CN213323425U - Flexible assembling system for automobile windshield - Google Patents
Flexible assembling system for automobile windshield Download PDFInfo
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- CN213323425U CN213323425U CN202021122748.6U CN202021122748U CN213323425U CN 213323425 U CN213323425 U CN 213323425U CN 202021122748 U CN202021122748 U CN 202021122748U CN 213323425 U CN213323425 U CN 213323425U
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Abstract
The utility model discloses a flexible assembly system of car windshield, include: the positioning device is used for detecting the glass mounting position and sending the glass mounting position to the workpiece grabbing robot; and the workpiece grabbing robot is used for grabbing the glass to be assembled and installing the glass to be assembled on the glass installation position. The utility model discloses a system can realize car windshield's automatic installation.
Description
Technical Field
The utility model relates to an automobile manufacturing process equips technical field, especially a flexible assembly system of car windshield.
Background
With the rapid development of information technology, the industrial automation degree is higher and higher, and the high-efficiency and low-cost industrial automation is realized during flexible production. The application of the robot flexible production line representing the development trend of the current design robot technology not only represents a national industrial automation level, but also is an important way for improving the industrial flexibility. The robot system based on the laser scanner has the advantages of high precision, good stability and the like, and is widely applied to the fields of measurement, workpiece positioning, defect detection, robot navigation and the like.
The installation of the automobile windshield is an important process in the production and the manufacture of automobiles, and the prior art mainly adopts a manual assembly mode or an automatic assembly solution based on binocular vision positioning. Binocular stereo vision is an important form of machine vision, and is a method for acquiring three-dimensional geometric information of an object from a plurality of images based on the parallax principle. The binocular stereo vision system generally obtains two digital images of a measured object from different angles by two cameras simultaneously, or obtains two digital images of the measured object from different angles at different moments by a single camera, recovers three-dimensional geometric information of an object based on a parallax principle, and reconstructs a three-dimensional contour and a position of the object. This mode based on binocular vision location has certain limitation, and the exposure degree has factors such as difference, sunshine, indoor lighting to the interference of vision shooting quality, influences the precision and the stability of location.
The automatic assembly method for binocular vision positioning has the following disadvantages:
(1) the different colors of the car body have certain influence on the shooting precision. Due to the diversification of the colors of the car bodies in the assembly workshop, the exposure degrees of the vision systems are different, and the shooting precision is influenced.
(2) Factors such as sunlight, indoor illumination, day and night difference interfere with the visual shooting quality, and the shooting stability is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that, it is not enough to prior art, provide a flexible assembly system of car windshield, realize car windshield's automatic installation.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts is: an automotive windshield flexible assembly system comprising:
the positioning device is used for detecting the glass mounting position and sending the glass mounting position to the workpiece grabbing robot;
and the workpiece grabbing robot is used for grabbing the glass to be assembled and installing the glass to be assembled on the glass installation position.
By means of the system, automatic installation of the automobile windshield is achieved by the aid of the positioning device and the piece grabbing robot.
The positioning device includes:
the primary positioning device is used for acquiring a current automobile body B column coordinate value, comparing the current automobile body B column coordinate value with a theoretical B column coordinate value and sending a deviation value obtained by comparison to the controller;
the fine positioning device is used for detecting the glass mounting position when receiving a detection command of the controller;
and the controller is used for judging the size of the deviation value and a preset value, and sending a detection command to the fine positioning device when the deviation value is smaller than the preset value.
The primary positioning device can improve the positioning precision of the automobile body, and further improve the glass assembling precision.
Preferably, the system of the present invention further comprises:
the conveying device is used for conveying the glass to be assembled to the centering device;
the centering device is used for centering and positioning the glass to be assembled;
and the workpiece grabbing robot grabs the glass to be assembled after being centered and positioned by the centering device.
The conveying device comprises a frame; two parallel synchronous belts are arranged on the rack; the synchronous belt is connected with a driving device arranged on the rack. The conveying device is simple in structure and easy to realize.
