Automatic assembling system and method for vehicle windshield glass

Abstract

The invention discloses an automatic assembling system for vehicle windshield glass. The automatic assembling system comprises a robot control cabinet, a robot module, a robot hand-gripping module, a vision detection module, a glass centering module and a detected vehicle window frame. The invention also discloses an automatic assembling method for the vehicle windshield glass. The method comprises the following processes of: positioning the windshield glass; detecting the spatial position of the vehicle window frame to obtain a coordinate system (O-xyz) of the spatial position of the vehicle window frame; comparing the coordinate system of the spatial position of the vehicle window frame with the coordinate system of the spatial position of the vehicle window frame at a reference position; computing deviation between the coordinate system of the spatial position of the vehicle window frame and the coordinate system of the spatial position of the vehicle window frame at the reference position; gripping the positioned windshield glass; moving the windshield glass to an installation position according to a standard moving trajectory; and performing deviation compensation on the installation position, and then installing the windshield glass on the vehicle window frame. The assembling system and the assembling method are based on machine vision, manual intervention is completely avoided, and the automation level of assembling of the vehicle windshield glass is improved.

Description

technical field [0001] The invention relates to an automatic assembly system and an automatic assembly method of an automobile windshield. Background technique [0002] Automobile windshield glass assembly is one of the most important processes in the automobile assembly process. Chinese patent CN102616298A discloses a special auxiliary tool for glass installation to ensure the installation accuracy and success rate of glass assembly. But assembling the automobile windshield not only relies too much on this auxiliary tool, but also the loading and unloading of the auxiliary tool will inevitably cause the glass assembly to be unable to be automated and waste time, reducing production efficiency. There are currently no examples of applications where robots are used to automatically install glass. [0003] At present, domestic automobile factories cannot carry out automatic assembly of windshield glass for the following reasons: [0004] 1. There is a certain deviation in th...

AI Technical Summary

Problems solved by technology

[0004] 1. There is a certain deviation in the positioning of the car on the assembly line; this deviation is random and irregular, and cannot be compensated at one time, resulting in the inability to use the general teaching method for automatic assembly of robots;

[0005] 2. The influence of the consistency of the automobile body manufacturing; due to the limitation of the manufacturing process and equipment of the automobile body, the consistency of the body manufacturing cannot be completely guaranteed, and the manufacturing error is random deviation and irregular, and one-time compensation cannot be performed, resulting in the inability to adopt general Teaching method for automatic assembly of robots;

[0006] 3. There are no marking points on the car body, and it is impossible to detect the spatial position of the window frame with a general vision machine; the assembly of the car windshield glass is a process after the car body is assembled and painted, and no holes or pins are allowed to be used for visual machine detection. Marking points; artificially sticking marks on the outer paint of the car frame will not only damage the paint surface, but also reduce production efficiency in the process of pasting and taking the marks, and the position of the marked points themselves has a certain deviation, which will lead to visual inspection Deviation occurs;

[0007] 4. The frame of the window frame is a spatial curve, which increases the difficulty of spatial positioning of the window frame; the edge of the window frame is a spatial curve, which makes it difficult to detect its outline and spatial positioning, and cannot be detected by general vision machines

No matter which of the above methods is used, two to four workers are required to participate. Not only is the degree of automation low and the efficiency is low, but also the assembly accuracy depends on the labor quality of the workers, resulting in poor installation accuracy and consistency. At the same time, the labor intensity of the workers is high. High labor costs

Images