A frameless door glass assembly system and method

Abstract

The application provides a frameless door glass assembling system and method, and relates to the technical field of automobile production. The system comprises a controller, a door hanger positioning mechanism arranged corresponding to a parking station of a door hanger, a door pressing mechanism, a visual module, a tightening mechanism and a glass moving mechanism arranged corresponding to each door hoisting position on the door hanger of the parking station; the door hoisting position is used for hoisting the door, and the door is pre-assembled with glass to be adjusted; the door hanger positioning mechanism, the door pressing mechanism, the visual module, the tightening mechanism and the glass moving mechanism are connected with the controller. The door hanger is positioned through the door hanger positioning mechanism. The door is pressed in the Z direction through the door pressing mechanism. The glass to be adjusted on the door is moved to a standard position through the visual module and the glass moving mechanism. The mounting piece on the clamping sheet is installed in place through the cooperation of the visual module and the tightening mechanism. In this way, the assembly of the frameless door and the glass can be realized under the control of the controller, manpower is saved, and efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile production, in particular to a frameless door glass assembling system and method. BACKGROUND

[0002] Frameless doors are also favored by consumers because of their very elegant appearance.

[0003] However, the installation of frameless door glass has always been manually assembled due to high process requirements, which greatly wastes manpower and time. SUMMARY

[0004] Therefore, the embodiments of the present application provide a frameless door glass assembling system and method, which can ensure the assembly precision while saving labor and improving efficiency when installing frameless door glass.

[0005] In a first aspect, the embodiments of the present application provide a frameless door glass assembling system, which comprises a controller,

[0006] A door hanger positioning mechanism corresponding to the parking station of the door hanger; a door pressing mechanism, a vision module, a tightening mechanism and a glass moving mechanism are configured for each door hoisting position of the door hanger; the door hoisting position is used for hoisting the door, and the door is pre-installed with glass to be adjusted; the door hanger positioning mechanism, the door pressing mechanism, the vision module, the tightening mechanism and the glass moving mechanism are connected with the controller;

[0007] The controller is configured to control the door hanger positioning mechanism to limit the door hanger at the parking station when receiving a signal that the door hanger arrives at the parking station; control the door pressing mechanism to press the door in the Z direction; control the vision module to obtain first data, and determine the standard position of the glass according to the first data returned by the vision module and a preset standard template of the glass relative to the door, and send the actual position of the glass and the standard position to the glass moving mechanism, so that the glass moving mechanism clamps the glass at the actual position of the glass, and then moves the glass to the standard position; control the vision module to obtain the installation position of the clamping piece of the glass, so that the tightening mechanism moves the tightening shaft end to the installation position; control the tightening shaft end to install the installation piece at the installation position; control the glass moving mechanism to release the clamping of the glass, and the first data is the actual position of the glass and the actual position of the door.

[0008] Optionally, the door hanger positioning mechanism comprises a positioning pin, a lifting cylinder, an L-shaped hook, a rotating cylinder,

[0009] The positioning pin is fixedly connected to the piston rod of the lifting cylinder, and the crossbeam of the door hanger is provided with a positioning hole corresponding to the positioning pin; the L-shaped hook is fixedly connected to the driving end of the rotating cylinder;

[0010] The control end of the lifting cylinder and the control end of the rotating cylinder are both electrically connected to the controller;

[0011] The controller is used to control the lifting cylinder to lift the positioning pin and insert it into the positioning hole upon receiving the arrival signal of the door hanger arriving at the parking position;

[0012] The controller is further used to control the rotary cylinder to flip the L-shaped hook around the Y direction and away from the positive X direction to overlap the crossbar of the door hanger, the length direction of the crossbar is the Y direction, and the positive X direction is the forward direction of the door hanger.

[0013] Optionally, the system further comprises a door hanger guide mechanism,

[0014] The door hanger guide mechanism is arranged at the parking station, the door hanger guide mechanism includes a guide slide for guiding the door hanger, and the door hanger is provided with a guide wheel corresponding to the guide slide;

[0015] There are multiple door hanger positioning mechanisms, and the multiple door hanger positioning mechanisms are distributed on both sides of the guide slot.

[0016] Optionally, the vision module includes a first robot and a 3D camera, wherein the 3D camera is fixedly connected to the first robot.

[0017] The first robot is used to drive the 3D camera to move to a position for taking pictures of the glass and a position for taking pictures of the vehicle door;

[0018] The 3D camera is used to obtain the actual position of the glass and the actual position of the vehicle door and send them to the controller. The controller is used to determine the standard position of the glass based on the actual position of the vehicle door and a preset standard template of the glass relative to the vehicle door, so that the controller can send the actual position of the glass and the standard position of the glass relative to the vehicle door to the glass moving mechanism.

[0019] Optionally, the vision module further includes a two-dimensional 2D camera and a second robot, wherein the 2D camera is fixedly connected to the second robot.

[0020] The second robot drives the 2D camera to move to a position for taking pictures of the mounting piece of the glass clamping piece;

[0021] The 2D camera is used to obtain the position of the mounting piece of the glass clamping piece and send the position of the mounting piece to the tightening mechanism;

[0022] The tightening mechanism includes a third robot and a tightening gun fixedly connected to the third robot. The third robot is used to drive the tightening gun to move to the position of the mounting piece; the tightening gun is used to tighten the mounting piece.

[0023] Optionally, any two of the first robot, the second robot and the third robot are the same robot, or the first robot, the second robot and the third robot are the same robot.

[0024] Optionally, the glass moving mechanism includes a fourth robot and a glass clamping module connected to the fourth robot;

[0025] The fourth robot is connected to the controller and is used to move the glass clamping module according to the actual position of the glass and the standard position of the glass sent by the controller;

[0026] The glass clamping module is used to clamp the glass in response to a clamping instruction from the controller and to release the clamping of the glass in response to a release instruction from the controller.

[0027] Optionally, the glass clamping module includes a third connecting plate, a clamping claw fixing frame, a claw arm driving cylinder, a first claw arm, a second claw arm, a suction cup fixing frame, a suction cup driving member, and a suction cup.

[0028] The fourth robot is fixedly connected to the gripper fixing frame via a third connecting plate, and the gripper fixing frame is fixedly connected to a gripper arm driving cylinder and a suction cup fixing frame near both ends thereof;

[0029] The claw arm driving cylinder is connected to the first claw arm and the second claw arm respectively;

[0030] The suction cup fixing frame is fixedly connected to the suction cup driving member, and the driving end of the suction cup driving member is connected to the suction cup;

[0031] The claw arm driving cylinder is used to drive the first claw arm and the second claw arm toward each other to clamp the edge of the glass at the actual position of the glass, or, when the suction cup releases adsorption on the glass surface, drive the first claw arm and the second claw arm away from each other to release the clamping of the glass edge;

[0032] The suction cup driving member is used to drive the suction cup to fit the glass surface when the edge of the glass is clamped;

[0033] The suction cup is used to vacuum and adsorb on the glass surface when in contact with the glass surface, or to release the adsorption on the glass surface when the glass is moved to the standard position.

