Automatic assembly system and method for vehicle vibration isolator

Abstract

The present disclosure relates to an automatic assembly system for a vehicle vibration isolator, comprising: a gripper provided with a guide pin, a fastener engaging portion, and a vacuum suction portion for picking up a vibration isolator loaded on a supply unit; the assembly robot is used for assembling the vibration isolation pad on a bottom plate of the vehicle; and a controller that moves the gripper to insert the guide pin into the fixing groove of the loaded vibration isolator and fix the fastener engaging portion to the fastener of the vibration isolator, moves the gripper toward the floor of the vehicle in a state in which the vibration isolator is fixed to the gripper by the vacuum suction portion, and moves the gripper toward the floor of the vehicle in a state in which the vibration isolator is supported by the gripper. The assembly robot is controlled to assemble the vibration isolator to the floor of the vehicle.

Description

Technical Field

[0001] The present disclosure relates to an automatic assembly system and method for a vehicle insulator, and more specifically, to an automatic assembly system and method for a vehicle insulator, wherein a system for assembling an insulator to a vehicle floor can be provided as an automated assembly system to replace a traditional system in which a mechanic manually performs assembly operations, thereby improving the safety and workability of operators. Background Art

[0002] The rear vibration isolator installed on the lower part of the vehicle acts as a sound absorber to isolate heat and vibration from the vehicle. It is one of the necessary components carried by the vehicle for heat insulation, dust prevention and electrical insulation.

[0003] Conventionally, the operation of attaching the rear vibration isolator to the vehicle is performed manually by a mechanic or operator. Although the rear vibration isolator itself is lightweight, since the attachment position is under the vehicle body, the vehicle body needs to be raised to at least a predetermined height in order to secure working space.

[0004] Accordingly, the operator must work under the vehicle body to assemble the rear vibration isolation pad to the vehicle body, which poses a safety hazard and may cause musculoskeletal disorders due to an uncomfortable working posture.

[0005] Recently, a solution has been sought to reduce the risk of accidents involving workers and the number of workers by building an automated system that uses robots to assemble the rear vibration isolation pads of vehicles. The prior art of such a solution can be found in KR 10-2341477A.

[0006] The above contents are only intended to help understanding the background of the present disclosure, but are not intended to represent that these contents fall within the scope of the prior art known to those skilled in the art. Summary of the invention

[0007] Technical issues

[0008] The present disclosure aims to provide a vehicle vibration isolation pad automatic assembly system and method, wherein the system for assembling the vibration isolation pad to the vehicle floor can be provided as an automated assembly system to replace the traditional system in which mechanics manually perform assembly operations, thereby improving the safety and workability of operators.

[0009] Technical Solution

[0010] In order to achieve at least one of the above-mentioned purposes, the present disclosure provides a vehicle vibration isolation pad automatic assembly system, comprising: a clamp, which is provided with a guide pin, a fastener engaging portion and a vacuum suction portion for picking up the vibration isolation pad loaded on a supply unit; an assembly robot, which is configured to assemble the vibration isolation pad to the floor of the vehicle; and a controller, which is configured to: move the clamp so that the guide pin is inserted into the fixing groove of the loaded vibration isolation pad and the fastener engaging portion is engaged with the fastener of the vibration isolation pad, move the clamp toward the floor of the vehicle while the vibration isolation pad is held on the clamp by the vacuum suction portion, and control the assembly robot to assemble the vibration isolation pad to the floor of the vehicle while the vibration isolation pad is supported on the clamp.

[0011] When the loaded vibration isolation pads have different fixing groove positions according to vehicle types, the guide pins may be inserted into the fixing grooves of the loaded vibration isolation pads at different positions according to vehicle types.

[0012] The guide pin may extend toward the vibration isolation pad and be inserted into the fixing groove of the loaded vibration isolation pad.

[0013] The vehicle vibration isolation pad automatic assembly system may further include a visual measurement unit configured to measure a position deviation between the vehicle floor and the vibration isolation pad and send the measured position correction value to the assembly robot. The visual measurement unit may be attached to an end of the assembly robot.

[0014] When the measured position correction value is transmitted to the assembly robot, the controller may control the assembly robot to adjust the position of the vibration isolation pad based on the measured position correction value and to assemble the vibration isolation pad to the floor of the vehicle.

