CN111994188A - Automatic automobile glass installation system and control method thereof - Google Patents

Abstract

The invention discloses an automatic glass installation system for automobiles and a control method thereof. The system comprises a control device, a spreader positioning device, a vehicle body visual positioning device and a manipulator device controlled by the control device; the spreader positioning device includes a A spreader and a drive mechanism for moving a vehicle body carrying a windshield to be installed on an automated glass installation station, the vehicle body visual positioning device includes an image capturing mechanism for the bottom of the vehicle body, and the manipulator device includes a front windshield installation manipulator, Front windshield visual positioning manipulator, rear windshield installation manipulator, and rear windshield visual positioning manipulator. The automotive glass automatic installation system provided by the embodiment of the present invention does not need to change the transportation mode of the vehicle body, can save costs and process parking spaces, and can also realize ultra-high-speed production tact.

Description

An automatic installation system for automobile glass and its control method

technical field

The invention relates to the technical field of automatic production, in particular to an automatic installation system for automobile glass and a control method thereof.

Background technique

In the final assembly workshop of new energy vehicles, a scheme of automatic installation of front and rear windshields is adopted. By controlling two machines, the front and rear windshields are installed on the cars in the mobile class. At present, the general workshop production cycle is about 75s per car. When the car enters the installation position, it is stationary; after the installation robot grabs the prepared windshield, it first takes a visual photo of the front and rear glass frames; after determining the installation coordinates of the front and rear windshields, the precise installation is carried out.

However, the existing solution requires a manipulator to be installed at the front and rear windshields. Each manipulator needs to complete the glass grabbing, moving, photographing positioning, glass installation, and returning to the original position after installation in sequence, which is relatively expensive. With multiple working hours, it is difficult to shorten the working hours even when the robot program is optimized. The robot gripper uses 4 suction cups to absorb the glass on the suction cups, and then uses the laser positioning method to install the glass on the window frame to the maximum extent. Each time the laser positioning takes a photo, it is necessary to take the glass to the car after absorbing the glass. Each reference point on the car window is positioned. When positioning, it needs to move and locate each reference point. Therefore, it is necessary to have a relatively open position on the car window to facilitate taking pictures. In addition, due to the need to adapt to a faster production cycle, the assembly workshop uses spreaders and plate chains across the board. Due to technological limitations, automotive glass can only be installed on the spreader. If it is changed to a mobile platen, the cost is high and there is no redundant process position. Provides a parking space for the car body to be moved from the spreader to the moving platen, so it can only be installed on the spreader, but the spreader will inevitably shake when it moves from motion to standstill, and it is impossible to position and take pictures, it will be out of thin air Waste of time.

SUMMARY OF THE INVENTION

The embodiments of the present invention provide an automatic installation system for automobile glass and a control method thereof, so as to solve the technical problem that the existing automatic installation scheme for automobile glass is difficult to shorten the production cycle, and through the improvement of the structure and installation method, the assembly operation is optimized and the man-hour is reduced , not only can realize the automatic installation of automotive glass, but also effectively shorten the production cycle.

In order to solve the above technical problems, an embodiment of the present invention provides an automatic glass installation system for automobiles, including a control device, a spreader positioning device, a vehicle body visual positioning device, and a manipulator device controlled by the control device;

The spreader positioning device includes a spreader and a drive mechanism for carrying the vehicle body to be installed with the windshield to move on the glass automatic installation station, the vehicle body visual positioning device includes a vehicle body bottom image capturing mechanism, and the manipulator device It includes a front windshield installation manipulator, a front windshield visual positioning manipulator, a rear windshield installation manipulator, and a rear windshield visual positioning manipulator.

In one embodiment of the present invention, a laser positioning camera is respectively provided at the end of the front windshield visual positioning robot and the rear windshield visual positioning robot.

In one embodiment of the present invention, glass fixtures are respectively provided at the ends of the front windshield installation robot and the rear windshield installation robot, and a plurality of suction cups and push rods are arranged on the glass fixtures.

In one embodiment of the present invention, the vehicle bottom image capturing mechanism includes a plurality of vehicle bottom positioning hole photographing units arranged at the glass automated installation station, and the image output end of the vehicle bottom positioning hole photographing unit is connected to the The image input end of the control device is connected.

In one of the embodiments of the present invention, the control device includes a vision processing industrial computer.

The embodiment of the present invention further provides that the control device further includes a data storage unit.