[0034] In a second aspect, the embodiments of the present application provide a frameless door glass assembling method, applied to the frameless door glass assembling system, comprising:

[0035] The controller controls the door hoist positioning mechanism to limit the door hoist at the parking station in response to a positioning signal of the door hoist reaching the parking station, and the door hoisting position of the door hoist is provided with a door, and the door is pre-installed with a glass to be adjusted;

[0036] The controller controls the door pressing mechanism to press and hold the door in the Z direction;

[0037] The controller sends a first instruction to the vision module, and the first instruction is used to make the vision module take a photo of the door to obtain an actual position of the door and take a photo of the glass to obtain an actual position of the glass;

[0038] The controller determines a standard position of the glass according to a preset standard template of the glass relative to the door and the actual position of the glass and the actual position of the door fed back by the vision module;

[0039] The controller sends the actual position of the glass and the standard position to the glass moving mechanism, so that the glass moving mechanism clamps the glass at the actual position of the glass and then moves the glass to the standard position;

[0040] The controller sends a second instruction to the vision module, and the second instruction is used to make the vision module take a photo of a mounting piece of the clamping piece of the glass to obtain a mounting piece position of the clamping piece of the glass, so that the tightening mechanism moves the tightening shaft end to the mounting piece position;

[0041] The controller sends a third instruction to the tightening mechanism, and the third instruction is used to control the tightening shaft end of the tightening mechanism to mount the mounting piece at the mounting piece position;

[0042] The controller sends a fourth instruction to the glass moving mechanism to release the clamping;

[0043] The controller controls the vision module, the tightening mechanism and the glass moving mechanism to return to the safety area;

[0044] The controller controls the door pressing mechanism to release the Z direction pressing and holding of the door;

[0045] The controller controls the door hoist positioning mechanism to release the limitation of the door hoist.

[0046] Optionally, the controller sends a third instruction to the tightening mechanism, the third instruction being used to control the tightening shaft end of the tightening mechanism to install the mounting piece at the mounting piece position after the mounting piece is installed in place.

[0047] The controller sends a fifth instruction to the vision module, the fifth instruction being used to make the vision module take a photo of the glass to obtain a current position of the glass.

[0048] The controller receives the current position of the glass fed back by the vision module and compares the current position with the standard position, and if a deviation value of the current position from the standard position is less than a preset threshold, the glass installation is qualified.

[0049] The embodiment of the present application provides a frameless door glass assembling system and method. First, the door hanger reaching the parking station is positioned by a door hanger positioning mechanism. Then, a special-shaped hole in the door is pressed and held by a door pressing mechanism, so that the door is prevented from moving when the glass to be adjusted is lifted subsequently. Then, the glass to be adjusted on the door is moved to a standard position by a vision module and a glass moving mechanism. Finally, the mounting piece position of the glass clamping piece is determined by the vision module and a tightening mechanism, and the mounting piece on the clamping piece is tightened, so that the glass can be reliably assembled to the correct position on the door. In this way, the automatic installation of the frameless door and the glass can be realized under the control of the controller, manpower is saved, and efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0050] To make the technical solutions in the embodiments or the prior art clearer, the accompanying drawings needed in the embodiments or the prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only show some embodiments of the present application, and other accompanying drawings can be obtained by those skilled in the art without any creative effort.

[0051] Figure 1 A structure schematic diagram of a frameless door glass assembling system provided by the embodiment of the present application;

[0052] Figure 2 A structure schematic diagram of a door hanger positioning mechanism provided by the embodiment of the present application;

[0053] Figure 3 A combined structure schematic diagram of a door hanger guide mechanism and a door hanger positioning mechanism provided by the specific embodiment of the present application;

[0054] Figure 4 A structure schematic diagram of a door pressing mechanism provided by the embodiment of the present application;

[0055] Figure 5Schematic diagram of the combined structure of a visual module and a tightening mechanism provided in an embodiment of the present application

[0056] Figure 6 A schematic structural diagram of a glass moving mechanism provided in an embodiment of the present application;

[0057] Figure 7 A schematic structural diagram of a glass clamping module provided in an embodiment of the present application;

[0058] Figure 8 A schematic flow chart of a method for assembling frameless vehicle door glass provided in an embodiment of the present application.

[0059] Figure Number

[0060] 1- Door hanger positioning mechanism; 11- Positioning pin; 12- Lifting cylinder; 13- L-shaped hook; 14- Rotating cylinder; 15- First base; 16- Lifting cylinder mounting base; 17- Rotating cylinder mounting base; 18- Crossbar; 2- Door clamping mechanism; 21- Mounting platform; 221- First connecting plate; 222- First cylinder; 223- First stop block; 231- Second connecting plate; 232- Second cylinder; 233- Second stop block; 24- Lifting cylinder; 25- Brake cylinder; 26- Holding cylinder ;27-elastic element;3-visual module;31-first robot;32-3D camera;33-2D camera;4-tightening mechanism;5-glass moving mechanism;51-fourth robot;52-third connecting plate;53-gripper fixing frame;54-claw arm driving cylinder;55-first claw arm;56-second claw arm;57-suction cup fixing frame;58-suction cup driving member;59-suction cup 6-door hanger guide mechanism;61-guide slide;62-L-shaped vertical plate;63-second base;64-tilt plate. DETAILED DESCRIPTION

[0061] The installation requirements of frameless door glass are high. It is assembled manually, with a low degree of automation, high labor costs, and low efficiency. Therefore, there is an urgent need for a production line for the installation of frameless door glass that can improve efficiency and save manpower.

[0062] Therefore, the present application provides a frameless door glass assembly system and method. The door hanger in the present application is accurately positioned in the parking position by the door hanger positioning mechanism. Since the door is clamped and hoisted in the door hanger and positioned in the parking position by the positioning pin of the hanger positioning mechanism, the door is relatively reliably positioned in the horizontal direction. However, to further prevent the door from moving up and down and affecting the installation accuracy when the glass is subsequently installed, a door clamping mechanism is provided. The clamping cylinder is used to clamp the special-shaped holes on the door inner panel to ensure stable positioning of the door. The controller then controls the visual module and the glass moving mechanism to move the glass to a standard position relative to the door. The controller controls the visual module and the tightening mechanism to install the mounting parts on the glass clamping plate into place, completing the assembly of the door and glass. This achieves automated installation of frameless doors and glass, saving manpower and improving efficiency.

[0063] Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0064] Figure 1 This is a structural diagram of a frameless door glass assembly system provided in an embodiment of the present application, see Figure 1 , a frameless door glass assembly system, comprising:

[0065] A controller, a door hanger positioning mechanism 1 set at a parking position corresponding to the door hanger, and a door clamping mechanism 2, a vision module 3, a tightening mechanism 4 and a glass moving mechanism 5 corresponding to each door lifting position of the door hanger; the door lifting position is used to lift the door, and the door is pre-installed with glass to be adjusted; the hanger positioning mechanism 1, the door clamping mechanism 2, the vision module 3, the tightening mechanism 4 and the glass moving mechanism 5 are all connected to the controller.

