Teaching Method of Subsidence Compensation for Car Door Assembly

A teaching method and vehicle door technology, applied in the field of visual inspection, can solve the problems of affecting the production rhythm, many influencing factors, complex processes, etc., and achieve the effect of reducing the amount of manual work, improving economic benefits, and increasing the amount of automobile assembly.

Active Publication Date: 2021-09-21
易思维(杭州)科技股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, in the process of automobile production and assembly, door assembly has complex process and many influencing factors. One of the key influencing factors is the settlement of the door: since the door frame is installed on the body-in-white when the door is assembled, the door has not yet Paint, weld and add handles and other components, that is, it is in a state of no load; when the subsequent processing is completed, the door carrying the load will settle under the action of gravity, and the installation position error of the door will be as high as ±2mm at this time, so , if this settlement factor is ignored, most of the doors must be manually adjusted to the door installation position through the later adjustment line to meet the requirements of the next process; the existing method to deal with the settlement of the car door is to rely on experience and manually adjust the robot assembly position Car door installation, this process requires repeated attempts, which seriously affects the production cycle and it is difficult to obtain the offset accurately

Method used

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  • Teaching Method of Subsidence Compensation for Car Door Assembly
  • Teaching Method of Subsidence Compensation for Car Door Assembly
  • Teaching Method of Subsidence Compensation for Car Door Assembly

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0030] A teaching method for vehicle door assembly settlement compensation, comprising the following steps:

[0031] 1) When the car body reaches the actual assembly position, the robot grabs the door and installs it on the car body;

[0032] Note the gap line between the longitudinal edge of the door and the car body as the reference line; select the positioning point C from the door on one side of the reference line;

[0033] Select the anchor point A from the waistline of the car door; figure 1 As shown, take the car front door selection point as an example;

[0034] The number of anchor points C is greater than or equal to 2; the number of anchor points A is greater than or equal to 1;

[0035] 2) The visual sensor obtains the structured light images of the positioning point A and the positioning point C respectively, and calculates the coordinate data of each point (X source ,Y source ,Z source );

[0036] 3) A counterweight is installed on the door, and the door se...

Embodiment 2

[0049] A teaching method for subsidence compensation of vehicle door assembly. This embodiment takes the rear door of a vehicle as an example, including:

[0050] 1) When the car body reaches the actual assembly position, the robot grabs the door and installs it on the car body;

[0051] Such as figure 2 As shown, note the gap line between the longitudinal edge of the rear door and the car body as the reference line; select three positioning points C (C1, C2, C3) from the rear door on one side of the reference line;

[0052] Select anchor point A (A1, A2) from the waistline of the car door;

[0053] 2) The visual sensor acquires the structured light images of each positioning point A and positioning point C respectively, and calculates the coordinate data of each point (X source ,Y source ,Z source );

[0054]3) A counterweight is installed on the door, and the door settles under the action of the counterweight; the visual sensor acquires the structured light images of e...

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Abstract

The invention discloses a teaching method for car door assembly settlement compensation, which comprises: when the car body reaches the actual assembly position, a robot grabs the car door and installs it on the car body; selects a plurality of positioning points on the car door; The structured light images of anchor point A and anchor point C are solved to calculate the coordinate data of each point (X source ,Y source ,Z source ); the counterweight is installed on the car door, and the car door settles under the action of the counterweight; the visual sensor obtains the structured light image of the positioning point A and the positioning point C again, and solves the coordinate data of each point after the settlement of the car door ( x target ,Y target ,Z target ); According to the coordinate data obtained twice, the spatial position offset matrix generated by the settlement of the car door is obtained; it can be used to correct the motion trajectory of the robot when it is assembled and transferred to the car door; this method takes into account the error caused by the settlement, which greatly It greatly reduces the probability of manual door adjustment on the adjustment line, improves the production cycle, and brings great economic benefits to the factory.

Description

technical field [0001] The invention relates to the field of visual detection, in particular to a teaching method for vehicle door assembly settlement compensation. Background technique [0002] At present, in the process of automobile production and assembly, door assembly has complex process and many influencing factors. One of the key influencing factors is the settlement of the door: since the door frame is installed on the body-in-white when the door is assembled, the door has not yet Paint, weld and add handles and other components, that is, it is in a state of no load; when the subsequent processing is completed, the door carrying the load will settle under the action of gravity, and the installation position error of the door will be as high as ±2mm at this time, so , if this settlement factor is ignored, most of the doors must be manually adjusted to the door installation position through the later adjustment line to meet the requirements of the next process; the ex...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1687
Inventor 褚人宇刘海庆郭寅郭磊尹仕斌
Owner 易思维(杭州)科技股份有限公司
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