CN114985209B - A glue application method and glue application system for rear door hinge side - Google Patents

Abstract

The invention provides a gluing method and a gluing system for a hinge side of a rear vehicle door, and relates to the field of gluing. The gluing method comprises the following steps: 1. when the vehicle body is positioned at the first station, starting a door closing mechanism to close the rear door; 2. detecting the distance between the rear door and the distance detection element when the vehicle body is at the second station to determine whether the rear door is completely closed; 3. the laser emitter projects laser beams to the edge of the front face of the rear vehicle door, and the laser beams are intersected with the edge of the rear vehicle door to form positioning points; starting an industrial camera to shoot a positioning image, and acquiring a space coordinate parameter of a positioning point by an image processor; 4. repeatedly implementing the third step, the visual positioning device acquires the space coordinate parameters of a plurality of positioning points and determines the space position information of the rear vehicle door; 5. the main controller generates a gluing path corresponding to the hinge side of the rear vehicle door; 6. the gluing robot extends into the hinge side of the rear door from the outer side of the vehicle body, gluing operation is carried out along a preset gluing path, and the vehicle is moved out after gluing is finished.

Description

A glue application method and glue application system for rear door hinge side

technical field

The invention relates to the technical field of gluing, in particular to a gluing method and a gluing system for the rear door hinge side.

Background technique

In automotive production, the gluing process is carried out on the hinge side of rear doors, usually with the doors open. Due to the limitation of hinges and stoppers, the gluing robot can only apply glue in sections, and the molding quality of the sealant is poor.

For example, the Chinese utility model patent with the authorized announcement number CN214864783U and the authorized announcement date of 2021.11.26 discloses an automatic glue application system, which specifically includes a spreader assembly, at least one robot, a glue application assembly, a visual detection device and a controller; The tool assembly includes a spreader for carrying the door; the robot is installed on one side of the spreader, and the end of the robot corresponds to the door; the glue application assembly includes a glue gun, which is installed at the end of the robot; the visual inspection device is installed At the end of the robot; the controller is electrically connected to the robot, the gluing component, and the visual inspection device respectively. Obtain the characteristic hole of the car door through the visual detection device, send relevant information to the controller, the controller sends a control command to the robot to adjust the specific position of the glue gun at the end, and the controller sends a control command to control the glue gun to discharge glue, and the glue Apply to car door panels.

The automatic gluing system in the prior art integrates a gluing gun and a visual inspection device. The carrying parts on both sides of the spreader are used to carry the door, and rely on the robot to perform fast execution to achieve the purpose of fast gluing. However, in actual production, the rear door is generally installed on the car body first, and then the gluing process is implemented, and the existing automatic gluing system cannot be used according to the actual process flow. It is easy to damage the sealant when the door is opened, and the quality of the glue molding is poor.

Contents of the invention

In order to solve the above problems, the object of the present invention is to provide a glue application method and glue application system for the rear door hinge side, to solve the problem that the existing automatic glue application system cannot be used according to the actual process flow. The door is easy to damage the sealant when installing and debugging the door, and the quality of the glue coating is poor.

The technical scheme of the gluing method for the hinge side of the rear car door of the present invention is:

The glue application method for the hinge side of the rear door involves the following steps:

Step 1. First move the car body to the first station. When the car body is in the first station, start the door closing mechanism to close the rear door;

Step 2. When the car body moves to the second station, use the distance detection element to detect the distance between the rear door and the distance detection element to determine whether the rear door is completely closed; if the rear door is not completely closed, an alarm signal is sent;

Step 3. After confirming that the rear door is completely closed, the laser emitter projects a laser beam on the front edge of the rear door, and the spatial position of the laser beam is pre-set, and the laser beam intersects with the edge of the rear door to form a positioning point;

Turn on the industrial camera to shoot the positioning image at the corresponding positioning point, and the image processor obtains the spatial coordinate parameters of the positioning point according to the distribution position of the positioning point on the laser beam;

Step 4, repeating the above step 3, the visual positioning device obtains the spatial coordinate parameters of multiple positioning points, and determines the spatial position information of the rear door according to the spatial coordinate parameters of the multiple positioning points;

Step 5, the main controller generates the glue application path corresponding to the hinge side of the rear door according to the spatial position information of the rear door;

Step 6: The gluing robot extends from the outside of the car body into the interior of the hinge side of the rear door, and carries out the gluing operation along the predetermined gluing path. After the gluing is completed, the gluing robot moves out of the car.