The lifting and rotating device comprises a supporting seat; a lifting mechanism is fixed on the supporting seat; the top end of the lifting mechanism is connected with the tray assembly, and the lifting mechanism can drive the tray assembly to move in the vertical direction between the two synchronous belts; the tray assembly comprises a moving plate; the movable plate is provided with a connecting disc; at least two parallel brackets are arranged on the connecting disc; at least one first sucker is fixed on each bracket; preferably, two ends of each bracket are respectively provided with a first sucker; preferably, at least one supporting piece is arranged on the bracket between the two suckers at the two ends of each bracket; the connecting disc is connected with the moving plate through a rotating mechanism; the rotating mechanism can drive the connecting disc to rotate by taking the gravity center of the connecting disc as a center. The worker can conveniently finish gluing the windshield.
The rotating mechanism comprises a main rotating shaft; one end of the main rotating shaft is fixedly connected with the connecting disc, and the other end of the main rotating shaft is arranged in the retainer ring; the retainer ring is fixed on the movable plate; when the connecting disc is pushed, the main rotating shaft can rotate by taking the axis as the center; preferably, a bushing is sleeved outside the main rotating shaft; at least one bearing is arranged outside the bushing; the bearing is arranged in the shell; the top end of the bushing is sleeved with an auxiliary rotating shaft; the top end of the auxiliary rotating shaft is fixedly connected with the connecting disc. The rotating mechanism is simple in structure and easy to realize.
The device also comprises a turnover device; the turnover device comprises a bracket; the top of the bracket is provided with a turnover shaft; the turnover shaft is fixedly connected with the turnover arm, and the turnover shaft can drive the turnover arm to rotate by taking the turnover shaft as an axis; and a grabbing mechanism is fixed at one end of the turnover arm far away from the turnover shaft. The glass can be conveyed accurately.
Specifically, the turnover arm comprises two cross bars which are arranged in parallel; one ends of the two cross rods are fixedly connected with the turnover shaft; the other ends of the two cross rods are vertically connected with the sucker fixing seat; a second sucker is fixed at both ends of the sucker fixing seat; when the centering device is in an initial position, the conveying device conveys the glass to be assembled to the position above the second sucker, the second sucker adsorbs the glass to be assembled, and the turnover arm turns over 180 degrees, so that the glass to be assembled falls into the centering device.
In order to detect the position of the automobile body and improve the assembly precision, the primary positioning device comprises a line laser sensor which is arranged near the automobile body and is used for detecting the coordinate value of the B column of the automobile body.
The fine positioning device comprises an industrial robot; a three-dimensional laser vision sensor is fixed at the top end of a mechanical arm of the industrial robot; the three-dimensional laser vision sensor is arranged above the automobile body.
Compared with the prior art, the utility model discloses the beneficial effect who has does:
1. the system of the utility model can realize the automatic installation of the automobile windshield, and improve the installation efficiency;
2. the primary positioning device of the utility model can detect the position of the vehicle body, which is beneficial to improving the installation quality; the fine positioning device adopts the three-dimensional laser vision sensor, is not limited by environment, space and vehicle body color, is stable in shooting, can stably detect vehicle body position data, can improve detection efficiency and detection reliability, and is favorable for improving installation quality.
Drawings
FIG. 1 is a schematic view of the overall structure of the assembly system of the present invention;
fig. 2 is a schematic structural view of the jacking slewing device of the present invention;
fig. 3 is a cross-sectional view of the jacking slewing device of the present invention;
FIG. 4 is a schematic structural view of the conveying device of the present invention;
fig. 5 is a schematic structural view of the turning device of the present invention;
FIG. 6 is a schematic structural view of the centering device of the present invention;
fig. 7 is a schematic structural view of the glass gripper clamp (gripping robot) of the present invention;
FIG. 8 is a schematic view of the primary positioning device of the present invention;
FIG. 9 is a schematic structural view of the fine positioning device of the present invention;
FIG. 10 is a diagram of a glass-mounted three-dimensional solid model according to the present invention;
FIG. 11 is a schematic view of a mathematical model of a glass mounting surface according to the present invention;
fig. 12 is a mathematical model diagram of the installation surface of the present invention under a reference world coordinate system;
fig. 13 is a block diagram of the assembly system of the present invention;
fig. 14 is a flowchart of a method according to an embodiment of the present invention.