[0066] The parking station is used for assembling frameless door glass. The door hanger positioning mechanism is used to limit the door hanger.

[0067] Each door hoist can be provided with four door hoisting positions, and the four door hoisting positions are respectively used to hoist four doors on a car. Of course, the required number can also be set according to demand.

[0068] The glass to be adjusted refers to the glass pre-installed in the lifting assembly for lifting the glass in the door, the lifting assembly comprising a clamping piece for connecting with the glass, the glass having been pre-installed in the clamping piece, and the clamping piece being provided with a mounting member (the mounting member can be a screw or other element capable of clamping the glass by the clamping piece) for controlling the clamping or unclamping of the glass, when the glass is in the state to be adjusted in the clamping piece, the mounting member is in the state of not being installed in place (for example, the screw is not tightened), when the glass is adjusted in position in the clamping piece, the mounting member is installed in place (for example, the screw is tightened), so that the glass is stably installed in the lifting assembly.

[0069] The door pressing mechanism 2 is used to press the door Z, in a possible implementation, the special-shaped hole of the inner panel of the door can be pressed in the Z direction. The glass to be adjusted is prevented from driving the door to move up and down when lifting the glass in the clamping piece to the standard position, affecting the installation accuracy.

[0070] The vision module 3 is used to obtain the actual position of the door and the actual position of the glass for glass position adjustment, and the vision module 3 is also used to obtain the mounting member position, so that after the glass position is adjusted, the mounting member is installed in place by the tightening mechanism 4, so that the glass remains in the correct position.

[0071] The tightening mechanism 4 is used to stably install the mounting member on the clamping piece to ensure that the clamping piece stably clamps the glass.

[0072] The glass moving mechanism 5 is used to clamp the glass and move the glass from the actual position of the glass to the standard position.

[0073] The controller is configured to, after receiving a signal that the door hanger reaches the parking station, control the door hanger positioning mechanism 1 to limit the door hanger at the parking station; control the door pressing mechanism 2 to press the door in the Z direction; control the vision module 3 to obtain first data, and according to the first data returned by the vision module 3 and a preset standard template of the glass relative to the door, determine the standard position of the glass, and send the actual position of the glass and the standard position to the glass moving mechanism 5, so that the glass moving mechanism 5 clamps the glass at the actual position of the glass, and then moves the glass to the standard position; control the vision module 3 to obtain the mounting member position of the clamping piece of the glass, so that the tightening mechanism 4 moves the tightening shaft end to the mounting member position; control the tightening shaft end to install the mounting member at the mounting member position; control the glass moving mechanism 5 to release the clamping of the glass, and the first data is the actual position of the glass and the actual position of the door.

[0074] The arrival signal may be triggered by determining that the machine line for transporting the door hoist has driven the door hoist to arrive at the parking station and then sending the arrival signal to the controller.

[0075] According to the above system, in this application, the door hanger that has arrived at the parking position is first positioned by the door hanger positioning mechanism 1. Then, the special-shaped hole in the door is pressed by the door clamping mechanism 2 to prevent the door from moving when the glass to be adjusted is subsequently lifted. Then, the glass to be adjusted on the door is moved to the standard position by the visual module 3 and the glass moving mechanism 5. Finally, the position of the mounting part of the glass clamping piece is determined by the visual module 3 and the tightening mechanism 4, and the mounting part on the clamping piece is installed in place so that the glass can be reliably assembled to the correct position on the door. In this way, under the control of the controller, the frameless door and glass can be automatically installed, saving manpower and improving efficiency.

[0076] In the embodiment of the present application, the above Figure 1 The door hanger positioning mechanism 1 has possible implementations, which are described in detail below. It should be noted that the implementations described below are only for illustrative purposes and do not represent all implementations of the embodiments of the present application.

[0077] Figure 2 This is a structural diagram of a door hanger positioning mechanism provided in an embodiment of the present application, see Figure 2 The door hanger positioning mechanism 1 includes a positioning pin 11, a lifting cylinder 12, an L-shaped hook 13, and a rotating cylinder 14. The positioning pin 11 is fixedly connected to the piston rod of the lifting cylinder 12, and a positioning hole is provided on the crossbeam of the door hanger corresponding to the positioning pin 11; the L-shaped hook 13 is fixedly connected to the driving end of the rotating cylinder 14; the control end of the lifting cylinder 12 and the control end of the rotating cylinder 14 are both electrically connected to the controller.

[0078] The door hanger positioning mechanism 1 may further include a first base 15 , wherein the first base 15 is provided with a lifting cylinder mounting seat 16 corresponding to the lifting cylinder 12 and a rotating cylinder mounting seat 17 corresponding to the rotating cylinder 14 .

[0079] In a possible implementation, based on the above-mentioned door hanger positioning mechanism 1, the controller controls the door hanger positioning mechanism 1 to position the door hanger in the following specific process:

[0080] First, upon receiving the arrival signal indicating that the door hanger has arrived at the parking position, the controller controls the lifting cylinder 12 to lift the positioning pin 11 so as to be plugged into the positioning hole.

[0081] In a possible implementation, the in-position signal can be a signal triggered by a machine line carrying the door hoist to the stop position and sent to the controller. Specifically, the in-position signal can be generated by triggering a preset occupancy sensor when the machine line carrying the door hoist reaches the stop position, and the occupancy sensor sends the occupancy signal to the clamp connected thereto. The clamp clamps the machine line to correct the X-direction deviation of the door hoist. The output end of the clamp is electrically connected to the controller, and the clamp releases to generate a falling edge after clamping the machine line. The controller receives the falling edge as the in-position signal of the door hoist reaching the stop position.

[0082] Then, the rotating cylinder 14 is controlled to flip the L-shaped hook 13 around the Y direction and away from the positive X direction to engage with the crossbar 18 of the door hoist. The length direction of the crossbar 18 is the Y direction, and the positive X direction is the forward direction of the door hoist.

[0083] In a possible implementation, the first base 15 is fixed to the ground, the crossbar 18 is fixed to the lower side of the door hoist, and the L-shaped hook 13 can be engaged with the crossbar 18 of the door hoist by rotating the rod one of the L-shaped hook 13 driven by the rotating cylinder 14, and rotating the rod two connected perpendicularly to the rod one. Finally, the lower surface of the rod two is engaged with the upper surface of the crossbeam to press and hold the crossbar 18, thereby pressing and holding the door hoist. In addition, the positioning hole can be arranged on the lower surface of the crossbar 18, so that the lifting cylinder 12 lifts the positioning pin 11 to position the positioning pin 11 on the lower side of the crossbar 18, and the lifting cylinder 12 lifts on the lower side of the crossbar 18, and the L-shaped hook 13 presses and holds the upper side of the crossbar 18, thereby limiting the Z-direction movement of the crossbar 18.

[0084] According to the door hoist positioning mechanism 1 described above, after the positioning pin 11 limits the horizontal movement of the door hoist, the L-shaped hook 13 limits the Z-direction movement of the door hoist, and the door hoist positioning mechanism 1 limits the door hoist, thereby limiting the door hoisted on the door hoist.