Further, in steps 3 and 4, the laser emitter projects two transverse laser beams on the front edge of the rear door, the two transverse laser beams are spaced up and down and intersect vertically with the hinge side edges of the rear door respectively; The laser emitter projects two vertical laser beams to the front edge of the rear car door, and the two vertical laser beams are distributed at intervals from left to right and vertically intersect with the lower window edge of the rear car door respectively.

Further, the laser emitter and the industrial camera are respectively installed on the gluing robot, the projection direction of the laser emitter and the shooting direction of the industrial camera are set at a fixed angle, and the fixed angle is an acute angle less than 60°.

Further, the fixed angle formed by the projection direction of the laser emitter and the shooting direction of the industrial camera is any angle from 15° to 45°.

Further, in step 1, when the vehicle body is in the first position, the first travel switch detects the vehicle body and sends a first signal to the main controller; when the main controller receives the first signal, it starts to close the door The mechanism implements the closing action on the rear door.

Further, in step 1, the movable end of the door-closing mechanism is equipped with a pusher rubber head, and the pusher rubber head is press-fitted with the outer surface of the rear door, and the movement path of the movable end of the door-closing mechanism Matches the closing motion path of the rear doors.

Further, in step 2 and step 3, when the vehicle body is in the second position, the second travel switch detects the vehicle body and sends a second signal to the main controller; when the main controller receives the second signal First, control the distance detection element to detect whether the rear door is completely closed, and then start the visual positioning device to obtain the spatial position information of the rear door after confirming the closure.

The technical scheme of the gluing system used for the hinge side of the rear car door of the present invention is:

Utilize the above-mentioned gluing system for the gluing method on the rear door hinge side, comprising a door closing mechanism, a gluing robot, a distance detection element, a visual positioning device and a main controller, and the main controller is respectively connected to the door closing mechanism, The gluing robot, the distance detection element and the visual positioning device are electrically connected;

The visual positioning device includes a laser emitter, an industrial camera and an image processor, the laser emitter and the industrial camera are respectively installed on the glue-applying robot, and the industrial camera is electrically connected to the image processor .

Further, it also includes a vehicle body conveying mechanism, on which a positioning bracket for fixing the vehicle body is movable and installed, the first station is set at the front part of the vehicle body conveying mechanism, and the second The station is located at the rear of the car body conveying mechanism;

The door closing mechanism is arranged on the outside of the vehicle body conveying mechanism, and the door closing mechanism is arranged correspondingly to the first station; the gluing robot is arranged on the outside of the vehicle body conveying mechanism, and the coating The glue robot is arranged corresponding to the second station.

Further, the movable end of the gluing robot is equipped with a gluing gun, the outline shape of the gluing gun is L-shaped, and the inner side of the short side of the gluing gun is provided with a gluing port, and the gluing gun There is also a glue application valve on the top, and the glue application valve is electrically connected with the main controller.

Beneficial effects: the glue application method for the hinge side of the rear door adopts: "First, the car body starts the door closing mechanism at the first station to close the rear door; second, the distance detection element at the second station detects whether the rear door is completely closed ; 3. The laser transmitter projects the laser beam, and the industrial camera shoots the positioning image; 4. Repeat step 3 to determine the spatial position information of the rear door; 5. Generate the glue coating path corresponding to the hinge side of the rear door; Inside the hinge side, work along the gluing path, complete the gluing and exit” plan. Using this gluing method to sequentially implement the steps of closing, detecting, positioning, generating paths, and gluing the rear doors installed on the car body is more in line with the actual process design.