[0015] The vehicle vibration isolation pad automatic assembly system may further include a rack gear configured to control the clamping and rotational movement of the fastener engaging portion. The controller may control the rack gear to rotate the fastener engaging portion clamping the fastener of the vibration isolation pad so that the fastener engaging portion engages with the fastener.

[0016] The vehicle vibration isolation pad automatic assembly system may also include a clamp, which is configured to hold or press the clamp and the vibration isolation pad by clamping with the clamp joint of the vibration isolation pad. When the vibration isolation pad is held on the clamp, the controller controls the clamp to clamp with the clamp joint of the vibration isolation pad and move the vibration isolation pad toward the bottom plate of the vehicle.

[0017] In a state where the clamp is clamped to the clamp engaging portion of the vibration isolation pad, the controller may move the clamp toward the floor of the vehicle and control the assembly robot to press the vibration isolation pad toward the floor of the vehicle so that the vibration isolation pad is assembled to the floor of the vehicle.

[0018] The gripper may be attached to the end of an assembly robot.

[0019] In order to achieve at least one of the above-mentioned purposes, the present disclosure provides a method for automatically assembling a vehicle vibration isolation pad, comprising: moving a clamp through a controller so that a guide pin is inserted into a fixing groove of a loaded vibration isolation pad; controlling a fastener engaging portion through a controller to engage with a fastener of the vibration isolation pad, and controlling a vacuum adsorption portion to hold the vibration isolation pad on the clamp; moving the clamp toward a floor of the vehicle through a controller; and controlling an assembly robot through a controller to assemble the vibration isolation pad to a floor of the vehicle when the vibration isolation pad is supported on the clamp.

[0020] The vehicle vibration isolation pad automatic assembly method may further include: before inserting the guide pin into the fixing groove of the loaded vibration isolation pad, measuring the position deviation between the vehicle floor and the vibration isolation pad by the visual measurement part, and sending the measured position correction value to the assembly robot.

[0021] The vehicle vibration isolation pad automatic assembly method may further include, after the vibration isolation pad is held on the holder by the vacuum suction portion, holding the holder and the vibration isolation pad by clamping the clamp with a clamp engaging portion of the vibration isolation pad by the controller.

[0022] The operation of assembling the vibration isolation pad to the floor of the vehicle by the controller may include controlling the assembly robot to press the vibration isolation pad toward the floor of the vehicle so that the vibration isolation pad is assembled to the floor of the vehicle.

[0023] Controlling the fastener engaging portion to engage with the fastener of the vibration isolation pad by the controller includes: controlling the rack gear to rotate the fastener engaging portion clamping the fastener of the vibration isolation pad so that the fastener engaging portion engages with the fastener.

[0024] Beneficial Effects

[0025] According to the vehicle vibration isolation pad automatic assembly system and method disclosed in the present invention, an automated assembly system for assembling vibration isolation pads to a vehicle floor can be provided, replacing the traditional system in which mechanics perform manual assembly operations, thereby improving the safety of operators and workability.

[0026] The effects of the present disclosure are not limited to the above description, and a person skilled in the art in the technical field to which the present disclosure belongs will clearly understand other effects not explicitly described in the present disclosure from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A configuration of a vehicle vibration isolation pad automatic assembly system according to an embodiment of the present disclosure is shown.

[0028] Figure 2 The clamper of the vehicle vibration isolation pad automatic assembly system is specifically shown.

[0029] Figure 3The vibration isolation pad fixture attachment is shown fastened to the fixture of the vehicle vibration isolation pad automatic assembly system.

[0030] Figure 4 The vibration isolation pad fastener is shown engaged with a fastener attachment of an automated vehicle vibration isolation pad assembly system.

[0031] Figure 5 A rack and pinion configured to control the clamping and rotational movement of a fastener attachment of an automated vehicle vibration isolation pad assembly system is shown.

[0032] Figure 6 It is shown Figure 1 Flow chart of the operation of the vehicle vibration isolation pad automatic assembly system. DETAILED DESCRIPTION

[0033] The specific structure and function description of the embodiments of the present disclosure disclosed herein are only for illustrative purposes of the embodiments of the present disclosure. Without departing from the spirit and important features of the present disclosure, the present disclosure can be embodied in a variety of different forms. Therefore, the embodiments of the present disclosure are only for illustrative purposes and should not be interpreted as limiting the present disclosure.

