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Visual guidance method applicable to automobile door automatic assembling process

An automatic loading, vision-guided technology, applied in motor vehicles, transportation and packaging, program-controlled manipulators, etc., can solve the problems of large random errors in the assembly process, inaccurate assembly positions, poor sealing in the car, etc., to achieve precision. , The effect of reducing door assembly errors and reducing requirements

Inactive Publication Date: 2018-11-20
易思维(杭州)科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, in the process of loading and assembling auto parts, the traditional method uses manual loading. This method consumes manpower. Due to the different levels of familiarity of the assemblers, the error in the assembly process is relatively random, and it is replaced by robot loading. Due to its high degree of automation, high efficiency and accuracy, robot feeding has been favored by many automobile manufacturers. Since robots are suitable for repetitive work, when there are deviations in the placement of parts, or industrial errors such as tilting the position of the car body When it appears, the robot still assembles according to the inherent path, which will cause inaccurate assembly positions, which will affect the aesthetics of the appearance and also affect a series of related performances. For example, when the assembly position of the car door is improper, it will cause abnormal Noise, wear, poor sealing in the car, etc., which will affect the use of the car

Method used

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  • Visual guidance method applicable to automobile door automatic assembling process
  • Visual guidance method applicable to automobile door automatic assembling process
  • Visual guidance method applicable to automobile door automatic assembling process

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0047] A visual guidance method applicable to the automatic loading process of automobile doors, comprising the following steps:

[0048] 1. Obtain standard data in offline process

[0049] The standard data stored in the system is obtained according to the following steps:

[0050] ① After adjustment, when the robot can accurately complete the door assembly and the gap between the door and the car body is within the preset range, record the multiple points distributed along the car body from front to back as the positioning point A, and connect the positioning points A to form a straight line; figure 2 or image 3 As shown, there are three positioning points A in this embodiment, which are respectively marked as A1, A2, and A3, and wherein two points (A1, A2) are distributed on the same car door;

[0051] Note that the gap line between the longitudinal edge of the door opening and closing position and the car body is the first reference line 1; corresponding to the same p...

Embodiment 2

[0064] A visual guidance method applicable to the automatic loading process of automobile doors, comprising the following steps:

[0065] 1. Obtain standard data in offline process

[0066] ①The standard data stored in the system is obtained according to the following steps:

[0067] After adjustment, when the robot can accurately complete the door assembly, and the gap between the door and the car body is within the preset range, record the multiple points distributed along the car body from front to back as the positioning point A, and connect the positioning points A to form a Continuous curve, the continuous curve formed by connecting the anchor point A coincides with the extension line of the car waistline; for example figure 2 or image 3 As shown, there are three positioning points A in the present embodiment, which are respectively marked as A1, A2, and A3, wherein two points (A1, A2) are distributed on the same car door;

[0068] Note that the gap line between the...

Embodiment 3

[0092] A visual guidance method suitable for the automatic loading process of automobile doors. The difference between this embodiment and the above-mentioned embodiment 2 lies in: the selection of the positioning points of the vehicle body and the vehicle door in the offline process and the online assembly process. Specifically, record along The multiple points distributed from the front to the rear of the vehicle body are the positioning points A, connecting the positioning points A can form a continuous curve, and a straight line formed by connecting the positioning points A coincides with the extension line of the lower edge of the window; as shown in Figure 9 or Figure 10 As shown, there are four positioning points A in this embodiment, respectively marked as A1, A2, A3, A4, wherein two points (A1, A2) are distributed on the same door;

[0093] Note that the gap line between the longitudinal edge of the door opening and closing and the vehicle body is the first reference ...

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Abstract

The invention discloses a visual guidance method applicable to an automobile door automatic assembling process. The method comprises the steps that positioning points on automobile bodies and automobile doors are selected according to different automobile type characteristics, and standard data of coordinates of the positioning points in the automobile door assembling process are recorded at first; in the practical process of guiding a robot for assembling the automobile doors, structural light images of the corresponding positioning points on the to-be-assembled automobile bodies and automobile doors are shot through a visual sensor, positioning point coordinate calculation of practical automobile body and automobile door positions is carried out according to the structural light three-dimensional measuring principle, robot track correction is carried out by comparing the standard data, and the automobile door guide assembling process is completed. By means of the method, automobile door assembling errors are reduced, the accurate and intelligent robot assembling process is achieved, and the gap uniformity precision of + / -0.3mm can be achieved.

Description

technical field [0001] The invention relates to the field of robot assembly, in particular to a vision guidance method suitable for the automatic loading process of automobile doors. Background technique [0002] The fineness of the assembly process of auto parts and the performance of the whole vehicle affect the reputation of the manufacturer. Among them, in the process of loading and assembling auto parts, the traditional method uses manual loading. This method consumes manpower. Due to the different levels of familiarity of the assemblers, the error in the assembly process is relatively random, and it is replaced by robot loading. Due to its high degree of automation, high efficiency and accuracy, robot feeding has been favored by many automobile manufacturers. Since robots are suitable for repetitive work, when there are deviations in the placement of parts, or industrial errors such as tilting the position of the car body When it appears, the robot still assembles acc...

Claims

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Application Information

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IPC IPC(8): B25J9/16B62D65/06
CPCB25J9/16B25J9/1687B62D65/06
Inventor 邹剑郭磊刘海庆
Owner 易思维(杭州)科技有限公司
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