Detailed Description
Referring to fig. 1, the assembly system of the present invention includes a jacking slewing device 1 disposed at a feed end (right end in fig. 1) of a glass conveying device 2; a worker places the windshield on the jacking and rotating device 1, the jacking and rotating device is lifted, and the sucker fixes the glass to perform manual primer coating and other work. After the completion, a worker presses a switch (which can be arranged on the jacking rotary device, or arranged on the ground or on a conveying device, the switch can be a button or a foot switch and the like, the switch is electrically connected with a controller (a PLC control system), when the worker presses the switch, the controller receives a level signal and sends a signal for finishing a gluing instruction), the jacking rotary device 1 descends to place glass on the glass conveying device, a conveying line conveys the glass 3 to a turnover device 4, a sucker on the turnover device sucks the glass, then the glass is turned over for 180 degrees and conveyed to a centering device 5, the glass is released, and the glass returns to reset; the centering device 5 is used for centering and identifying the type of the glass, and after the type is correct, the vacuum chuck rises and fixes the glass, and the centering device is reset; the primary positioning device 9 scans the vehicle body threshold contour (namely a windshield frame) and sends the deviation value of the stopping position of the vehicle body 6 to the fine positioning device 7; the fine positioning device 7 scans the outline of the windshield window frame and sends a related position signal to the grabbing robot 8; the workpiece grabbing robot grabs the workpiece and is automatically guided by the control system to accurately move to the installation position of the windshield window frame, and the assembly of the glass is completed.
Fig. 2 is the utility model discloses a jacking slewer structure chart, jacking cylinder 105 and guiding axle 111 all link to each other with movable plate 109, and guiding axle 111 is the telescopic shaft, and when guiding axle 111 was used for preventing the jacking cylinder from rising, movable plate 109 rotated. The jacking cylinder drives the driving moving plate 109 and the mechanism thereon to move in the vertical direction, the guide support 112 is used for fixing the guide seat 106, the guide support 112 is itself fixed on the bottom plate 107 (i.e. the support seat), and the support block 113 is used for reinforcing the guide support 112. The rotating assembly 104 (i.e., the rotating mechanism) is mounted on the moving plate 109, and one end of the fixed bracket 110 is connected to the moving plate 109, and the other end is connected to the housing 1046 of the rotating assembly 104, so as to structurally reinforce the rotating assembly. The rotation element 104 is connected to the connection plate 108, and the rotation of the rotation element drives the connection plate 108 and the above parts to rotate. The bracket 103 is fixed on the connecting disc, and the suction cup 101 (the first suction cup, the position of the suction cup can be adjusted according to different vehicle types) and the supporting component 102 are both fixed on the bracket 103. The number of the supports 103 is two, the supports are arranged on the connecting disc 108 in parallel (the two supports are symmetrically arranged on the connecting disc), two suckers 101 (first suckers) are arranged on each support 103, and two supporting assemblies 102 (supporting pieces) are arranged on the support 103 between the two suckers 101. The moving plate 109 and the components thereon constitute the tray assembly of the present invention. The utility model discloses in, connection pad 108 cross section is circular, and the focus of connection pad indicates the geometric center of connection pad.
Manually placing the glass to be assembled on the sucker 101, enabling the jacking cylinder 105 to ascend (namely, the piston rod of the jacking cylinder 105 extends outwards), stretching the guide shaft 111, enabling the movable plate and the components on the movable plate to ascend, enabling the glass to be assembled to be separated from the glass conveying device, enabling the support component 102 to be used for limiting the glass to be assembled, manually gluing the glass, enabling the jacking cylinder 105 to descend (namely, the piston rod of the jacking cylinder 105 returns to the initial position) after the operation is completed, retracting the guide shaft 111, enabling the movable plate and the components on the movable plate to integrally move downwards, and enabling the glass to.