[0034] Since the embodiments of the present disclosure may be variously modified in a variety of different forms, reference will now be made in detail to various embodiments of the present disclosure, specific examples of which are shown in the accompanying drawings and described below. Although the present disclosure will be described in conjunction with the exemplary embodiments of the present disclosure, it should be understood that this description is not intended to limit the present disclosure to these exemplary embodiments. On the contrary, the present disclosure is intended to cover not only the exemplary embodiments, but also various alternatives, modifications, equivalents and other embodiments included in the spirit and scope of the present disclosure as defined by the appended claims.

[0035] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those commonly understood by those skilled in the art to which the present disclosure belongs. It should be further understood that those terms as defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and should not be interpreted as an idealized or overly formal meaning unless such a clear definition is provided herein.

[0036] Hereinafter, the embodiments disclosed in the present disclosure will be described in detail with reference to the accompanying drawings, wherein the same or similar constituent elements are assigned the same figure numerals regardless of the figure numbers of the accompanying drawings, and their repeated descriptions will be omitted. The terms "module" and "part" used in the following description are given or mixed only for the convenience of writing the specification, and have no different meanings or functions from each other. In addition, in the description of the present disclosure, when it is determined that a detailed description of the prior art will obscure the main points of the present disclosure, its detailed description will be omitted. In addition, the drawings are only intended to facilitate easy understanding of the embodiments disclosed herein, and the technical ideas disclosed herein are not limited by the drawings, and should be understood to include all changes, equivalents and alternatives included in the ideas and technical scope of the present disclosure.

[0037] It should be understood that although the terms “first”, “second”, etc. may be used herein to describe various elements, these elements are not limited by these terms. These terms are only used to distinguish one element from another element.

[0038] It should be understood that when an element is referred to as being "coupled," "connected," or "linked" to another element, it can be directly coupled or connected to the other element, or intervening elements may exist therebetween. In contrast, it should be understood that when an element is referred to as being "directly coupled," "directly connected," or "directly linked" to another element, there are no intervening elements.

[0039] As used herein, singular forms are intended to include plural forms as well, unless the context clearly indicates otherwise.

[0040] It should also be understood that the terms “comprises,” “including,” “having,” etc., when used in the specification, specify the presence of stated features, integers, steps, operations, elements, parts and / or combinations thereof, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or combinations thereof.

[0041] According to an embodiment of the present disclosure, it is proposed to provide an assembly robot in a vehicle vibration isolation pad automatic assembly system, which is configured to assemble the vibration isolation pad together with a clamp for clamping the vibration isolation pad to the bottom plate of the vehicle, so as to replace the traditional manual assembly method of the vibration isolation pad, thereby improving the safety and operability of the operator.

[0042] Figure 1 FIG. 2 shows a configuration of an automatic assembly system for a vehicle vibration isolation pad according to an embodiment of the present disclosure. Although fewer or more components may be included in the actual vehicle implementation, Figure 1 Components related to this embodiment are mainly shown.

[0043] refer to Figure 1, the pallet 600 of the vehicle vibration isolation pad automatic assembly system can load the vibration isolation pad and can be used to supply the parts by aligning the parts so that the vibration isolation pad is easy to be held by the clamp 200. As used herein, the vibration isolation pad refers to the rear vibration isolation pad assembled to the vehicle floor, but this is exemplary and not restrictive. The vibration isolation pad may refer to the vibration isolation pad attached at different positions.

[0044] The clamper 200 can clamp and hold the vibration isolation pad loaded on the tray 600, and includes a guide pin 250, a fastener engaging portion 210, and a vacuum adsorption portion 220 for removing the vibration isolation pad loaded on the supply device. Figure 2 The holder 200 is shown in detail in FIG. 1 and will be described below.

[0045] The assembly robot may be used to assemble the vibration isolation pad to the floor of the vehicle, and may include a mounting robot 100 and a fastening robot 300, such as Figure 1 As shown, but not limited to.

[0046] Assuming that the installation robots 100 and the fastening robots 300 have different functions, each of the installation robots 100 may have a clamper 200 attached to the end of its arm, and may install and temporarily fasten the vibration isolation pad by receiving the position coordinate value from the visual measurement part 400 and correcting it, and each of the fastening robots 300 may have a visual measurement part 400 attached thereto, and may be used to assist in the visual measurement of the vibration isolation pad installation and the position correction of the joint.