When the rear door is closed, the laser beam is projected by the laser transmitter and the positioning image is taken by the industrial camera, the image processor obtains the spatial coordinate parameters of the positioning point, and the visual positioning device determines the position of the rear door according to the spatial coordinate parameters of multiple positioning points. Spatial position information; the main controller generates the glue application path corresponding to the hinge side of the rear door according to the space position information of the rear door. The glue application path is more accurate and reliable, and the glue gun is extended from the outside of the car body The limited interference generated by the hinge and the stopper makes the glue application path smoother, avoiding the situation that the sealant is easily damaged after applying the glue first and then installing and debugging the door, and the quality of the glue forming is high.

Description of drawings

Fig. 1 is the schematic flow sheet of the gluing method for the rear door hinge side in the specific embodiment of the gluing method for the rear door hinge side of the present invention;

Fig. 2 is the working state diagram of the door closing mechanism in the specific embodiment of the gluing method for the hinge side of the rear car door of the present invention;

Fig. 3 is the working state diagram of the visual positioning device in the specific embodiment of the glue application method for the hinge side of the rear car door of the present invention;

Fig. 4 is the working status diagram of the gluing robot in the specific embodiment of the gluing method for the rear door hinge side of the present invention;

FIG. 5 is a schematic diagram of the distribution of laser beams and gluing paths on the rear door in a specific embodiment of the gluing method for the rear door hinge side of the present invention.

In the figure: 1-car body, 10-rear door, 11-gluing path, 2-door closing mechanism, 20-push rubber head, 3-visual positioning device, 31-laser transmitter, 32-industrial camera, 33- Horizontal laser beam, 34-vertical laser beam, 4-gluing robot, 40-gluing gun, 6-car body conveying mechanism, 60-positioning bracket.

Detailed ways

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

Specific embodiment 1 of the gluing method for the rear door hinge side of the present invention, as shown in Fig. 1 to Fig. 5, the gluing method for the rear door hinge side is used for the rear A process for applying glue to the hinge side gap of a car door, comprising the following steps:

Step 1. First move the car body 1 to the first station. When the car body 1 is in the first station, start the door closing mechanism 2 to close the rear door. In step one, when the vehicle body 1 is in the first station, the first travel switch (not shown in the figure) detects the vehicle body 1 and sends a first signal to the master controller; when the master controller receives the first signal , the door closing mechanism 2 is started to close the rear door 10 .

As a further preferred solution, in step one, the movable end of the door-closing mechanism 2 is equipped with a push rubber head 20, which pushes against the outer surface of the rear door 10, and the movement path of the movable end of the door-closing mechanism 2 Matches with the closing motion path of the rear door 10 . The pushing action is implemented by pushing the rubber head 20 in contact with the outer surface of the rear door 10, which avoids scratching the car paint on the door surface. The process is more stable and reliable.

Step 2. When the car body 1 moves to the second station, use the distance detection element to detect the distance between the rear door 10 and the distance detection element to determine whether the rear door 10 is completely closed; if the rear door 10 is completely closed, enter the next station. One step: if the rear door 10 is not completely closed, an alarm signal is sent. Specifically, the distance detection element is a distance sensor, and the distance sensor is fixedly installed in the workshop, and the detection direction of the distance sensor is set from back to front. If the rear door 10 is closed, it is detected that the distance between the rear door 10 and the distance sensor is within the set range, and it is determined that the rear door 10 is completely closed; If the distance between the sensors exceeds the set range, it is determined that the rear door 10 is not completely closed, and the operator is reminded of an abnormality.