[0085] In the embodiments of the present application, the above Figure 1 and Figure 2 The door hoist positioning mechanism 1 in the system also has a possible matching mechanism, which will be described in detail below. It should be noted that the implementation modes given in the following description are only exemplary and do not represent all implementation modes of the embodiments of the present application.

[0086] Figure 3 A door hoist positioning mechanism 1 in the system also has a possible matching mechanism, which will be described in detail below. It should be noted that the implementation modes given in the following description are only exemplary and do not represent all implementation modes of the embodiments of the present application. Figure 3The door hanger guide mechanism 6 is arranged at the parking station, and the door hanger guide mechanism 6 includes a guide slot 61 for guiding the door hanger, and the door hanger is provided with a guide wheel corresponding to the guide slot 61.

[0087] In one possible implementation, the door hanger guide mechanism 6 includes two L-shaped vertical plates 62 and a second base 63. The two L-shaped vertical plates 62 are symmetrically arranged to form a guide groove 61. Multiple second bases 63 are arranged along the length direction of the L-shaped vertical plates 62. The upper ends of the multiple second bases 63 are fixedly connected to the two L-shaped vertical plates 62, and the lower ends are connected to the ground.

[0088] In another possible implementation, inclined plates 64 are provided at both ends of the L-shaped vertical plate 62. The inclined direction of the inclined plate 64 from the first end connected to the L-shaped vertical plate to the second end corresponding to the first end is gradually inclined toward the side away from the guide groove 61 to assist the guide wheel to enter the guide groove 61.

[0089] There are multiple door hanger positioning mechanisms 1 , and the multiple door hanger positioning mechanisms 1 are distributed on both sides of the guide slot 61 .

[0090] In one possible implementation, the crossbar 18 is perpendicular to the L-shaped vertical plate 62 adjacent to one side and extends toward the side away from the door hanger so that the L-shaped hook 13 in the door hanger positioning mechanism 1 arranged outside the L-shaped vertical plate overlaps the crossbar 18 .

[0091] According to the above-mentioned door hanger guide mechanism 6, by setting the guide slot 61, the door hanger can be stably moved along the guide slot 61 to the parking position, so that the door hanger positioning mechanism 1 set on both sides of the guide slot 61 can position the door hanger in the guide slot 61.

[0092] In the embodiment of the present application, the above Figure 1 The possible structural forms of the door pressing mechanism 2 in the system are described in detail below. It should be noted that the implementation methods given in the following description are only for illustrative purposes and do not represent all implementation methods of the embodiments of the present application.

[0093] Figure 4 This is a structural diagram of a door pressing mechanism provided in an embodiment of the present application, see Figure 4The door pressing mechanism 2 comprises a mounting platform 21, a first connecting plate 221, a second connecting plate 231, a lifting cylinder 24 and a brake cylinder 25. The mounting platform 21 is slidably connected with the first connecting plate 221 through a first guide rail, which is arranged along the X direction of the door hanger. The mounting platform 21 is further provided with a first cylinder 222 for pushing the first connecting plate 221 to move along the X direction and a first limiting block 223 for limiting the first connecting plate 221.

[0094] The first limiting block 223 is used for limiting the first connecting plate 221 to move along the X direction to a position corresponding to the special-shaped hole.

[0095] The mounting platform 21 can be a platform comprising a supporting leg, which is provided with a first guide rail arranged along the X direction of the door hanger. Two or more first guide rails can be arranged to ensure that the first connecting plate 221 stably slides along the X direction relative to the mounting platform 21.

[0096] The first connecting plate 221 is slidably connected with the second connecting plate 231 through a second guide rail, which is arranged along the Y direction. The first connecting plate 221 is provided with a second cylinder 232 for pushing the second connecting plate 231 to move along the Y direction and a second limiting block 233 for limiting the second connecting plate 231.

[0097] In a possible implementation, the lower surface of the second connecting plate 231 and the upper surface of the first connecting plate 221 can be connected through two second guide rails arranged along the Y direction in the length direction, so that the second connecting plate 231 stably slides on the first connecting plate 221.

[0098] The lifting cylinder 24 is arranged on the upper side of the second connecting plate 231. The lifting end of the lifting cylinder 24 is fixedly provided with a pressing cylinder 26. The axis of the pressing cylinder 26 is arranged along the Y direction. The pressing cylinder 26 extends towards the side of the door. The radius of the pressing cylinder 26 is smaller than the radius of the lower arc of the special-shaped hole of the door inner panel.

[0099] The lifting cylinder 24 is fixedly arranged with a plate member close to the side of the door. The plate member is provided with an elastic element 27 close to the side of the door. When the pressing cylinder 26 presses the lower arc of the special-shaped hole, the elastic element 27 abuts against the door inner panel. When the second connecting plate 231 abuts against the second limiting block 233, the elastic element 27 abuts against the door inner panel.

[0100] The material of the elastic element 27 can be polyurethane, and can also be other types of elastic elements.

[0101] When the pressing cylinder 26 starts to move downward, the brake cylinder 25 pushes the piston rod end to abut against the surface of the first connecting plate 221 in parallel to the X direction, the first cylinder 222 is released, and the piston rod end of the brake cylinder 25 is fixedly provided with a nylon block.

[0102] In a possible implementation, the brake cylinder 25 can be fixedly arranged on the lower side of the mounting platform 21, and the mounting platform 21 is provided with a through hole corresponding to the piston rod of the brake cylinder 25. When the lifting cylinder 24 drives the pressing cylinder 26 to start to move downward, the brake cylinder 25 drives the piston rod end to abut against the lower surface of the first connecting plate 221.

[0103] According to the door pressing mechanism 2 described above, first, the first cylinder 222 and the first limiting block 223 cooperate to move the pressing cylinder 26 in the X direction to correspond to the special-shaped hole. The second cylinder 232 pushes the pressing cylinder 26 to correspond to the special-shaped hole. Then, when the brake cylinder 25 pushes the piston rod end nylon block to abut against the first connecting plate 221, the first cylinder 222 is released, and before the lifting cylinder 24 drives the pressing cylinder 26 to press downward, the friction between the piston rod end fixedly provided with the nylon block of the brake cylinder 25 and the first connecting plate 221 is used for limiting to realize fine adjustment, so as to adapt to the pressing of the pressing cylinder 26 on the bottom of the arc on the lower side of the special-shaped hole, and keep the stability of the pressing; finally, the second cylinder 232 continues to push to the second limiting block 233, so that the elastic element 27 is pressed against the inner wall of the door.

[0104] In the embodiment of the present application, the above Figure 1 The visual module 3 in the system can have the following structure, which will be described in detail below. It should be noted that the implementation modes given in the following description are only exemplary and do not represent all implementation modes of the embodiment of the present application.