[0047] In addition, if Figure 1 As shown, the visual measurement unit 400 can be attached to the end of the assembly robot, and the floor and vibration isolation pad of the vehicle can be measured using a visual camera. Specifically, the visual measurement unit 400 can measure the position deviation of the vibration isolation pad and the floor of the vehicle, and send the position correction value of the measured position to the assembly robot. When the position correction value measured by the visual measurement unit 400 is sent to the assembly robot, the assembly robot uses the data to check the position where the vibration isolation pad is to be assembled. After the assembly robot checks the assembly position, the control unit controls the assembly robot to adjust the position of the vibration isolation pad based on the measured position correction value, and assembles the vibration isolation pad to the floor of the vehicle. In other words, by placing the vibration isolation pad in the correct position based on the position correction value, the assembly robot places the vibration isolation pad in the appropriate position of the floor of the vehicle, and assembles the vibration isolation pad to the floor of the vehicle by inserting the parts.

[0048] In addition, if Figure 1 As shown, the fastening slider 500 receives the information value of the fastener engagement portion 210 from the visual measurement portion 400, and fastens the fastener 210' at the corresponding position using a slider configured as a 3-JAW type, and rotates the fastener 210' 190 degrees, as described below.

[0049] The controller can control Figure 1 The clamper 200, the mounting robot 100, the fastening robot 300 and the visual measurement part 400 are shown. In the case of clamping the vibration isolation pad loaded on the pallet 600, the controller can move the clamper 200 so that the guide pin 250 is inserted into the fixing groove of the loaded vibration isolation pad, control the fastener engaging part 210 to engage with the fastener 210' of the vibration isolation pad, and use the vacuum adsorption part 220 to fix the vibration isolation pad to the clamper 200.

[0050] Furthermore, when assembling the vibration isolation pad to the floor of the vehicle, the controller may move the clamper 200 toward the floor of the vehicle and control the assembly robot to assemble the vibration isolation pad to the floor of the vehicle while the vibration isolation pad is supported by the clamper 200 .

[0051] In the following, reference will be made to Figure 2 A method of securing the clamp 200 of the vehicle vibration isolation pad automatic assembly system to the vibration isolation pad is described.

[0052] Figure 2 The clamper 200 of the vehicle vibration isolation pad automatic assembly system is specifically shown.

[0053] Specifically, the four points where the gripper 200 fixes the vibration isolation pad can be divided into a guide pin 250, a fastener engaging portion 210, a vacuum adsorption portion 220, and a clamp 240. The gripper 200 is attached to the end of the assembly robot to hold the vibration isolation pad, thereby facilitating the assembly of the vibration isolation pad to the floor of the vehicle. The position of the gripper 200 is not limited to the end of the assembly robot, and it can also be attached to various positions.

[0054] First, the guide pin 250 will be described. When the visual measurement part 400 or the sensor detects the pallet 600, the guide pin 250 is used to move the clamp 200 to the vibration isolation pad position to clamp the vibration isolation pad of the vehicle. The guide pin 250 of the clamp 200 can be inserted into the fixing groove of the loaded vibration isolation pad to help stabilize the vibration isolation pad when the vibration isolation pad is held on the clamp 200 by the fastener engaging part 210, the vacuum adsorption part 220 and the clamp 240 to be described below.

[0055] For different types of vehicles, the size and position of the vehicle floor are different. When the vibration isolation pad has a fixing groove at different positions according to the vehicle type, the guide pin 250 can be inserted into the fixing groove at different positions of the loaded vibration isolation pad according to the vehicle type. The visual measurement part 400 or the sensor can measure the insertion position of the guide pin 250 of the different vibration isolation pads according to the vehicle type, and the guide pin 250 can be inserted by vertical or horizontal movement to match the size and position of the vibration isolation pad according to the vehicle type.

[0056] Furthermore, in order to ensure that the guide pin 250 is accurately inserted into the vibration isolation pad, the guide pin 250 must be extended toward the vibration isolation pad and inserted into the fixing groove of the loaded vibration isolation pad.

[0057] Second, the fastener engaging portion 210 is engaged with the fastener 210' of the vibration isolation pad. Figure 4 , shows a fastener 210 ′ of a vibration isolation pad, with which a fastener engaging portion 210 of an automatic assembly system for a vehicle vibration isolation pad is engaged.

[0058] The fastener engaging portion 210 is a 3-JAW type and can be fastened to the fastener 210' by rotating 190 degrees after temporarily fastening the fastener 210'. The type of the fastener engaging portion 210 is not limited to the 3-JAW type.

