 adjustment assembly when the image recognition result is that the sunroof type is matched with the vehicle type to be assembled, wherein the first position adjustment assembly adjusts the positions of a plurality of second mounting holes on the panoramic sunroof according to the alignment instruction until the positions of the second mounting holes are matched with the positions of the plurality of first mounting holes.
In this embodiment, the second image recognition device 2.6 includes the visual detection camera, increases the visual detection camera in the inside below of platform rack 2.1, when the panorama skylight moves on a plurality of first supporting shoes 2.2 of lifting by the material district, carries out the discernment of shooing to skylight product profile, discerns and detects behind glass profile characteristic and the vehicle model information belonged to unanimity, based on the position of first mounting hole, first position adjustment subassembly is to carrying out the panorama skylight and press from both sides tight centering, until the position of a plurality of second mounting holes matches with the position of a plurality of first mounting holes.
In a preferred embodiment, the first position adjusting assembly includes a first front end adjusting assembly 2.3, a second rear end adjusting assembly 2.4, and a first left-right adjusting assembly 2.5.
The first front end adjusting components 2.3 are arranged on two sides of the 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 components 2.3 comprise 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 front-back movement of a 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-rear direction, 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-rear movement of a corresponding first rear end push plate.
The first left and 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 and right direction, the first left and right adjusting component 2.5 comprises a plurality of first left and right servo electric cylinders and a plurality of first left and right pushing plates, and each first left and right servo electric cylinder is used for controlling left and right movement of a corresponding first left and right pushing plate respectively.
In this embodiment, the first front end adjusting assembly 2.3 pushes the skylight material to displace backward in the X direction, with a displacement stroke of 300mm. The second rear end adjusting component 2.4 controls and pushes skylight materials to displace and clamp along the Y direction, and the displacement travel is 300mm. The first left-right adjusting component 2.5 controls and pushes skylight materials to move forwards along the X direction, and the moving stroke is 300mm. Here, the X direction refers to from the feeding side of the flow line to the feeding side of the flow line, and the Y direction is located on the same plane as the axial direction of the flow line and is perpendicular to the X direction.
In one embodiment, all the electric cylinders of the first position adjusting assembly are in an initial zero position, and after clamping is completed, the electric cylinders automatically return to the zero position for standby. If the position coordinates of the skylight of a certain vehicle type A on the centering platform are (X200 mm, Y-150 mm) according to the debugging requirement, namely in the actual debugging process, an action program A is designed, the first front-end servo electric cylinder is controlled to act firstly and push the skylight to be +200mm later, and then the first rear-end servo electric cylinder is controlled to push the first rear-end push plate to be attached to the rear part of the skylight, so that the clamping in the X direction is ensured. And then the first left and right servo electric cylinders (the right servo electric cylinder is selected here) are controlled to push the first left and right push plates (the right push plate is selected here) to the left by 150mm, and the first left and right servo electric cylinders (the left servo electric cylinder is selected here) act to enable the first left and right push plates (the left push plate is selected here) to be attached to the skylight, so that the clamping of the skylight in the Y direction is ensured. Through the actions, all the electric cylinders return, and the skylight reaches the required centering position. And (3) a skylight of a certain vehicle type B needs mixed flow, and the position coordinates on the centering platform are (X+250 mm and Y+120 mm), then an action program B is designed, and the corresponding electric cylinder is controlled to be clamped to the required position. And the like, the mixed flow positioning requirements of N vehicle types in a theoretical stroke can be supported.
In a preferred embodiment, as shown in fig. 4, the material transferring and mounting device 3 is a manipulator fixture, and includes a fixed frame, a second front end adjusting assembly, a second rear end adjusting assembly 2.4, a second left-right adjusting assembly, and an integral moving assembly.
The fixed frame is provided with a first pin 3.6, a second pin 3.12 and a third pin 3.9 at the front end, the rear end and one side, respectively. 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 travel is 200mm. The second front end adjustment assembly comprises a front end X-direction sliding cylinder 3.4 and a front end Y-direction sliding 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 adjustment 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 travel is 300mm. The second rear end adjustment assembly 2.4 comprises a rear end X-direction sliding cylinder 3.10 and a rear end Y-direction sliding 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 travel is 200mm. The second left-right adjustment assembly may comprise a right side X-direction sliding cylinder 3.7 and a right side Y-direction sliding cylinder 3.8 for adjusting the position of the third pin 3.9 in the X-direction and the Y-direction, respectively.