The present invention also provides a control method suitable for the above-mentioned automatic glass installation system for automobiles, which is executed by the control device and includes the following steps:

Carrying the vehicle body on which the windshield is to be installed to the installation position on the automatic glass installation station through the spreader positioning device;

While controlling the front windshield installation manipulator to grab the front windshield and the rear windshield installation manipulator to grab the rear windshield, the front windshield visual positioning manipulator is controlled to locate the front glass window of the vehicle body. frame, and the rear windshield visual positioning manipulator takes a visual photograph of the rear glass window frame of the vehicle body;

The reference point positioning of the installation is performed according to the visual photographing image information transmitted by the front windshield visual positioning robot and the rear windshield visual positioning robot, so as to control the front windshield installation robot to install the front windshield to the front glass window frame of the vehicle body, and at the same time, the rear windshield installation robot is controlled to be installed to the rear glass window frame of the vehicle body.

Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

(1) There is no need to replace the spreader with a high-cost mobile platen. Combined with the conditions of the final assembly site, the window positioning can be realized by configuring the front windshield visual positioning manipulator and the rear windshield visual positioning manipulator with visual positioning function. This function eliminates the need for the manipulator to take pictures and position the window while gripping the glass, which is helpful for simplifying the difficulty of automated installation operations and shortening the production cycle.

(2) By setting the body visual positioning device for photographing the bottom of the body, the body can be roughly positioned to assist in determining the coordinates of the front and rear windshield window frames of the body, providing preconditions for the precise positioning of the window frame, and at the same time facilitating body positioning The manipulator performs precise positioning to prevent the error of the body and the spreader from causing the window positioning robot to interfere with the vehicle body and the spreader, which is conducive to improving the efficiency and reliability of the automatic installation of glass windows.

Description of drawings

In order to illustrate the technical solutions of the present invention more clearly, the following will briefly introduce the accompanying drawings used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, which are common in the art. As far as technical personnel are concerned, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 is the structural representation of the auto glass automatic installation system in the embodiment of the present invention;

FIG. 2 is a schematic diagram of a hardware device connection of an automatic glass installation system for automobiles in an embodiment of the present invention;

Fig. 3 is the working hour diagram of the auto glass automatic installation system in the embodiment of the present invention;

Fig. 4 is the visual photographing principle diagram of the automobile glass automatic installation system in the embodiment of the present invention;

Fig. 5 is the visual optics principle diagram of the auto glass automatic installation system in the embodiment of the present invention;

6 is a rough positioning visual software interface diagram of the automatic glass installation system for automobiles in the embodiment of the present invention performing rough positioning of the vehicle body;

7 is an interface diagram of a laser positioning visual software for precisely positioning the window frame of the automatic glass installation system for automobiles in the embodiment of the present invention;

Wherein, the reference signs in the accompanying drawings are as follows:

1. Front windshield installation robot; 2. Rear windshield installation robot; 3. Front windshield visual positioning robot; 4. Rear windshield visual positioning robot; 5. Spreader; 6. Control device; 7. Robotic device.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

When the inventor of the present invention researched the automatic glass installation scheme of GAC New Energy, he found that the scheme could not be adapted to other car companies. For fast-paced car companies, there are the following problems:

1. The assembly workshop uses spreaders and plate chains. Due to the limitations of the process, automotive glass can only be installed on the spreaders. If it is changed to an easy-to-understand platen, the cost is high and there is no redundant process position to provide the car body from the spreader turntable. Plate parking spaces for this process. It can only be installed on the spreader. The spreader will inevitably shake and shake when moving from action to standstill, and it is impossible to locate and take pictures, which wastes man-hours out of thin air.

2. The production cycle of the assembly workshop is 48.5 seconds per vehicle, which is much faster than the production cycle of the GAC New Energy workshop. The solution can be optimized to about 60 seconds at the fastest, which cannot be applied to the GAC Honda assembly workshop and other workshops with high production cycle requirements.

3. When the front windshield is installed on the spreader, due to the influence of the two vertical arms of the spreader, there is not enough open space for the installation manipulator to move around with the glass for laser positioning.

Based on this, an embodiment of the present invention provides an automatic glass installation system for automobiles. Please refer to FIG. 1 . The system includes a control device 6 , a spreader positioning device controlled by the control device, a vehicle body visual positioning device, and a manipulator device 7 ;

The spreader positioning device includes a spreader 5 and a drive mechanism for carrying the vehicle body to be installed on the windshield to move on the glass automatic installation station, the vehicle body visual positioning device includes a vehicle body bottom image capturing mechanism, and the manipulator device includes the front windshield. Installation robot 1, front windshield visual positioning robot 3, rear windshield installation robot 2, rear windshield visual positioning robot 4.