[0105] The visual module 3 includes a first robot 31 and a 3D camera 32, the 3D camera 32 is fixedly connected with the first robot 31, the first robot 31 is used to drive the 3D camera 32 to move to a position for photographing the glass and a position for photographing the door; the 3D camera 32 is used to acquire the actual position of the glass and the actual position of the door and send them to the controller, the controller is used to determine the standard position of the glass according to the actual position of the door and a standard template of the glass relative to the door, so as to send the actual position of the glass and the standard position of the glass relative to the door to the glass moving mechanism 5.

[0106] Exemplarily, the first robot 31 pre-stores the shooting position of the 3D camera 32 for shooting the glass and the shooting position of the car door, so that the first robot 31 drives the 3D camera 32 to the shooting position of the glass and feeds back a signal of reaching the shooting position of the glass to the controller. The controller controls to start the 3D camera 32 to shoot and obtain the three actual feature point position data of the glass to determine the actual position of the glass. It also drives the first robot 31 to the shooting position of the car door and feeds back a signal of reaching the car door shooting position to the control. The controller controls to start the 3D camera 32 to shoot and obtain the three actual feature point position data of the car door to determine the actual position of the glass.

[0107] The standard template for the glass relative to the vehicle door can be the vector distance between the pre-stored position of the glass and the pre-stored position of the vehicle door when the glass lifting assembly in the vehicle door is in a preset raised or lowered state. For example, the pre-stored standard template for the glass relative to the vehicle door can be three sets of vector values, where three pre-stored characteristic points of the glass correspond to three pre-stored characteristic points of the vehicle door. After determining the actual position of the vehicle door (the actual positions of the three characteristic points of the vehicle door), the correct installation position of the glass relative to the vehicle door is determined based on the standard template for the glass relative to the vehicle door. This correct position is the standard position of the glass. The standard template is preset, and the characteristic points can be manually selected.

[0108] The visual module 3 also includes a two-dimensional 2D camera 33 and a second robot, and the 2D camera 33 is fixedly connected to the second robot. The second robot drives the 2D camera 33 to move to a position for taking pictures of the mounting part of the clamping piece of the glass; the 2D camera 33 is used to obtain the mounting part position of the clamping piece of the glass and send the mounting part position to the tightening mechanism 4; the tightening mechanism 4 includes a third robot and a tightening gun fixedly connected to the third robot, and the third robot is used to drive the tightening gun to move to the mounting part position; the tightening gun includes a tightening shaft for installing the mounting part.

[0109] Specifically, before the second robot drives the 2D camera 33 to the position for photographing the glass clamping piece's mounting fixture, the controller sends a second instruction (controlling acquisition of the position of the glass clamping piece's mounting fixture) to the second robot in the vision module 3. This second instruction includes the position for photographing the mounting fixture and enables the second robot to drive the 2D camera 33 to the position for photographing the mounting fixture. The position for photographing the mounting fixture is obtained by first calculating the deviation between the pre-stored position of the vehicle door and the actual position of the vehicle door, and then summing this deviation with the pre-stored position for photographing the mounting fixture.

[0110] The position of the mounting part obtained by taking a photo with the 2D camera 33 is sent to the third robot, and the third robot drives the tightening gun to move to the mounting part position (the mounting part can be a screw, and the tightening shaft end of the tightening gun is aligned with the screw to prepare for tightening the screw) and feeds back a signal of moving to the mounting part position to the controller. The controller then sends a tightening instruction to the tightening gun, causing the tightening gun to install the mounting part in place and clamp the glass in the standard position.

[0111] In a possible implementation, the second robot and the third robot are the same robot. After the 2D camera 33 determines the position of the installation part, the robot can drive the tightening gun to move to the installation part position.

[0112] In another possible implementation, Figure 5 This is a schematic diagram of the combined structure of a visual module and a tightening mechanism provided in an embodiment of the present application, see Figure 5 Based on the structure of the above-mentioned vision module 3 and the tightening mechanism 4, the first robot 31, the second robot and the third robot can also be the same robot, which greatly saves the robot cost.

[0113] In the embodiment of the present application, the above Figure 1 The possible structural forms of the glass moving mechanism 5 in the system are described in detail below. It should be noted that the implementation methods given in the following description are only for illustrative purposes and do not represent all implementation methods of the embodiments of the present application.

[0114] Figure 6 This is a structural diagram of a glass moving mechanism provided in an embodiment of the present application, see Figure 6 The glass moving mechanism 5 includes a fourth robot 51 and a glass clamping module connected to the fourth robot 51 .

[0115] The fourth robot 51 is connected to the controller and is used to move the glass clamping module according to the actual position of the glass and the standard position of the glass sent by the controller; the glass clamping module is used to clamp the glass in response to the clamping instruction of the controller and to release the clamping of the glass in response to the release instruction of the controller.

[0116] Specifically, in response to the actual position and the standard position of the glass transmitted by the controller, the fourth robot 51 drives the glass clamping module to move to the actual position of the glass. After the glass clamping module moves to the actual position of the glass, it responds to a clamping command from the controller to complete clamping of the adjusted glass on the vehicle door. After completing clamping, the fourth robot 51 drives the glass clamping module to move to the standard position of the glass. Subsequently (after the glass clamping piece mounting hardware is installed), the glass clamping module releases the glass in response to a release command from the controller.

[0117] Figure 7 This is a structural diagram of a glass clamping module provided in an embodiment of the present application, see Figure 7 The glass clamping module includes a third connecting plate 52, a clamping claw fixing frame 53, a claw arm driving cylinder 54, a first claw arm 55, a second claw arm 56, a suction cup fixing frame 57, a suction cup driving member 58, and a suction cup 59.

[0118] The fourth robot 51 is fixedly connected to the gripper fixing frame via a third connecting plate 52 , and the gripper fixing frame is fixedly connected to a gripper arm driving cylinder 54 and a suction cup fixing frame 57 near both ends thereof.

[0119] The claw arm driving cylinder 54 is connected to the first claw arm 55 and the second claw arm 56 respectively.

[0120] The suction cup fixing frame 57 is fixedly connected to the suction cup driving member 58 , and the driving end of the suction cup driving member 58 is connected to the suction cup 59 .

[0121] The suction cup 59 is equipped with a vacuum generator to realize vacuuming of the suction cup 59 to maintain adsorption of the glass, and breaking the vacuum to release adsorption of the glass.

[0122] The gripper arm drive cylinder 54 is used to drive the first gripper arm 55 and the second gripper arm 56 toward each other to clamp the edge of the glass when the glass is in the actual position. Alternatively, when the suction cup 59 releases its suction on the glass surface, the first gripper arm 55 and the second gripper arm 56 are driven away from each other to release the grip on the glass edge. Nylon pads or other elastic members may be provided on the side of the first gripper arm 55 and the second gripper arm 56 that grip the glass.

[0123] The suction cup driving member 58 is used to drive the suction cup 59 to fit the glass surface after the edge of the glass is clamped.

[0124] The suction cup 59 is used to vacuum and adsorb on the glass surface when in contact with the glass surface, or to release the adsorption on the glass surface when the glass is moved to the standard position.