[0059] In this case, the fastener engaging portion 210 is capable of rotational movement and clamping movement using a rack gear 215, which may be temporarily fastened to the fastener 210'. Figure 5 A rack and pinion 215 is shown, which is configured to control the clamping and rotational movement of the fastener engaging portion 210 of the vehicle vibration isolation pad automated assembly system. Figure 5 , the rack gear 215 can control the clamping and rotational movement of the fastener engaging portion 210. Therefore, the controller can control the rack gear 215 to rotate the fastener engaging portion 210 clamping the fastener 210' of the vibration isolation pad so that the fastener engaging portion 210 is engaged with the fastener 210'.

[0060] Third, while the fastener engaging portion 210 is engaged with the fastener 210' of the vibration isolation pad, the vacuum suction portion 220 can hold the vibration isolation pad on the holder 200. In order for the holder 200 to hold the vibration isolation pad, it must be able to suck in air so that the assembly robot can assemble the vibration isolation pad to the floor of the vehicle.

[0061] Therefore, air can be sucked by the vacuum generator 230 to form a near-vacuum condition, so that the vibration isolation pad can be held on the clamp 200. As a result, the vibration isolation pad can be held on the clamp 200 without being damaged by the adsorption method. The method of holding the vibration isolation pad using the above-mentioned vacuum adsorption part 220 is only illustrative and not limited thereto. It will be understood by those skilled in the art that various modifications can be made.

[0062] Finally, the clamp 240 can hold or press the clamp 200 and the vibration isolation pad by clamping with the vibration isolation pad clamp joint 240'. The clamp 240 can clamp the curved portion of the vibration isolation pad to make the holding more secure. When the assembly robot assembles the vibration isolation pad to the floor of the vehicle, the clamp 240 can facilitate the attachment operation by pressing the vibration isolation pad to the floor of the vehicle.

[0063] Therefore, in a state where the clamp 240 and the clamp engaging portion 240 ′ of the vibration isolation pad are clamped, the controller may move the clamper 200 toward the floor of the vehicle and control the assembly robot to press the vibration isolation pad to the floor of the vehicle so that the vibration isolation pad is assembled to the floor.

[0064] In summary, when the position where the vibration isolation pad is to be assembled to the floor of the vehicle is determined by the visual measurement unit 400 of the mounting robot 100 or the fastening robot 300, the position correction value measured by the visual measurement unit 400 is sent to the assembly robot, and the assembly robot checks the assembly position based on the data. When the gripper 200 reaches the gripping and adsorption position on the pallet 600, the guide pin 250 is inserted into the fixing groove of the vibration isolation pad, and the fastener engaging portion 210 is engaged with the fastener 210'. In the state where the fastener engaging portion 210 is engaged with the fastener 210', the vibration isolation pad is held on the gripper 200 by the vacuum adsorption portion 220 through the air generated by the vacuum generator 230.

[0065] Thereafter, the clamp 240 is clamped by the vibration isolation pad clamp engaging portion 240' to hold the clamp 200 and the vibration isolation pad. Thereafter, when the clamp 200 removes the vibration isolation pad from the pallet 600 and the assembly robot receives the correction value of the assembly position determined by the visual measurement portion 400, the assembly robot can position the vibration isolation pad to the correct position on the vehicle, and the fastener engaging portion 210 can fasten the fastener 210' to the vehicle bolt and fix the vibration isolation pad by rotation. In addition, since the cylinder operates in the direction opposite to the insertion direction of the guide pin 250, the vehicle bolt can be inserted into the fixing groove into which the guide pin 250 is inserted.

[0066] The clamp 240 can also be released from the clamp engaging portion 240' and pressed and assembled to the floor of the vehicle together with the vacuum adsorption portion 220 so as to install the bolt into another hole of the vibration isolation pad and make the component in close contact with the vehicle body. Once the vehicle body bolt is inserted into the hole of the vibration isolation pad, the tightening slider 500 tightens the component to complete the operation.

[0067] Will refer to Figure 6 A vehicle vibration isolating pad automatic assembly method according to an embodiment based on the above-mentioned vehicle configuration is described.

[0068] Figure 6 It is shown Figure 1 Flow chart of the operation of the vehicle vibration isolation pad automatic assembly system.