The integral moving assembly is connected with the fixed frame and used for moving 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 transferring and installing device 3 by connecting the plurality of installing pins with the plurality of second installing holes and moving the panoramic sunroof from the material centering platform 2 to the inside of a vehicle to be assembled, and after the panoramic sunroof is lifted, the panoramic sunroof is installed on a sunroof installation position by connecting the plurality of first installing holes, the plurality of installing pins and the plurality of second installing holes.
In this embodiment, if a vehicle type a is according to the debugging and positioning requirements, the first pin 3.6 (X100 mm, Y150 mm), the third pin 3.9 (X150 mm, Y100 mm), and the second pin 3.12 (X150 mm, Y100 mm), then the corresponding program a is designed to control the electric cylinder to move to the coordinate requirement position, and finally, the alignment of the three positioning pins and the vehicle body mounting hole is ensured. After one assembly cycle is completed, the electric cylinder automatically restores the initial position, and the program B can be further added according to the requirement to adapt to the positioning pin coordinates. And the like, the mixed flow positioning requirement of multiple vehicle types is realized.
In a preferred embodiment, the material transferring and mounting device 3 further includes a plurality of second lifting support blocks 3.2, which are disposed on the top of the fixed frame and are used for supporting the panoramic sunroof.
The above-mentioned integral moving assembly includes a spindle arm 3.1, a front end positioning stopper 3.13, a first lifting device (not shown), and a second lifting device (not shown).
The spindle arm 3.1 is provided in the front-rear direction.
The front end positioning stop block 3.13 is arranged above the front end of the spindle arm 3.1 and is used for abutting against a front windshield of the vehicle to be assembled after the fixed frame stretches 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 main shaft arm 3.1 and is used for moving the position of the main shaft arm 3.1 in the up-down direction.
The second lifting device is provided 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 transferring and mounting device 3 moves along the X and Y telescopic servo cylinder sliding rails in the front, rear and right directions according to the vehicle information, so that the three positioning pins move to the required positions, and the panoramic sunroof is lifted from bottom to top from the platform in the material, in this process, the three positioning pins pass through the second mounting hole to perform positioning, and then the material transferring and mounting device 3 lifts the panoramic sunroof and transfers the panoramic sunroof to the upper part of the assembly line for standby. The material moves and carries installation device 3 to lift the panorama skylight to the automobile body top, follow to the safe position in front of the automobile body, operate panorama skylight decline and advance the car from preceding windscreen, the front end design has front end location dog 3.13, when the dog touches the automobile body leading edge panel beating, material moves and carries installation device 3 to stop and follow the vehicle follow of waiting to assemble, locating pin position should keep the centering state with first mounting hole this moment, finally, material moves and carries installation device 3 to the state of floating, operate and lift panorama skylight to the laminating position with the automobile body, and guarantee that the locating pin passes first mounting hole. The material transferring and installing device 3 descends and exits the car body after the panoramic sunroof is installed, and automatically returns to the lower part of the material centering platform 2 for standby.
The material transfer and installation device 3 can be further provided with a vehicle body induction switch 3.3 for inducing a vehicle body and judging the position relation between the manipulator and the vehicle body, so that safe action is facilitated.
The control system of the present embodiment is applicable to the above-described respective control methods.
The present application is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that modifications and variations can be made without departing from the principles of the present application, and such modifications and variations are also considered to be within the scope of the present application.
Claims (8)
1. A multi-vehicle mixed-flow panoramic sunroof assembly system, comprising:
a vehicle identification device for identifying vehicle information of a vehicle to be assembled on a production line; the sunroof mounting position of the vehicle to be assembled is provided with a plurality of first mounting holes, 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 sunroofs and picking up the panoramic sunroofs of corresponding types onto 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 plurality of 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 plurality of first mounting holes; the mounting pins are further used for moving into the second mounting holes so as to move the panoramic sunroof into a vehicle to be assembled, and the mounting pins are moved into the first mounting holes so as to realize the mounting of the panoramic sunroof into the sunroof mounting position;
the material storage pickup device includes:
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 vertical to the guide bases after the position detection sensor detects that the material frame on the guide base is placed in place; the guide base is perpendicular 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 carrying one material frame in cooperation with one side guide base and carrying the other material frame in cooperation with the other side guide base; a first material area is arranged between the material frame guide roller way and the guide base on one side, a second material area is arranged between the material frame guide roller way and the guide base on the other side, and the two material areas are used for placing the material frame;
the infrared induction sensor is used for detecting whether a panoramic sunroof exists in the material frame;
the picking manipulator is used for picking up the material frame onto the guide base and the material frame guide roller way and picking up the panoramic sunroof in the material frame onto the material centering platform;
the material moves and carries installation device includes:
a fixed frame having a first pin, a second pin, and a third pin at a front end, a rear end, and one side thereof, respectively; 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 the position of the first pin in the front-rear direction and the left-right direction according to the vehicle information;
a second rear end adjustment assembly 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 adjustment assembly provided on the fixed frame for adjusting the position of the third pin in the front-rear direction and the left-right direction according to the vehicle information;
and the integral moving assembly is connected with the fixed frame and is used for moving the fixed frame position 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 transferring and installing device by connecting the plurality of installing pins with the plurality of second installing holes, and move the panoramic sunroof from the material centering platform to the inside of a vehicle to be assembled, and after the panoramic sunroof is lifted, the panoramic sunroof is installed to the sunroof installing position by connecting the plurality of first installing holes, the plurality of installing pins and the plurality of second installing holes.