[0125] For example, when the glass clamping module responds to a glass clamping command from the controller to clamp the glass, it first drives the first claw arm 55 and the second claw arm 56 to cooperate and clamp the glass via the claw arm drive cylinder 54. The suction cup 59 then applies vacuum to the glass and absorbs it. These two methods work together to ensure reliable glass clamping. When the glass is moved to the standard position, the glass clamping module responds to a release command from the controller to release the glass. The vacuum is first broken to release the suction cup 59's grip on the glass, and then the claw arm drive cylinder 54 moves the first claw arm 55 and the second claw arm 56 away from each other to release the grip.

[0126] The above provides some specific implementation manners of the frameless door glass assembly system according to the embodiments of the present application. Based on this, the present application also provides a corresponding method. The method provided by the embodiments of the present application will be introduced from the perspective of specific execution steps of the frameless door glass assembly system.

[0127] Referring to Figure 8 A flowchart of a frameless door glass assembly method is shown. A frameless door glass assembly method is applied to the frameless door glass assembly system in the above embodiment, and includes the following steps.

[0128] S801, the controller controls the door hoist positioning mechanism 1 to limit the door hoist at the parking station in response to a positioning signal of the door hoist reaching the parking station.

[0129] The door hoisting position of the door hoist is provided with a door, and the door is pre-installed with glass to be adjusted.

[0130] S802, the controller controls the door pressing mechanism 2 to press the door in the Z direction.

[0131] The door pressing mechanism 2 can feed back a Z-direction pressing completion signal to the controller after completing the Z-direction pressing of the door.

[0132] S803, the controller sends a first instruction to the vision module 3, and the first instruction is used to make the vision module 3 acquire the actual position of the door by taking a picture of the door and acquire the actual position of the glass by taking a picture of the glass.

[0133] The first instruction enables the vision module 3 to take a picture of the door and take a picture of the glass. The vision module 3 pre-stores the position of taking a picture of the door and the position of taking a picture of the glass. The vision module 3 takes a picture of the door at the position of taking a picture of the door to acquire the actual position of the door and takes a picture of the glass at the position of taking a picture of the glass to acquire the actual position of the glass in response to the first instruction, and feeds back the actual position of the door and the actual position of the glass to the controller.

[0134] S804, the controller determines the standard position of the glass according to the preset standard template of the glass relative to the door and the actual position of the glass and the actual position of the door fed back by the vision module 3.

[0135] The preset glass-to-door standard template can be a vector distance between a preset position of the glass and a preset position of the door in a preset lifting state of a lifting assembly in the door for lifting the glass. For example, the preset glass-to-door standard template can be three sets of vector values of three feature points of the glass corresponding to three feature points of the door.

[0136] S805, the controller sends the actual position of the glass and the standard position of the glass to the glass moving mechanism 5, so that the glass moving mechanism 5 clamps the glass at the actual position of the glass and then moves the glass to the standard position.

[0137] For example, the controller first sends the actual position of the glass and the standard position of the glass to the glass moving mechanism 5. The glass moving mechanism 5 feeds back a signal to the controller when it reaches the actual position of the glass after reaching the glass grabbing preparation position according to the actual position of the glass. Then the controller controls the glass moving mechanism 5 to clamp the glass. After clamping the glass, the glass moving mechanism 5 moves the glass to the standard position according to the vector distance between the actual position of the glass and the standard position of the glass.

[0138] S806, the controller sends a second instruction to the vision module 3, and the second instruction is used to make the vision module 3 take a photo of the mounting part of the glass clamping piece to obtain the mounting part position of the glass clamping piece, so that the tightening mechanism 4 moves the end of the tightening shaft to the mounting part position.

[0139] For example, the second instruction includes a position for taking a photo of the mounting part and an enablement for the second robot to drive the 2D camera 33 to move to the position for taking a photo of the mounting part. The position for taking a photo of the mounting part is obtained by summing up the deviation value between the preset position of the door and the actual position of the door and the preset position for taking a photo of the mounting part.

[0140] S807, the controller sends a third instruction to the tightening mechanism 4, and the third instruction is used to control the end of the tightening shaft of the tightening mechanism 4 to mount the mounting part at the mounting part position.

[0141] S808, the controller sends a fourth instruction to the glass moving mechanism 5 to release the clamping.

[0142] S809, the controller controls the vision module 3, the tightening mechanism 4 and the glass moving mechanism 5 to return to the safe area.

[0143] Returning to the safe zone means that the visual module 3, the tightening mechanism 4 and the glass moving mechanism 5 will not interfere with the movement of the door hanger along the direction of travel of the door.

[0144] S810, the controller controls the door pressing mechanism 2 to release the Z direction holding of the door.

[0145] S811, the controller controls the door hanger positioning mechanism 1 to release the limiting of the door hanger.

[0146] According to the above steps S801-S811, the door hanger is positioned by the door hanger positioning mechanism 1, the door on the door hanger is pressed by the door pressing mechanism 2, then the glass to be adjusted on the door is moved to the standard position by the visual module 3 and the glass moving mechanism 5, finally the position of the mounting piece of the glass clamp piece is determined by the visual module 3 and the tightening mechanism 4, and the mounting piece on the clamp piece is installed in place (the mounting piece can be a screw, and the tightening screw controls the stable clamping of the glass by the tightening mechanism), so that the glass can be reliably assembled to the correct position on the door. In this way, based on the frameless door mounting system, the automatic installation of the frameless door and the glass can be realized under the control of the controller, manpower can be saved, and efficiency can be improved.

[0147] Possible implementation manner one.

[0148] After the controller sends a third instruction to the tightening mechanism 4, the third instruction is used to control the tightening shaft end of the tightening mechanism 4 to install the mounting piece of the mounting piece position in place, further comprising: the controller sends a fifth instruction to the visual module 3, the fifth instruction is used to make the visual module 3 take a photo of the glass to obtain the current position of the glass; the controller receives the current position of the glass fed back by the visual module 3 and compares it with the standard position, if the deviation value between the current position and the standard position is less than a preset threshold, the glass installation is qualified.

[0149] After the installation of the mounting piece of the glass clamp piece is completed, that is, the assembly of the door glass is completed, in order to further ensure the correctness of the glass installation, the current position of the glass is obtained again and compared with the standard position of the glass to ensure that the glass installation is qualified.

[0150] Possible implementation manner two.

[0151] Based on the specific structure of the door hanger positioning mechanism 1 in the above system.

[0152] The step S801 specifically realizes the method that the controller controls the lifting cylinder 12 to lift the positioning pin 11 to be inserted into the positioning hole after receiving the arrival signal of the vehicle door hanger reaching the parking station; and controls the rotating cylinder 14 to overturn the L-shaped hook 13 around the Y direction and away from the positive X direction to be engaged with the cross bar 18 of the vehicle door hanger.

[0153] The length direction of the cross bar 18 is the Y direction, and the positive X direction is the forward direction of the vehicle door hanger. The arrival signal is the signal that the machine line drives the vehicle door hanger to reach the parking station.