In the embodiment of the present invention, laser positioning cameras are respectively provided at the ends of the front windshield visual positioning manipulator and the rear windshield visual positioning manipulator. The ends of the front windshield installation manipulator and the rear windshield installation manipulator are respectively provided with glass clamps, and a plurality of suction cups and push rods are arranged on the glass clamps.

In this embodiment, the front windshield installation robot and the rear windshield installation robot and the rear windshield installation robot are used to locate the installation part and give the coordinates of the window frame. The installation manipulator sucks the glass in the glass positioning mechanism and assembles it at the given coordinate position; the program is automatically switched after each model change, and the installation mode can be automatically switched for different models.

The front windshield installation manipulator and the rear windshield installation manipulator use suction cups to absorb the glass. One fixture is distributed with 6 suction cups and 6 push rods. When the suction cups are tightened, the push rods are pushed forward, and the action of opposite forces in the two directions down, the glass can be stabilized. By using the suction cup to clamp the glass, the surface of the glass will not be damaged and scratches will not be generated, and only the outer surface of the glass will be contacted when clamping, and it will not interfere with the side of the glass, resulting in friction with the car frame during installation, resulting in quality problems.

The vehicle bottom image capturing mechanism includes a plurality of vehicle bottom positioning hole photographing units arranged in the glass automatic installation station, and the image output end of the vehicle bottom positioning hole photographing unit is connected with the image input end of the control device.

In this embodiment, the vehicle body visual positioning device is used to photograph and locate the reference hole at the bottom of the vehicle body, and roughly confirm the coordinates of the front and rear windshield window frames of the vehicle body, so as to provide preconditions for the precise positioning of the vehicle window frame and facilitate the precise positioning of the vehicle body positioning manipulator. , to prevent the error of the body and the spreader from causing the window positioning robot to interfere with the body and the spreader. The vehicle body visual positioning device is arranged at the bottom of the vehicle body, and takes pictures of several positioning holes at the bottom of the vehicle body to obtain the approximate position of the vehicle body.

In this embodiment, it should be noted that the control device includes a vision processing industrial computer as shown in FIG. 2 and the control device further includes a data storage unit. Its hardware indicators are: CPU i5, memory 2GB, SSD hard disk, USB, serial communication interface. The product features of the visual processing industrial computer are as follows:

1. The ultra-thin and compact type is only 297*210*45mm, which is 1/4 the size of the general industrial computer;

2. 1 industrial control can drag 4 cameras (simultaneous operation is possible);

3. Built-in FPGA, with camera trigger clock, no external triggering can save the external trigger control unit, while ensuring high-precision and high-speed trigger image processing requirements;

4. The light source control board is included, no external light source controller is required.

In the embodiment of the present invention, the positioning function is realized through a laser positioning scheme. In terms of laser positioning, a professional visual processing industrial computer is used for positioning, equipped with special visual processing software for processing, and the photographed pictures and data of each vehicle are saved to maintain traceability. The specific structural principle is shown in Figure 4 and Figure 5:

①Visual processing industrial computer, the laser transmitter shoots the visible red laser to the surface of the object through the lens, and the laser reflected by the object passes through the receiver lens and is accepted by the internal CCD linear camera. According to different distances, the CCD linear camera can be used in different "See" the point of light at the angle. According to the law of laser and laser echo analysis known from this angle, it is used for long-distance measurement,

②Special visual inspection software, as shown in Figure 6 and Figure 7, can process the data of the laser positioning scheme and calculate the coordinates of the reference point. Its accuracy is ±0.1mm; due to the need for the introduction of new models in the future, the software is required to be simple and easy to understand, so as to facilitate the debugging of new models in the future.

③Data and picture traceability: It can be stored in local and external hard disks. Image data, vehicle number and coordinates can be stored at the same time as image processing and positioning, which is convenient for production data backup and traceability management.

Based on the above solution, this embodiment can effectively shorten the man-hour takt when it is put into production. The production process is set so that the front and rear windshields are installed by two manipulators, a set of two manipulators is used for photographing and scanning, and a set of two manipulators is used for grasping To remove and install the glass, two sets of manipulators can work at the same time, which greatly saves man-hours. After a large number of experimental verifications, the glass assembly can be guaranteed to be completed within 48.5 seconds. The specific man-hours are shown in Figure 3.