Fig. 3 is a cross-sectional view of the jacking swiveling device, the swiveling component 104 includes a swiveling main shaft 1045, one end of the swiveling main shaft 1045 is fixedly connected to the connecting disc 108, the other end of the swiveling main shaft 1045 is disposed in a retaining ring 1043, the retaining ring 1043 is fixedly connected to the moving plate 109, the retaining ring 1043 is used for limiting the bearing 1044, and a bushing 1042 is disposed outside the swiveling main shaft 1045 (the bushing 1042 is fixedly connected to the swiveling main shaft 1045); the bushing 1042 is mounted inside the bearing 1044 (i.e. the bushing 1042 is located between the main rotating shaft 1045 and the bearing 1044); the connecting disc 108 is connected to the main shaft 1045, and when the connecting disc 108 is pushed, the connecting disc 108 drives the main shaft 1045 to rotate. The lower part of the retainer ring 1043 is fixedly connected with the movable plate 109, the upper part thereof is provided with a limiting groove, and the bottom end of the main rotating shaft 1045 is arranged in the limiting groove (the inner diameter and the shape of the limiting groove are matched with the outer diameter and the shape of the bottom end of the main rotating shaft). The number of the bearings 1044 is two, and the bearings are respectively arranged at the upper end and the lower end of the lining. Bearings 1044 are disposed within housing 1046. The bottom end of the housing 1046 is fixedly connected with the moving plate 109, and a certain gap is formed between the top end of the housing 1046 and the connecting disc 108, so that the connecting disc can rotate conveniently.
The cover of main pivot 1045 top (using fig. 3 as the reference) is equipped with supplementary pivot 1041, supplementary pivot 1041 top and connection pad 108 fixed connection, and supplementary pivot 1041 bottom sets up between the bearing 1044 and the shell 1046 inner wall of main pivot 1045 upper end (being close to the one end of connection pad 108 promptly), and supplementary pivot can rotate along with the connection pad, and supplementary pivot 1041 is as auxiliary stay, guarantees that the structure is more steady at the rotation in-process. The jacking and rotating device has the main function of facilitating workers to clean glass, coat primer and the like. The sucking disc is adaptable to different motorcycle types of windscreen. The jacking slewing device has the advantages of simple structure, flexible movement, safety and reliability. The jacking slewing device is used for pneumatic jacking and free rotation, and is suitable for other manual or automatic assembly operation procedures.
As shown in fig. 4, after the glass falls into the conveying device, a motor driving assembly 202 (driving device) disposed on the frame 201 drives the rotating shaft 203 to rotate, two synchronous belts 204 (arranged in parallel) are connected to the rotating shaft 203, the glass is placed on the synchronous belts, and finally the glass is driven by the synchronous belts to be conveyed forward (left side of fig. 3). The tension pulley assembly 206 is used for relaxation adjustment of the synchronous belt. The connecting rod 205 is arranged at one end of the frame 201, so that the structure is more stable. The conveying belt frame (the frame 201) is built by adopting an aluminum profile structure, the appearance is attractive and firm, the height adjusting foot cup is installed on the conveying belt supporting leg, and the conveying belt is provided with a profile ground fixing foot 207, so that the conveying belt can be directly fixed on the ground through a chemical lance after installation, positioning and leveling are finished; the working length of the conveying line is about 7m, and the height is adjusted to be 0.8m (+/-80 mm); belt specification: the width of the H-shaped belt is not less than 50mm, the surface of the belt is coated with 3mm of glue, and a conveying belt material for preventing glass from being scratched is adopted; the conveying speed of the belt is not lower than 15 m/min.
The utility model discloses in, jacking slewer's supporting seat 107 sets up subaerial below between two hold-in ranges, and during the action of jacking cylinder, the tray subassembly reciprocated between two hold-in ranges, made glass break away from the hold-in range or fall on the hold-in range.
Referring to fig. 5, the tilt motor 403 is coupled to the tilt shaft assembly 404, the tilt shaft assembly 404 (i.e., the tilt shaft) is coupled to the tilt arm assembly (i.e., the tilt arm), and the suction cup 406 (second suction cup) is secured to the tilt arm 401 via a connecting bracket. The turnover motor 403 and the turnover shaft assembly 404 are arranged at the top end of the bracket 402. The overturning arm assembly comprises two cross rods 401 arranged in parallel, one ends of the two cross rods 404 are fixedly connected with the overturning shaft assembly 404, the other ends of the two cross rods 404 are respectively fixedly connected with two sucker fixing seats 407, the sucker fixing seats 407 are fixedly connected with a connecting rod 408, in this embodiment, one end of the connecting rod 408 passes through a mounting hole in the sucker fixing seat 407 and is fixedly connected with the sucker fixing seat 407, and the other end of the connecting rod 408 is fixedly connected with a second sucker (i.e., the sucker 406, i.e., a grabbing device). The plane of the two crossbars 401 is perpendicular to the support 402. In the initial position, the suction cup 406 is facing upward (i.e., opposite the suction cup orientation shown in FIG. 5), and when the glass is delivered to the suction cup 406, the invert arm assembly is inverted 180, the suction cup 406 is de-vacuumed, and the glass falls into the centering configuration.