Step 3: After confirming that the rear door 10 is completely closed, the laser emitter 31 projects a laser beam on the front edge of the rear door 10, and the spatial position of the laser beam is preset, and the laser beam intersects with the edge of the rear door 10 to form a positioning point; Turn on the industrial camera 32 to take a positioning image corresponding to the positioning point, and the image processor obtains the spatial coordinate parameters of the positioning point according to the distribution position of the positioning point on the laser beam. In fact, the laser transmitter 31 is projected to the front of the rear door 10 in a fan shape, and the positioning point is equivalent to the breakpoint where the laser beam intersects the front edge of the rear door 10. According to the distribution position of the breakpoint on the laser beam, and the known laser The spatial position of the beam can obtain the spatial coordinate position of the anchor point.

In step 2 and step 3, when the car body 1 is in the second position, the second travel switch detects the car body 1 and sends a second signal to the main controller; when the main controller receives the second signal, it first controls The distance detection element detects whether the rear door 10 is completely closed, and after confirming the closure, the visual positioning device 3 is started to acquire the spatial position information of the rear door 10 . In the present embodiment, the visual positioning device 3 includes a laser emitter 31, an industrial camera 32 and an image processor, the industrial camera 32 is electrically connected to the image processor, and the laser emitter 31 and the industrial camera 32 are installed on the gluing robot 4 respectively , the projection direction of the laser emitter 31 and the shooting direction of the industrial camera 32 are set at a fixed angle, and the fixed angle is 30°.

In order to meet different usage requirements, the fixed angle formed by the projection direction of the laser emitter and the shooting direction of the industrial camera can be adjusted adaptively, for example: in other embodiments, the projection direction of the laser emitter and the shooting direction of the industrial camera The formed fixed angle is 15° or 45°, and alternatively, the fixed angle is any angle less than 60°.

Step 4: Repeat the above step 3, the visual positioning device 3 acquires the spatial coordinate parameters of multiple positioning points, and determines the spatial position information of the rear door 10 according to the spatial coordinate parameters of the multiple positioning points. In step 3 and step 4, as shown in Fig. 3 and Fig. 5, the laser emitter 31 projects two transverse laser beams 33 to the front edge of the rear door 10, and the two transverse laser beams 33 are arranged at intervals up and down and respectively connected to the rear door 10. The hinge side edges of the car door 10 intersect vertically; the laser transmitter 31 projects two vertical laser beams 34 to the front edge of the rear car door 10, and the two vertical laser beams 34 are distributed at intervals from left to right and vertical to the lower window edge of the rear car door 10 respectively intersect.

Laser emitter 31 projects horizontal laser beam 33 twice respectively to the hinge side edge of back door 10, and industrial camera 32 shoots positioning images, and image processor obtains the space coordinate parameter of two anchor points of hinge side edge; The lower window edge of the rear door 10 projects two vertical laser beams 34, the industrial camera 32 takes a positioning image, the image processor obtains the spatial coordinate parameters of the two positioning points of the lower window edge, and the spatial coordinate parameters of the four positioning points can be determined The spatial position information of the rear door 10.

Step 5, the main controller generates a glue application path corresponding to the hinge side of the rear door 10 according to the spatial position information of the rear door 10 .

Step 6: The gluing robot 4 extends from the outside of the car body 1 into the inside of the hinge side of the rear door 10, as shown in Figure 4 and Figure 5, implements the gluing operation along the predetermined gluing path 11, and the gluing robot is finished after gluing 4 Move out of the vehicle. In this embodiment, the movable end of the gluing robot 4 is equipped with a gluing gun 40, the profile shape of the gluing gun 40 is L-shaped, and the short side inside of the gluing gun 40 is provided with a gluing port, the gluing gun 40 There is also a glue application valve on the top, which is electrically connected to the main controller. The main controller controls the glue application valve to open at the starting point of the glue application path and close at the end position of the glue application path, so that the rear door 10 Accurately apply glue to the hinge side gap.

Using this gluing method to sequentially implement the steps of closing, detecting, positioning, generating paths, and gluing the rear doors installed on the car body is more in line with the actual process design. When the rear door is closed, the spatial location information of the rear door is determined by the visual positioning device, and the main controller generates the glue application path corresponding to the hinge side of the rear door according to the spatial location information of the rear door. The glue application path is more accurate and reliable. The glue gun extends from the outside of the car body to the interior of the hinge side to prevent the restricted interference caused by the hinge and the limiter when the door is opened. Glue molding is of high quality.