[0154] The step S811 specifically realizes the method that the controller controls the rotating cylinder 14 to overturn the L-shaped hook 13 around the Y direction and towards the positive X direction to be disengaged from the cross bar 18 of the vehicle door hanger, and then controls the lifting cylinder 12 to drive the positioning pin 11 to be lowered to be disengaged from the positioning hole.

[0155] Possible implementation mode three.

[0156] Based on the specific structure of the vehicle door pressing mechanism 2 in the above system.

[0157] The specific method of the step S802 is that the first cylinder 222 and the first limiting block 223 are cooperated to move the pressing cylinder 26 to correspond to the special-shaped hole in the X direction, the second cylinder 232 is pushed to make the pressing cylinder 26 correspondingly inserted into the special-shaped hole, and when the brake cylinder 25 pushes the nylon block at the end of the piston rod to abut against the first connecting plate 221, the first cylinder 222 is depressurized, and then the lifting cylinder 24 drives the pressing cylinder 26 to be pressed, at this time, the friction limiting between the nylon block fixedly arranged at the end of the piston rod of the brake cylinder 25 and the first connecting plate 221 is realized to realize fine adjustment, so that the pressing cylinder 26 is pressed at the bottom of the lower side arc of the special-shaped hole, and the stability of the pressing is maintained; finally, the second cylinder 232 is continuously pushed to the second limiting block 233, so that the elastic element 27 is pressed against the inner wall of the vehicle door.

[0158] The specific method of the step S810 is that the second cylinder 232 drives the second connecting plate 231 to move away from the vehicle door side, the lifting cylinder 24 drives the pressing roller to move up, the brake cylinder 25 retracts the piston rod, and the first cylinder 222 drives the first connecting plate 221 and the second cylinder 232 drives the second connecting plate 231 to return to the original position.

[0159] Possible implementation mode four.

[0160] The vision module 3 includes a first robot 31 and a 3D camera 32 fixedly connected with the first robot 31. The glass moving mechanism 5 includes a fourth robot 51 and a glass clamping module connected with the fourth robot 51, and the specific structure of the glass clamping module is according to the above system.

[0161] The specific method of steps S803-S805 is that the first robot 31 receives the first instruction, drives the 3D camera 32 to the photographing position of the door to photograph the door to obtain the actual position of the door, and drives the 3D camera to the photographing position of the glass to photograph the glass to obtain the actual position of the glass. The photographing position of the door and the photographing position of the glass are stored in the first robot 31.

[0162] The fourth robot 51 receives the actual position and the standard position of the glass sent by the controller, drives the glass clamping module to move to the actual position of the glass to prepare to grab the glass, and feeds back a signal to the controller that the actual position of the glass is reached. The glass clamping module responds to the clamping glass instruction sent by the controller, clamps the edge of the glass by driving the first claw arm 55 and the second claw arm 56, drives the suction cup 59 to be attached to the surface of the glass, and makes the suction cup 59 adsorb to the surface of the glass by vacuumizing the suction cup 59 through the vacuum generator. Finally, the fourth robot 51 drives the glass clamping module to move according to the standard position, so that the glass stays at the standard position.

[0163] The specific method of step S808 is that the glass clamping module receives the unclamping instruction sent by the controller, breaks the vacuum of the suction cup 59, and retracts the suction cup 59 to the original position, and then drives the first claw arm 55 and the second claw arm 56 to release the clamping of the edge of the glass. The fourth robot 51 can retreat to the safe position.

[0164] Possible implementation mode five,

[0165] The visual module 3 further comprises a two-dimensional 2D camera 33 and a second robot, and the 2D camera 33 is fixedly connected with the second robot. The tightening mechanism 4 comprises a third robot and a tightening gun fixedly connected with the third robot.

[0166] When the second robot and the third robot are not the same robot, the specific method of steps S806-S807 is that the second robot receives the second instruction, drives the 2D camera 33 to the photographing position of the mounting piece to photograph the mounting piece (which can be a screw, of course, can also be other mounting pieces capable of clamping the glass) to obtain the mounting piece position, and sends the mounting piece position to the third robot; the third robot drives the tightening gun to move to the mounting piece position (the tightening shaft end of the tightening gun is aligned with the screw) and feeds back a signal to the controller that the mounting piece position is reached; the tightening gun installs the mounting piece in place (tightens the screw) according to the tightening instruction of the controller.

[0167] When the second robot and the third robot are the same robot (hereinafter collectively referred to as the second robot), the specific method of steps S806-S807 is that the second robot receives the second instruction, drives the 2D camera 33 to the mounting part photographing position to photograph the mounting part to obtain the mounting part position; the second robot drives the tightening gun to the mounting part position according to the mounting part position (the tightening shaft end of the tightening gun is aligned with the screw) and feeds back a signal to the controller that the mounting part position is reached; the tightening gun installs the mounting part in place according to the tightening instruction of the controller (tightens the screw).

[0168] After the mounting part is installed in place, the first robot 31, the second robot and the third robot can correspondingly drive the visual module 3 and the tightening mechanism 4 to retreat to the safety position. Of course, the first robot 31, the second robot and the third robot can be the same robot.

[0169] The embodiments of the present application also provide a corresponding device and a computer storage medium for implementing the scheme provided by the embodiments of the present application.

[0170] The device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes to enable the device to execute the frameless door glass assembly method provided by any of the embodiments of the present application.

[0171] The computer storage medium stores codes, and when the codes are executed, the device executing the codes implements the frameless door glass assembly method provided by any of the embodiments of the present application.

[0172] The names of “first” and “second” in the names of “first” and “second” mentioned in the embodiments of the present application are only used for name identification, and do not represent the first and second in order.

[0173] From the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps of the above-mentioned embodiment methods can be implemented by means of software plus a general hardware platform. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product. The computer software product can be stored in a storage medium, such as a read-only memory (English: read-only memory, ROM) / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network communication device such as a router) execute the method described in each embodiment or some part of the embodiments of the present application.

[0174] The various embodiments described in the specification are intended to be exemplary only and the scope of the application is not limited to the embodiments described. The same parts are referred to each other for the same or similar parts among the various embodiments. Each embodiment focuses on the difference from other embodiments. Especially, the device embodiments are described simply because they are basically similar to the method embodiments. The relevant parts are referred to the part of the method embodiments. The part or all modules can be selected to achieve the purpose of the embodiments according to the actual needs. Those skilled in the art can understand and implement without creative labor.

[0175] The above only describes exemplary embodiments of the present application, and is not intended to limit the protection scope of the present application.