The turnover device is designed with 2 status bits, wherein the 0 degree position is a piece connecting position, and the 180 degree position (i.e. the position shown in fig. 5) is a piece lower position. The initial state is 0 degree position, the glass conveying device conveys the glass to the position above the sucker, and the sucker acts to adsorb the glass; the turnover motor drives the turnover shaft assembly to rotate, the turnover shaft assembly is connected with the turnover arm assembly, the sucker is connected with the turnover arm assembly through the sucker fixing seat, and finally 180-degree rotation of glass on the turnover device is achieved. After rotating 180 degrees, the sucker unloads vacuum, and the glass falls into the centering structure.
The turnover device is driven by a variable frequency speed regulating motor (SEW, namely a turnover motor), the motor is provided with a brake, and when abnormal conditions occur, the turnover frame can be stopped at any position in an emergency, and the glass on the turnover frame is ensured not to fall off. The overturning speed can be adjusted according to the actual use condition, and the overturning operation is stable. The turnover device adopts four vacuum suction cups to adsorb glass, each suction cup is independently controlled by one vacuum generator and is provided with a vacuum detection sensor 408 (model ZK2A15K5JL-08), when one vacuum generator is damaged, the system alarms, and other three vacuum generators can normally work to ensure that the glass cannot drop suddenly. The vacuum chuck (model ZPX125HN-B01-B12) on the turnover device adopts a buffering mode, which can not only adapt to different glass shapes and radians, but also prevent the glass from being damaged when the rotating arm places the glass on the placing table.
Fig. 6 is a schematic structural diagram of the centering device, which includes an installation table 71, and an X-direction limiting mechanism 72, a Y-direction limiting mechanism 73, four Z-direction positioning posts 74 and a glass in-place travel switch 75 which are arranged on the installation table 71. Wherein, Y is the direction of glass conveying, X is all perpendicular Y to Z to the direction, and X is all arranged along the horizontal direction to Y. The mounting table 71 is provided with an X-direction slide rail and a Y-direction slide rail. The X-direction limiting mechanism 72 includes an X-direction sliding table 721, an X-direction displacement sensor 722 and an X-direction tensioning cylinder 723 mounted on the X-direction sliding table 721, and two sets of X-direction positioning pillars 724 disposed at the top of the X-direction sliding table 721 along the X-direction ends, wherein the two sets of X-direction positioning pillars 724 are connected through a gear and rack synchronization mechanism 76, and the X-direction sliding table 721 is slidably disposed on the X-direction sliding rail. The Y-direction limiting mechanism 73 comprises a Y-direction sliding table 731, a Y-direction displacement sensor 732 arranged on the Y-direction sliding table 731, a Y-direction tensioning cylinder 733, and two sets of Y-direction positioning columns 734 arranged at the top of the Y-direction sliding table 731 along the Y-direction two ends, wherein the two sets of Y-direction positioning columns 734 are also connected through a gear-rack synchronization mechanism 76, and the Y-direction sliding table 731 is arranged on the Y-direction sliding rail in a sliding manner.
The working principle of the centering device is as follows:
the turnover device buckles the glass to the centering equipment, the glass is in point contact with the 4Z-direction positioning columns, the glass in-place travel switch outputs signals at the moment, the X/Y-direction tensioning air cylinders simultaneously act to drive the driving rack, the driven rack is driven through the driving rack and the gear, the driven rack is driven, the X/Y-direction sliding table and the X/Y-direction positioning columns translate towards the glass, the X/Y-direction positioning columns are in contact with the glass side lines, and the X/Y-direction positioning of the glass is completed.
The glass X/Y positioning solution for different vehicle types and different external dimensions is as follows: the X/Y direction displacement sensor is additionally arranged on the X/Y direction sliding table, glass centering programs of different vehicle types are set through a PLC program, when different vehicle types of glass are centered, the displacement sensor can record the walking stroke of the sliding table, when the sliding table moves to a glass moving position specified by the current program, the displacement sensor sends a signal to control the electromagnetic valve of the air cylinder to work, and the air cylinder stops. Therefore, the centering device can position all the glass with different sizes in the stroke of the sliding table and the recordable stroke of the displacement sensor. The flexibility is very strong.