The gluing method for the rear door hinge side is applied to the gluing system in the implementation process, and the gluing system includes a door closing mechanism 2, a gluing robot 4, a distance detection element, a visual positioning device 3 and a main controller, the main control The device is electrically connected with the door closing mechanism 2, the gluing robot 4, the distance detection element and the visual positioning device 3 respectively; the visual positioning device 3 includes a laser transmitter 31, an industrial camera 32 and an image processor, and the laser transmitter 31 and the industrial camera 32 are respectively Installed on the gluing robot 4, and the industrial camera 32 is electrically connected with the image processor.

The specific working principle is: the main controller is used to control the door closing mechanism 2 to close the rear door when the car body moves to the first station; when the car body 1 is in the second station, the distance detection element is used to detect the distance between the rear door 10 and distance between the distance sensors, and send a distance signal to the main controller, the main controller is used to receive the distance signal and judge whether the rear door 10 is completely closed; after confirming that the rear door 10 is completely closed, the visual positioning device 3 is used to obtain the rear door 10 and send the spatial position information of the rear door 10 to the main controller.

Wherein, the laser transmitter is used to respectively project laser beams to the front edge of the rear car door 10, and the spatial position of each laser beam is determined; the industrial camera is used to take the positioning image of each laser beam and the edge intersection of the rear car door, each An alignment point is formed where the laser beam intersects with the edge of the rear door, and the captured alignment image is sent to an image processor. The image processor is used to determine the spatial coordinate parameters of the positioning points according to the distribution positions of the positioning points on the laser beam, and obtain the spatial position information of the rear door 10 in combination with the spatial coordinate parameters of multiple positioning points.

The main controller is used to receive the spatial position information of the rear car door 10, and generates the gluing path corresponding to the hinge side of the rear car door; Glue gun 40 stretches into the inside of the hinge side of rear car door 10 from the outside, and makes glue gun carry out gluing operation on the hinge side of rear car door 10 according to gluing path, removes glue gun after finishing gluing operation. The outline shape of the glue gun 40 is L-shaped, and the glue gun 40 is also provided with a glue valve, which is electrically connected with the main controller, and the opening and closing of the glue valve is controlled by the main controller.

The gluing system for the rear door hinge side also includes a car body conveying mechanism 6 on which a positioning bracket 60 for fixing the car body 1 is moved and installed, and the first station is located at the bottom of the car body conveying mechanism 6. At the front, the second station is set at the rear of the car body conveying mechanism 6; the door closing mechanism 2 is arranged on the outside of the car body conveying mechanism 6, and the door closing mechanism 2 is arranged correspondingly to the first station; the gluing robot 4 is arranged on the car body The outer side of the body conveying mechanism 6, and the gluing robot 4 is arranged correspondingly to the second station.

The specific embodiment of the gluing system for the hinge side of the rear car door of the present invention, and the gluing system applied to the gluing method in the implementation process in the specific implementation of the gluing method for the hinge side of the rear car door of the present invention The specific embodiments are the same and will not be repeated here.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and replacements can also be made, these improvements and replacements It should also be regarded as the protection scope of the present invention.

Claims (10)