[0069] refer to Figure 6, the vehicle enters the process (S10), and the visual measurement unit 400 provided on the assembly robot or the installation robot 100 moves to measure the position of the floor of the vehicle (S11). When the visual measurement unit 400 measures the position correction value of the floor of the vehicle (S12), the visual measurement unit 400 sends the measured position correction value to the assembly robot, and the assembly robot receives the transmission (S13). At this time, the position correction value of the floor of the vehicle is obtained by taking an image at two L / R positions (i.e., a total of four positions) by the visual camera, and the visual control PC can send the correction value (X, Y, Z, Rx, Ry, Rz) by calculating the corresponding coordinate values.

[0070] Thereafter, before assembling the vibration isolation pad to the floor of the vehicle, when an operation completion signal is sent to the assembly robot, the vehicle is lifted using a lift provided on the robot (e.g., AMR or AGV) (S14). Thereafter, as the lift rises, the assembly robot moves to the lower portion of the vehicle and moves to the position of the bolts to be installed in the holes of the vibration isolation pad (S15).

[0071] The visual measurement unit 400 takes images of at least four bolt holes on the lower side of the vehicle (S16) and sends the correction values ​​to the assembly robot (S17). Then, the assembly robot moves to the pallet 600 to take out the vibration isolation pad (S18) and uses the gripper 200 to hold the vibration isolation pad by adsorption (S19). As described above, the operation of holding the vibration isolation pad by adsorption (S19) may include: moving the clamp 200 by the controller to insert the guide pin 250 into the fixing groove of the loaded vibration isolation pad; controlling the fastener engaging portion 210 by the controller to engage with the fastener 210′ ​​of the vibration isolation pad, and using the vacuum adsorption portion 220 to hold the vibration isolation pad on the clamp 200; controlling the clamp 240 by the controller to be clamped by the vibration isolation pad clamp engaging portion 240′ to hold the clamp 200 and the vibration isolation pad; moving the clamp toward the floor side of the vehicle by the controller; and controlling the assembly robot by the controller to assemble the vibration isolation pad to the floor of the vehicle in a state where the vibration isolation pad is supported by the clamp 200.

[0072] Thereafter, the assembly robot loaded with the vibration isolation pad moves to the vibration isolation pad assembly position (S20), the fastener engaging portion 210 engages with the fastener 210', and presses the fastener 210' while rotating at least 100 degrees (S21), and releases the guide pin 250 (S22). Subsequently, the bolts provided on the floor of the vehicle are assembled into the vibration isolation pad holes (S23), and the remaining fasteners 210' are fastened and then rotated in the same manner using the fastener engaging portion 210 of the assembly robot (S24), to complete the operation.

[0073] The detailed technical features of each step of the vehicle vibration isolation pad automated assembly method according to the present disclosure are the same as or similar to the technical features of each component of the above-mentioned vehicle insulator automated assembly system according to the present disclosure, so the detailed description thereof will be omitted.

[0074] In the step of controlling the fastener engaging part 210 to engage with the fastener 210 ′ of the vibration isolation pad through the controller, the controller may control the rack gear 215 to rotate the fastener engaging part 210 clamping the fastener 210 ′ of the vibration isolation pad so that the fastener engaging part 210 engages with the fastener 210 ′.

[0075] Therefore, according to the vehicle vibration isolation pad automatic assembly system and method disclosed in the present invention, it is possible to provide an automated assembly system for assembling vibration isolation pads to a vehicle floor, replacing the traditional system in which mechanics perform manual assembly operations, thereby improving the safety of operators and workability.

[0076] Although specific embodiments of the present disclosure have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the disclosure as disclosed in the accompanying claims.

[0077] <Description of Reference Symbols in the Drawings>

[0078] 100: Install the robot

[0079] 200: Gripper

[0080] 210: Fastener joint

[0081] 210′: Fasteners

[0082] 215: Rack and Pinion

[0083] 220: Vacuum adsorption unit

[0084] 230: Vacuum generator

[0085] 240: Fixture

[0086] 240′: Clamp joint

[0087] 250: Guide pin

[0088] 300: Fastening robot

[0089] 400: Visual Measurement Department

[0090] 500: Fasten the slider

[0091] 600: Pallet

Claims

1. An automatic assembly system for vehicle vibration isolation pads, include: a gripper provided with guide pins, a fastener engaging portion, and a vacuum suction portion for picking up the vibration isolation pad loaded on the supply unit; an assembly robot configured to assemble the vibration isolation pad to a floor pan of a vehicle; and A controller configured to: moving the clamp so that the guide pin is inserted into the fixing groove of the loaded vibration isolation pad and the fastener engaging portion is engaged with the fastener of the vibration isolation pad, In a state where the vibration isolation pad is held on the holder by the vacuum adsorption portion, the holder is moved toward the floor of the vehicle, and The assembly robot is controlled to assemble the vibration isolation pad to the floor panel of the vehicle in a state where the vibration isolation pad is supported on the clamper.