As shown in fig. 7, the gripper robot 8 includes a mounting frame 61, the mounting frame 61 is a rectangular frame structure surrounded by two longitudinal beams 612 and two cross beams 613, a reinforcing beam is further connected between the two longitudinal beams 612, and a rectangular mounting surface 611 is formed on one surface of the rectangular frame structure (the mounting surface 611 is not the same surface as a mounting surface defined by a process hole described below).
Four sucker components, four positioning columns and a photoelectric sensing switch 66 are arranged on the mounting surface 611.
The four suction cup assemblies 62 are mounted at four corners of the mounting surface 611 by drive mechanisms 63, and the drive mechanisms 63 can drive the suction cup assemblies 62 toward or away from the mounting surface 611.
The suction cup assembly 62 includes a suction cup holder 621, a suction cup 622 fixed on the suction cup holder 621, and a universal rotation mechanism 623 connecting the suction cup holder 621 and the mounting frame 61. The universal swivel mechanism 623 is preferably a universal ball joint.
In this embodiment, the chuck assembly is a universal chuck manufactured by VMECA of pneumatic vacuum products manufacturer, model SP50-BJ03-VBF 60-PU. The sucking disc is a universal floating automatic return structure type sucking disc. After the vacuum is relieved, the sucker can automatically return.
The driving mechanism 63 includes a first mounting seat 631 fixed on the mounting surface 611, an air cylinder 632 disposed on the first mounting seat 631, and a second mounting seat 633 connected to an extending end of the air cylinder 632, wherein the universal rotating mechanism 623 is fixed on the second mounting seat 633, and an axis of the air cylinder 632 is perpendicular to the mounting surface 611.
Each longitudinal beam 612 is provided with two positioning columns 64, and the four positioning columns 64 are centrosymmetric with respect to the geometric center of the mounting surface 611. The axis of the positioning post 64 is perpendicular to the mounting surface 611, and the end of the positioning post 64 is used for being in contact with the surface of the windshield for positioning.
In this embodiment, the photoelectric sensing switch 66 is fixed to the reinforcing beam through the bracket 65.
The driving mechanism 63 is electrically connected to the control system PLC.
After the centering mechanism finishes XY positioning of glass to be assembled, the control system PLC sends a grabbing command to the grabbing robot, and the grabbing robot (model KR2100R2700) grabs the glass through the sucker component 62 and moves to an adjusting position.
In fig. 8, there may be different deviations due to errors of the conveying system and the individual vehicle bodies; the three-dimensional laser vision sensor allows the deviation of the position of the vehicle body to be not more than 200 mm; initially positioning and selecting positions: a vehicle body B-pillar 10; firstly, the theoretical coordinate values (X1 and Y1) of the B column of the vehicle body are detected by the line laser sensor 702 by taking the first standard vehicle body (namely, the first vehicle body) as a reference, so that an optimal vehicle body orientation is determined mathematically, a deviation vector (RX is X2-X1 and RY is Y2-Y1) between the current orientation (X2 and Y2) (namely, the coordinate values of the B column of the current vehicle body) and the theoretical orientation is calculated, and the PLC control system automatically judges whether normal assembly can be carried out or not according to the deviation vector value. In fig. 8, a line laser sensor 702 of the primary positioning device 9 is fixed to the top end of a sensor holder 701, and a line laser beam 703 emitted therefrom is transmitted to the B-pillar of the vehicle body.
In fig. 9, a three-dimensional laser vision sensor 83 of the fine positioning device 7 is mounted on the end of the arm of the laser scanning industrial robot 81 via a connecting assembly 82.
Three fabrication holes (round holes) which are quite fixed in space and arranged on the glass frame are selected as objects for detection of the three-dimensional laser vision sensor. Meanwhile, the curved arc surface of the glass installation window is simplified into a plane passing through the three process holes. In fig. 10, the process hole 1 is a first circular hole, the process hole 2 is a second circular hole, and the process hole 3 is a third circular hole. The third circular hole is positioned on the side frame; the first round hole and the second round hole are located on the upper frame, and the distance from the circle center of the second round hole to the circle center of the third round hole is smaller than the distance from the circle center of the first round hole to the circle center of the third round hole.