1. A gluing method for rear car door hinge side, is characterized in that, comprises the following steps: Step 1. First move the car body to the first station. When the car body is in the first station, start the door closing mechanism to close the rear door; Step 2. When the car body moves to the second station, use the distance detection element to detect the distance between the rear door and the distance detection element to determine whether the rear door is completely closed; if the rear door is not completely closed, an alarm signal is sent; Step 3, the visual positioning device includes a laser transmitter, an industrial camera and an image processor, and the industrial camera is electrically connected to the image processor; After confirming that the rear door is completely closed, the laser emitter projects a laser beam on the front edge of the rear door, and the spatial position of the laser beam is pre-set, and the laser beam intersects with the edge of the rear door to form a positioning point; Turn on the industrial camera to shoot the positioning image at the corresponding positioning point, and the image processor obtains the spatial coordinate parameters of the positioning point according to the distribution position of the positioning point on the laser beam; Step 4, repeating the above step 3, the visual positioning device obtains the spatial coordinate parameters of multiple positioning points, and determines the spatial position information of the rear door according to the spatial coordinate parameters of the multiple positioning points; Step 5, the main controller generates the glue application path corresponding to the hinge side of the rear door according to the spatial position information of the rear door; Step 6: The gluing robot extends from the outside of the car body into the interior of the hinge side of the rear door, and carries out the gluing operation along the predetermined gluing path. After the gluing is completed, the gluing robot moves out of the car. 2. The gluing method for the rear door hinge side according to claim 1, characterized in that, in steps 3 and 4, the laser emitter projects two transverse laser beams to the front edge of the rear door, The two horizontal laser beams are spaced up and down and intersect vertically with the hinge side edge of the rear door respectively; the laser emitter projects two vertical laser beams on the front edge of the rear door, and the two vertical laser beams are spaced left and right and respectively Intersect perpendicularly with the lower sill of the rear door. 3. The gluing method for the hinge side of the rear car door according to claim 1, wherein the laser emitter and the industrial camera are respectively installed on the gluing robot, and the laser emitter The projection direction and the shooting direction of the industrial camera are set at a fixed angle, and the fixed angle is an acute angle less than 60°. 4. The gluing method for the rear door hinge side according to claim 1, wherein the fixed angle formed between the projection direction of the laser emitter and the shooting direction of the industrial camera is 15° to Any angle of 45°. 5. The method for applying glue to the hinge side of the rear door according to claim 1, wherein in step 1, when the vehicle body is at the first station, the first travel switch detects the vehicle body and A first signal is sent to the main controller; when the main controller receives the first signal, the door closing mechanism is activated to close the rear door. 6. The glue application method for the rear door hinge side according to claim 1, characterized in that, in step 1, the movable end of the door closing mechanism is equipped with a push rubber head, and the push rubber head is connected with The outer surface of the rear door is press fit, and the movement path of the movable end of the door closing mechanism matches the closing movement path of the rear door. 7. The gluing method for the rear door hinge side according to claim 1, characterized in that, in steps 2 and 3, when the vehicle body is in the second station, the second limit switch detects The car body sends a second signal to the main controller; when the main controller receives the second signal, it first controls the distance detection element to detect whether the rear door is completely closed, and then starts the visual positioning device to obtain the spatial position information of the rear door after confirming that it is closed . 8. A gluing system utilizing the gluing method for the rear door hinge side as claimed in claim 1, characterized in that it comprises a door closing mechanism, a gluing robot, a distance detection element, a vision positioning device and a master controller , the main controller is electrically connected to the door closing mechanism, the gluing robot, the distance detection element and the visual positioning device; The laser emitter and the industrial camera are installed on the gluing robot respectively. 9. The gluing system for the rear door hinge side according to claim 8, characterized in that it also includes a vehicle body conveying mechanism, on which a positioning bracket for fixing the vehicle body is movable and installed, so that The first station is arranged at the front of the vehicle body conveying mechanism, and the second station is arranged at the rear of the vehicle body conveying mechanism; The door closing mechanism is arranged on the outside of the vehicle body conveying mechanism, and the door closing mechanism is arranged correspondingly to the first station; the gluing robot is arranged on the outside of the vehicle body conveying mechanism, and the coating The glue robot is arranged corresponding to the second station. 10. The gluing system for the hinge side of the rear car door according to claim 8, wherein a gluing gun is installed at the movable end of the gluing robot, and the outline shape of the gluing gun is L-shaped, In addition, a glue port is provided on the inner side of the short side of the gluing gun, and a gluing valve is also provided on the gluing gun, and the gluing valve is electrically connected to the main controller.

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