2. The multi-vehicle mixed-flow panoramic sunroof assembly system according to claim 1, wherein a front end of a vehicle to be assembled faces a feeding direction of the assembly line;
the material storage and pickup device, the material centering platform and the material transferring and mounting device are all arranged on the same side of the assembly line and are sequentially arranged from the feeding direction to the feeding direction of the assembly line.
3. The multi-vehicle mixed-flow panoramic sunroof assembly system according to claim 1, wherein the vehicle identification device comprises:
the microwave acquisition sensor is used for reading an electronic tag preset on a vehicle to be assembled so as to acquire the type of the panoramic sunroof on the vehicle, and acquiring relative position data among the plurality of first mounting holes according to the type of the panoramic sunroof.
4. The multi-vehicle mixed-flow panoramic sunroof assembly system according to claim 1, wherein the vehicle identification device further comprises:
the first image recognition device is used for collecting first images of the skylight installation positions in the vehicle to be assembled and carrying out image recognition to obtain offset angle data of the plurality of first installation holes relative to the axis of the assembly line.
5. The multi-vehicle mixed-flow panoramic sunroof assembly system according to claim 1, wherein the material centering platform comprises:
the platform rack is a cuboid frame, and an opening is formed in the front end of the platform rack; the opening of the platform rack is close to the feeding direction of the assembly line;
the first lifting supporting blocks are distributed at the top of the platform rack and are used for supporting the panoramic sunroof;
the first position adjusting component is arranged at the top of the platform rack and is used for adjusting the position of the rhodiola window in the front-back direction and the left-right direction;
the second image recognition device is used for collecting a second image of the panoramic sunroof, carrying out image recognition, outputting an alignment instruction corresponding to vehicle information to the first position adjustment assembly when the image recognition result is that the sunroof type is matched with the vehicle type to be assembled, and adjusting the positions of a plurality of second mounting holes on the panoramic sunroof by the first position adjustment assembly according to the alignment instruction until the positions of the second mounting holes are matched with the positions of the plurality of first mounting holes.
6. The multi-vehicle mixed-flow panoramic sunroof assembly system according to claim 5, wherein the first position adjustment assembly comprises:
the first front end adjusting assemblies are arranged on two sides of the front end opening of the platform rack and used for pushing the panoramic sunroof in the front-rear direction, each first front end adjusting assembly 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-rear movement of a corresponding first front end push plate;
the second rear end adjusting assembly is arranged at the rear end of the platform rack and used for pushing the panoramic sunroof in the front-rear direction, 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 used for controlling the front-rear movement of a corresponding first rear end push plate;
the first left and right adjusting assembly is arranged on one side of the platform rack and used for pushing the panoramic sunroof in the left and right direction, the first left and right adjusting assembly comprises a plurality of first left and right servo electric cylinders and a plurality of first left and right pushing plates, and each first left and right servo electric cylinder is used for controlling left and right movement of a corresponding first left and right pushing plate.
7. The multi-vehicle mixed-flow panoramic sunroof assembly system according to claim 1, wherein the material transfer mounting device further comprises:
and the second lifting supporting blocks are distributed at the top of the fixed frame and are used for bearing the panoramic sunroof.
8. The multi-vehicle mixed-flow panoramic sunroof assembly system according to claim 1, wherein the integral moving assembly comprises:
a spindle 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 is used for abutting against a front windshield of the vehicle to be assembled after the fixed frame stretches into the vehicle to be assembled so as to limit the fixed frame;
a first lifting device arranged below the front end of the main shaft arm and used for moving the position of the main shaft arm in the up-down direction;
and a second lifting device arranged between the main shaft arm and the fixed frame for moving the position of the fixed frame in the up-down direction.
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| CN202211223726.2A CN115593537B (en) | 2022-10-08 | 2022-10-08 | Multi-vehicle type mixed-flow panoramic sunroof assembly system |
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| CN115593537A (en) | 2023-01-13 |
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