The center of the fabrication hole 2 is selected as the origin of the world coordinate system, as shown in fig. 11.
As shown in FIG. 12, the three-dimensional coordinates P of the fabrication holes 1,2,3 in the reference world coordinate system can be measured by the three-dimensional laser vision sensor1(X1、Y1、Z1)、P2(X2、Y2、Z2)、P3(X3、Y3、Z3). After the next trolley finishes positioning at the station, a three-dimensional laser vision sensor is adopted, and the three-dimensional coordinates P of the three process holes under the reference world coordinate system can be measured’ 1(X1、Y1、Z1)、P’ 2(X2、Y2、Z2)、P’ 3(X3、Y3、Z3). The spatial position of the mounting surface is defined by a reference surface (namely three process holes P)1(X1、Y1、Z1)、P2(X2、Y2、Z2)、P3(X3、Y3、Z3) Defined plane) in a reference coordinate system through X, Y, Z axis rotation and translation along X, Y, Z. The positioning offset delta P which can be used for the robot terminal point coordinate can be calculated by calling a space three-coordinate conversion mathematical function in three-dimensional laser vision software1＝(P1-P/ 1)、ΔP2＝(P2-P/ 2)、ΔP3＝(P3-P/ 3). Then, the computer control system transmits the positioning offset to the grabbing robot, converts the space positioning error of the glass installation window into a variable under a robot base coordinate which can be identified, and sets a toneInteger position (e.g. P)1(X1、Y1、Z1) Or set empirically) to a position where the mounting surface is parallel to and in the direction X, Y, Z under the tool coordinate system when the robot has moved to the adjusted position. And then the glass is accurately installed on the vehicle body by moving along the Z direction (the specific implementation process is shown in the specification: the research of an intelligent automobile windshield glass gluing system based on binocular vision, the Wangjiaoqiang and the like, the design and the research, the No. 1 year 2010).
As shown in fig. 13 and 14, the main process of the present invention is as follows:
1. the fixed line laser detects the position data of the automobile body on the automobile body conveying device, the PLC control system compares the measured value with a preset value (namely a preset value), a deviation value is calculated, the deviation value is larger than 200mm, manual confirmation is carried out, and if the deviation value is a bad automobile, offline processing is carried out. The interference caused by the deviation of the stop position of the conveying device and the deviation of the poor precision of the quality of the vehicle body is avoided, and the reliability and the assembly precision of the three-dimensional laser measurement are improved.
2. And the computer control system presets the three-dimensional positioning data of the standard assembly size as a reference value of the subsequent assembly state according to the requirement.
3. The computer control system directly obtains three-dimensional data of characteristic points (process holes) through three-dimensional images measured by three-dimensional laser, the control system respectively confirms the state of a vehicle body and the state of glass after comparing and analyzing the data with template data (reference surface), the three-coordinate principle is utilized for conversion and matching, the relative spatial position of the vehicle body and the glass is calculated, the motion coordinate of a robot is finally obtained according to the robot coordinate conversion principle, and the robot is guided to carry out automatic installation (the specific implementation process is shown in the 1 st stage of design and research of automobile windshield intelligent gluing system based on binocular vision, Wangjian, and the like).
Claims (16)
1. An automotive windshield flexible assembly system, comprising:
the positioning device is used for detecting the glass mounting position and sending the glass mounting position to the workpiece grabbing robot;
and the workpiece grabbing robot is used for grabbing the glass to be assembled and installing the glass to be assembled on the glass installation position.
2. The system of claim 1, wherein the positioning device comprises:
the primary positioning device is used for acquiring a current automobile body B column coordinate value, comparing the current automobile body B column coordinate value with a theoretical B column coordinate value and sending a deviation value obtained by comparison to the controller;
the fine positioning device is used for detecting the glass mounting position when receiving a detection command of the controller;
and the controller is used for judging the size of the deviation value and a preset value, and sending a detection command to the fine positioning device when the deviation value is smaller than the preset value.