The present invention also provides a control method suitable for the above-mentioned auto glass automatic installation system, which is executed by the control device and includes the following steps:

Carry the vehicle body with the windshield to be installed to the installation position on the automatic glass installation station through the spreader positioning device;

While controlling the front windshield installation manipulator to grab the front windshield and the rear windshield installation manipulator to grab the rear windshield, control the front windshield visual positioning manipulator to grasp the front glass window frame and rear windshield of the vehicle body. The visual positioning manipulator takes a visual photo of the rear glass window frame of the car body;

Based on the visual photographing image information transmitted by the front windshield visual positioning manipulator and the rear windshield visual positioning manipulator, the installation reference point is positioned, so as to control the front windshield installation manipulator to install the front windshield to the front glass window of the vehicle body frame, and at the same time control the rear windshield installation manipulator to install to the rear glass window frame of the vehicle body.

Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

(3) There is no need to change the transportation method of the car body, save costs and process parking spaces, and there is no need to replace the spreader with a high-cost mobile platen. Combined with the conditions of the final assembly site, by configuring the front windshield visual positioning function with visual positioning function The positioning manipulator and the rear windshield visual positioning manipulator realize the window positioning function, so that the manipulator does not need to take pictures and position the window while gripping the glass and the time-consuming operation, which is conducive to simplifying the difficulty of automatic installation operations and shortening production. beat.

(4) By setting the body visual positioning device for photographing the bottom of the body, the body can be roughly positioned to assist in determining the coordinates of the front and rear windshield window frames of the body, providing preconditions for the precise positioning of the window frame, and at the same time facilitating body positioning The manipulator performs precise positioning to prevent the error of the body and the spreader from causing the window positioning robot to interfere with the vehicle body and the spreader, which is conducive to improving the efficiency and reliability of the automatic installation of glass windows.

(3) The embodiment of the present invention uses 4 manipulators to support the ultra-high-speed production cycle of 48.5S for each car. At the same time, a spreader positioning device is used to prevent the visual positioning failure caused by the swing of the spreader. Large operating space, wide application range, and using laser positioning, the positioning accuracy is less than 0.01mm, which fully meets the installation accuracy requirements.

The above are the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can also be made, and these improvements and modifications may also be regarded as It is the protection scope of the present invention.

Claims (7)

1. an automatic glass installation system for automobiles, characterized in that, comprising a control device and a spreader positioning device, a vehicle body vision positioning device, and a manipulator device controlled by the control device; The spreader positioning device includes a spreader and a drive mechanism for carrying the vehicle body to be installed with the windshield to move on the glass automatic installation station, the vehicle body visual positioning device includes a vehicle body bottom image capturing mechanism, and the manipulator device It includes a front windshield installation manipulator, a front windshield visual positioning manipulator, a rear windshield installation manipulator, and a rear windshield visual positioning manipulator. 2 . The automatic glass installation system for automobiles according to claim 1 , wherein the end of the front windshield visual positioning manipulator and the rear windshield visual positioning manipulator are respectively provided with a laser positioning camera. 3 . 3 . The automatic glass installation system of claim 1 , wherein the front windshield installation manipulator and the rear windshield installation manipulator are respectively provided with glass clamps at the ends, and the glass clamps are arranged on the glass clamps. 4 . There are multiple suction cups and push rods. 4 . The automatic glass installation system for automobiles according to claim 1 , wherein the vehicle bottom image capturing mechanism comprises a plurality of vehicle bottom positioning hole photographing units arranged in the glass automatic installation station, and the vehicle bottom positioning The image output end of the hole photographing unit is connected with the image input end of the control device. 5 . The automatic glass installation system for automobiles according to claim 1 , wherein the control device comprises a vision processing industrial computer. 6 . 6. The automatic glass installation system of claim 5, wherein the control device further comprises a data storage unit. 7. A control method suitable for the automatic glass installation system of an automobile according to any one of claims 1 to 6, executed by the control device, characterized in that it comprises the following steps: Carrying the vehicle body on which the windshield is to be installed to the installation position on the automatic glass installation station through the spreader positioning device; While controlling the front windshield installation manipulator to grab the front windshield and the rear windshield installation manipulator to grab the rear windshield, the front windshield visual positioning manipulator is controlled to locate the front glass window of the vehicle body. frame, and the rear windshield visual positioning manipulator takes a visual photograph of the rear glass window frame of the vehicle body; The reference point positioning of the installation is performed according to the visual photographing image information transmitted by the front windshield visual positioning robot and the rear windshield visual positioning robot, so as to control the front windshield installation robot to install the front windshield to the front glass window frame of the vehicle body, and at the same time, the rear windshield installation robot is controlled to be installed to the rear glass window frame of the vehicle body.

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