2. The vehicle vibration isolation pad automatic assembly system according to claim 1, in, When the loaded vibration isolation pads have different fixing groove positions according to the vehicle type, the guide pins are inserted into the fixing grooves of the loaded vibration isolation pads at different positions according to the vehicle type.

3. The vehicle vibration isolation pad automatic assembly system according to claim 1, in, The guide pin extends toward the vibration isolation pad and is inserted into the fixing groove of the loaded vibration isolation pad.

4. The vehicle vibration isolation pad automatic assembly system according to claim 1, further comprising: include: a visual measurement unit configured to measure a position deviation between a floor plate of the vehicle and the vibration isolation pad, and to send a measured position correction value to the assembly robot, Wherein, the visual measurement part is attached to an end of the assembly robot.

5. The vehicle vibration isolation pad automatic assembly system according to claim 4, in, When the measured position correction value is transmitted to the assembly robot, the controller controls the assembly robot to adjust the position of the vibration isolation pad based on the measured position correction value and to assemble the vibration isolation pad to the floor of the vehicle.

6. The vehicle vibration isolation pad automatic assembly system according to claim 1, further comprising: include: a rack and pinion configured to control the clamping and rotational movement of the fastener engaging portion, The controller controls the rack gear to rotate the fastener engaging portion of the fastener clamping the vibration isolation pad, so that the fastener engaging portion engages with the fastener.

7. The vehicle vibration isolation pad automatic assembly system according to claim 1, further comprising: include: a clamp configured to hold or press the holder and the vibration isolation pad by clamping with a clamp engaging portion of the vibration isolation pad, Wherein, in a state where the vibration isolation pad is held on the clamper, the controller controls the clamp to clamp with a clamp engaging portion for the vibration isolation pad and move the vibration isolation pad toward a floor of the vehicle.

8. The vehicle vibration isolation pad automatic assembly system according to claim 7, in, In a state where the clamp is clamped with a clamp engaging portion for the vibration isolation pad, the controller moves the clamp toward a floor of the vehicle and controls the assembly robot to press the vibration isolation pad toward the floor of the vehicle so that the vibration isolation pad is assembled to the floor of the vehicle.

9. The vehicle vibration isolation pad automatic assembly system according to claim 1, in, The gripper is attached to an end of the assembly robot.

10. A method for automatically assembling a vehicle vibration isolation pad, The following steps are involved: Moving the clamper by the controller so that the guide pin is inserted into the fixing groove of the loaded vibration isolation pad; Controlling the fastener engaging portion to engage with the fastener of the vibration isolation pad through the controller, and controlling the vacuum adsorption portion to hold the vibration isolation pad on the holder; moving the gripper toward a floor of a vehicle via the controller; as well as In a state where the vibration isolation pad is supported on the clamper, the assembly robot is controlled by the controller to assemble the vibration isolation pad to the floor of the vehicle.

11. The method for automatically assembling a vehicle vibration isolation pad according to claim 10, further comprising: include: Before inserting the guide pin into the fixing groove of the loaded vibration isolation pad, The position deviation between the bottom plate of the vehicle and the vibration isolation pad is measured by a visual measurement unit, and the measured position correction value is sent to the assembly robot.

12. The method for automatically assembling a vehicle vibration isolation pad according to claim 10, further comprising: include: After the vibration isolation pad is held on the holder by the vacuum adsorption part, The controller holds the clamper and the vibration isolation pad by clamping a clamp to a clamp engaging portion of the vibration isolation pad.

13. The automatic assembly method of the vehicle vibration isolation pad according to claim 12, in, Assembling the vibration isolation pad to the floor of the vehicle by the controller includes: controlling the assembly robot to press the vibration isolation pad toward the floor of the vehicle so that the vibration isolation pad is assembled to the floor of the vehicle.

14. The automatic assembly method of the vehicle vibration isolation pad according to claim 10, in, Controlling the fastener engagement portion to engage with the fastener of the vibration isolation pad by the controller includes: controlling a rack gear to rotate the fastener engagement portion clamping the fastener of the vibration isolation pad so that the fastener engagement portion engages with the fastener.

Images