3. The system of claim 2, further comprising:
the conveying device is used for conveying the glass to be assembled to the centering device;
the centering device is used for centering and positioning the glass to be assembled;
and the workpiece grabbing robot grabs the glass to be assembled after being centered and positioned by the centering device.
4. The system of claim 3, wherein the conveyor comprises a frame; two parallel synchronous belts are arranged on the rack; the synchronous belt is connected with a driving device arranged on the rack.
5. The system of claim 4, further comprising a jacking slewing device, the jacking slewing device comprising a support base; a lifting mechanism is fixed on the supporting seat; the lifting mechanism top is connected with the tray subassembly, just lifting mechanism can drive the tray subassembly is two move in the vertical direction between the hold-in range.
6. The system of claim 5, wherein the tray assembly comprises a moving plate; the movable plate is provided with a connecting disc; at least two parallel brackets are arranged on the connecting disc; at least one first sucker is fixed on each bracket.
7. The system of claim 6, wherein each of said brackets has a first suction cup mounted to each end.
8. The system of claim 6, wherein at least one support member is mounted on the support between the two suction cups at each end of each support.
9. The system of claim 6, wherein the connecting disc is connected to the moving plate via a rotating mechanism; the rotating mechanism can drive the connecting disc to rotate by taking the gravity center of the connecting disc as a center.
10. The system of claim 9, wherein the rotation mechanism comprises a main shaft; one end of the main rotating shaft is fixedly connected with the connecting disc, and the other end of the main rotating shaft is arranged in the retainer ring; the retainer ring is fixed on the movable plate; when the connecting disc is pushed, the main rotating shaft can rotate by taking the axis as the center.
11. The system of claim 10, wherein the main shaft is externally sleeved with a bushing; at least one bearing is arranged outside the bushing; the bearing is arranged in the shell.
12. The system of claim 11, wherein the top end of the bushing is sleeved with an auxiliary rotating shaft; the top end of the auxiliary rotating shaft is fixedly connected with the connecting disc.
13. The system of claim 3, further comprising a flipping device; the turnover device comprises a bracket; the top of the bracket is provided with a turnover shaft; the turnover shaft is fixedly connected with the turnover arm, and the turnover shaft can drive the turnover arm to rotate by taking the turnover shaft as an axis; and a grabbing mechanism is fixed at one end of the turnover arm far away from the turnover shaft.
14. The system of claim 13, wherein the invert arm comprises two parallel cross bars; one ends of the two cross rods are fixedly connected with the turnover shaft; the other ends of the two cross rods are vertically connected with the sucker fixing seat; a second sucker is fixed at both ends of the sucker fixing seat; when the centering device is in an initial position, the conveying device conveys the glass to be assembled to the position above the second sucker, the second sucker adsorbs the glass to be assembled, and the turnover arm turns over 180 degrees, so that the glass to be assembled falls into the centering device.
15. The system of any one of claims 2 to 14, wherein the primary positioning device comprises a line laser sensor disposed near the body of the vehicle for detecting the B-pillar coordinate value of the body of the vehicle.
16. The system of any one of claims 2 to 14, wherein the fine positioning device comprises an industrial robot; a three-dimensional laser vision sensor is fixed at the top end of a mechanical arm of the industrial robot; the three-dimensional laser vision sensor is arranged above the automobile body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021122748.6U CN213323425U (en) | 2020-06-17 | 2020-06-17 | Flexible assembling system for automobile windshield |
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| CN202021122748.6U CN213323425U (en) | 2020-06-17 | 2020-06-17 | Flexible assembling system for automobile windshield |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113843173A (en) * | 2021-08-31 | 2021-12-28 | 上海大学 | International mail intelligent grading and sorting system |
| CN114872055A (en) * | 2022-07-12 | 2022-08-09 | 广东隆崎机器人有限公司 | SCARA robot assembly control method and system |
-
2020
- 2020-06-17 CN CN202021122748.6U patent/CN213323425U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113843173A (en) * | 2021-08-31 | 2021-12-28 | 上海大学 | International mail intelligent grading and sorting system |
| CN114872055A (en) * | 2022-07-12 | 2022-08-09 | 广东隆崎机器人有限公司 | SCARA robot assembly control method and system |
| CN114872055B (en) * | 2022-07-12 | 2022-11-18 | 广东隆崎机器人有限公司 | SCARA robot assembly control method and system |
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