Claims

1. A frameless door glass assembly system, characterized in that: The system includes: a controller, A door hanger positioning mechanism is provided corresponding to the parking position of the door hanger, and a door pressing mechanism, a vision module, a tightening mechanism, and a glass moving mechanism are configured corresponding to each door lifting position of the door hanger; the hanger positioning mechanism, the door pressing mechanism, the vision module, the tightening mechanism, and the glass moving mechanism are all connected to the controller; the door lifting position is used to lift the door, and the door is pre-installed with glass to be adjusted; The controller is used to control the door hanger positioning mechanism to limit the door hanger at the parking position upon receiving the arrival signal of the door hanger arriving at the parking position; control the door pressing mechanism to press the door in the Z direction; control the vision module to obtain first data, and determine the standard position of the glass based on the first data returned by the vision module and a preset standard template of the glass relative to the door, and send the actual position of the glass and the standard position to the glass moving mechanism, so that the glass moving mechanism clamps the glass at the actual position of the glass and then moves the glass to the standard position; control the vision module to obtain the mounting position of the clamping piece of the glass so that the tightening mechanism moves the tightening shaft end to the mounting position; control the tightening shaft end to install the mounting part at the mounting position into place; control the glass moving mechanism to release the clamping of the glass, wherein the first data is the actual position of the glass and the actual position of the door; The door hanger positioning mechanism includes a positioning pin, a lifting cylinder, an L-shaped hook, and a rotating cylinder. The positioning pin is fixedly connected to the piston rod of the lifting cylinder, and the crossbeam of the door hanger is provided with a positioning hole corresponding to the positioning pin; the L-shaped hook is fixedly connected to the driving end of the rotating cylinder; The control end of the lifting cylinder and the control end of the rotating cylinder are both electrically connected to the controller; The controller is used to control the lifting cylinder to lift the positioning pin and insert it into the positioning hole upon receiving the arrival signal of the door hanger arriving at the parking position; The controller is further used to control the rotary cylinder to flip the L-shaped hook around the Y direction and away from the positive X direction to overlap the crossbar of the door hanger, the length direction of the crossbar is the Y direction, and the positive X direction is the forward direction of the door hanger.

2. The system according to claim 1, wherein: The system also includes a door hanger guide mechanism, The door hanger guide mechanism is arranged at the parking station, the door hanger guide mechanism includes a guide slide for guiding the door hanger, and the door hanger is provided with a guide wheel corresponding to the guide slide; There are multiple door hanger positioning mechanisms, and the multiple door hanger positioning mechanisms are distributed on both sides of the guide slot.

3. The system according to claim 1, wherein: The vision module includes a first robot and a 3D camera, wherein the 3D camera is fixedly connected to the first robot. The first robot is used to drive the 3D camera to move to a position for taking pictures of the glass and a position for taking pictures of the vehicle door; The 3D camera is used to obtain the actual position of the glass and the actual position of the vehicle door and send them to the controller. The controller is used to determine the standard position of the glass based on the actual position of the vehicle door and a preset standard template of the glass relative to the vehicle door, so that the controller can send the actual position of the glass and the standard position of the glass relative to the vehicle door to the glass moving mechanism.

4. The system according to claim 3, characterized in that The visual module further includes a two-dimensional 2D camera and a second robot, wherein the 2D camera is fixedly connected to the second robot. The second robot drives the 2D camera to move to a position for taking pictures of the mounting piece of the glass clamping piece; The 2D camera is used to obtain the position of the mounting piece of the glass clamping piece and send the position of the mounting piece to the tightening mechanism; The tightening mechanism includes a third robot and a tightening gun fixedly connected to the third robot. The third robot is used to drive the tightening gun to move to the position of the mounting piece; the tightening gun is used to tighten the mounting piece.

5. The system according to claim 4, characterized in that Any two of the first robot, the second robot and the third robot are the same robot, or the first robot, the second robot and the third robot are the same robot.

6. The system according to claim 1, wherein: The glass moving mechanism includes a fourth robot and a glass clamping module connected to the fourth robot; The fourth robot is connected to the controller and is used to move the glass clamping module according to the actual position of the glass and the standard position of the glass sent by the controller; The glass clamping module is used to clamp the glass in response to a clamping instruction from a controller and to release the clamping of the glass in response to a release instruction from the controller.

7. The system according to claim 6, characterized in that The glass clamping module includes a third connecting plate, a clamping claw fixing frame, a claw arm driving cylinder, a first claw arm, a second claw arm, a suction cup fixing frame, a suction cup driving member, and a suction cup. The fourth robot is fixedly connected to the gripper fixing frame via a third connecting plate, and the gripper fixing frame is fixedly connected to a gripper arm driving cylinder and a suction cup fixing frame near both ends thereof; The claw arm driving cylinder is connected to the first claw arm and the second claw arm respectively; The suction cup fixing frame is fixedly connected to the suction cup driving member, and the driving end of the suction cup driving member is connected to the suction cup; The claw arm driving cylinder is used to drive the first claw arm and the second claw arm toward each other to clamp the edge of the glass at the actual position of the glass, or, when the suction cup releases adsorption on the glass surface, drive the first claw arm and the second claw arm away from each other to release the clamping of the glass edge; The suction cup driving member is used to drive the suction cup to fit the glass surface when the edge of the glass is clamped; The suction cup is used to vacuum and adsorb on the glass surface when in contact with the glass surface, or to release the adsorption on the glass surface when the glass is moved to the standard position.

8. A method for assembling frameless door glass, characterized in that: A frameless door glass assembly system according to any one of claims 1 to 7, comprising: The controller controls the door hanger positioning mechanism to limit the door hanger at the parking position in response to an arrival signal of the door hanger arriving at the parking position, wherein a door is provided at the door hanging position of the door hanger, and the door is pre-installed with glass to be adjusted; The controller controls the door pressing mechanism to press the door in the Z direction; The controller sends a first instruction to the vision module, wherein the first instruction is used to enable the vision module to take a photo of the vehicle door to obtain the actual position of the vehicle door and to take a photo of the glass to obtain the actual position of the glass; The controller determines the standard position of the glass according to a preset standard template of the glass relative to the door and the actual position of the glass and the actual position of the door fed back by the vision module; The controller sends the actual position of the glass and the standard position to the glass moving mechanism, so that the glass moving mechanism clamps the glass at the actual position of the glass and then moves the glass to the standard position; The controller sends a second instruction to the vision module, wherein the second instruction is used to cause the vision module to take a picture of the mounting piece of the glass clamping piece to obtain the position of the mounting piece of the glass clamping piece, so that the tightening mechanism moves the tightening shaft end to the mounting piece position; The controller sends a third instruction to the tightening mechanism, wherein the third instruction is used to control the tightening shaft end of the tightening mechanism to install the mounting piece at the mounting piece position into place; The controller sends a fourth instruction to the glass moving mechanism to release the clamping; The controller controls the visual module, the tightening mechanism and the glass moving mechanism to return to the safe zone; The controller controls the door pressing mechanism to release the Z-direction pressing of the door; The controller controls the door hanger positioning mechanism to release the restriction on the door hanger.

9. The method according to claim 8, characterized in that After the controller sends a third instruction to the tightening mechanism, wherein the third instruction is used to control the tightening shaft end of the tightening mechanism to install the mounting piece at the mounting piece position in place, the method further includes: The controller sends a fifth instruction to the visual module, wherein the fifth instruction is used to enable the visual module to take a photo of the glass to obtain a current position of the glass; The controller receives the current position of the glass fed back by the vision module and compares it with the standard position. If the deviation value between the current position and the standard position is less than a preset threshold, the glass is installed properly.

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