Automatic assembly method and assembly system for vehicle back door

Abstract

The invention discloses an automatic assembling method and system for a vehicle back door, and the method comprises the steps: carrying out the visual positioning of the back door, and controlling a positioning device to grab the back door according to a visual positioning result; the back door is moved to the calibration device through the positioning device, and position correction treatment is conducted on hinges and studs on the back door through the calibration device; performing position detection on a stud hole in the hinge to obtain a first position detection result; performing position detection on the vehicle body and a mounting hole in the vehicle body to obtain a second position detection result; if the first position detection result is matched with the second position detection result, the first position detection result and the second position detection result are used for guiding and controlling the positioning device to mount the back door on the vehicle body, the nut is screwed on the stud through the assembling device, and the positioning device is controlled to close and release the back door. According to the invention, the effect of accurately and automatically mounting the back door on the vehicle body can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle tailgate assembly, and in particular to an automatic assembly method and an assembly system for a vehicle tailgate. Background Art

[0002] In the existing vehicle tailgate assembly operation, at least three operators are required to cooperate to complete the installation and tightening of the vehicle tailgate. At the same time, they are also required to manually lift the door or operate heavy auxiliary equipment, which is difficult and dangerous to operate. At the same time, the vehicle tailgate assembly process is prone to low operating efficiency, resulting in a waste of man-hours. The manually installed tailgate has the problem of the hole accuracy not being guaranteed, and the hinges are easily stressed during the assembly process, which in turn affects the quality of the tailgate. In addition, during the manual assembly of the vehicle tailgate, at least five installation auxiliary jigs are required. The installation auxiliary jigs need to be manually installed and recycled. Due to the high accuracy requirements, regular inspections are also required, further increasing production and maintenance costs.

[0003] In view of this, it is necessary to invent an automatic assembly method for a vehicle back door. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an automatic assembly method and assembly system for a vehicle back door, wherein the automatic assembly method for the vehicle back door positions the back door and the vehicle body respectively through visual positioning, and realizes fully automatic assembly of the vehicle back door through a positioning device and an assembly device. In addition, during the assembly process of the back door, the position of the hinge on the back door is corrected, the position of the stud hole is detected, and then the position of the mounting hole on the vehicle body is detected, so as to ensure the assembly accuracy of the vehicle back door without using auxiliary jigs.

[0005] The technical solution of the present invention provides an automatic assembly method for a vehicle back door, comprising:

[0006] Performing visual positioning on the back door, and controlling a positioning device to grab the back door according to the visual positioning result;

[0007] The tailgate is moved to the calibration device by the positioning device, and the hinges and studs on the tailgate are corrected by the calibration device;

[0008] Performing position detection on the stud hole on the hinge to obtain a first position detection result;

[0009] Performing position detection on the vehicle body and the mounting holes on the vehicle body to obtain a second position detection result;

[0010] If the first position detection result and the second position detection result match, the first position detection result and the second position detection result are used to guide and control the positioning device to install the tailgate onto the vehicle body, the nut is tightened onto the stud through the assembly device, and the positioning device is controlled to close and release the tailgate.

[0011] In one of the optional technical solutions, the position correction process of the hinge and the stud on the tailgate by the calibration device includes:

[0012] Controlling the positioning device to move the back door and move the hinge to the correction component of the calibration device;

[0013] The opening angle of the hinge is adjusted by the correction component so that each stud passes through the corresponding stud hole on the hinge.

[0014] In one of the optional technical solutions, the step of performing position detection on the stud hole on the hinge to obtain a first position detection result includes:

[0015] Controlling the positioning device to move the back door so that the hinge is aligned with the first two-dimensional camera on the calibration device;

[0016] Acquire a two-dimensional image of the stud hole by using the first two-dimensional camera;

[0017] Determining the position of the stud hole according to the two-dimensional image of the stud hole;

[0018] If each of the studs passes through the corresponding stud hole and the position deviation of the stud hole is less than the first deviation threshold, a first position detection result that meets the assembly condition is output.

[0019] In one of the optional technical solutions, the performing of visual positioning on the back door and controlling a positioning device to grab the back door according to the visual positioning result includes:

[0020] Obtain three-dimensional images of both sides of the back door respectively by using a first three-dimensional camera on the positioning device;

[0021] Performing three-dimensional structured light synthesis positioning according to the three-dimensional images of both sides of the back door to obtain a first positioning result;

[0022] The positioning device is guided according to the first positioning result, and the positioning device is controlled to move and grasp the rear door.

[0023] In one of the optional technical solutions, the step of performing position detection on the vehicle body and the mounting hole on the vehicle body to obtain a second position detection result includes:

[0024] Obtaining three-dimensional images of both sides of the vehicle body respectively by means of a second three-dimensional camera on the assembly device;

[0025] Performing three-dimensional structured light synthesis positioning according to the three-dimensional images of both sides of the vehicle body to obtain a second positioning result;

[0026] Acquiring a two-dimensional image of the mounting hole by a second two-dimensional camera on the assembly device;

[0027] Determining the position of the mounting hole according to the two-dimensional image of the mounting hole;

[0028] If the position of the vehicle body is within the assembly range and the position deviation of the mounting hole is less than a second deviation threshold, a second position detection result that meets the assembly condition is output.

[0029] In one of the optional technical solutions, if the first position detection result and the second position detection result match, guiding and controlling the positioning device to install the tailgate to the vehicle body by the first position detection result and the second position detection result, tightening the nut onto the stud by an assembly device, and controlling the positioning device to close and release the tailgate, including:

[0030] Controlling the positioning device according to the first position detection result and the second positioning result to move the tailgate onto the vehicle body so that the stud passes through the mounting hole;

[0031] Control the assembly device to move according to the second position detection result so that the nut is aligned with the stud passing through the mounting hole, and control the assembly device to rotate the nut so that the nut is tightened onto the stud;

[0032] The positioning device is controlled to drive the back door to close on the vehicle body.

[0033] In one of the optional technical solutions, before visually positioning the back door and controlling the positioning device to grab the back door according to the visual positioning result, the method further includes:

[0034] pre-installing hinges and studs on a tailgate, and conveying the tailgate to a first target location via a conveyor line;

[0035] The nuts are conveyed by a nut conveying device, and the assembling device is controlled to obtain the nuts from the nut conveying device.

[0036] The technical solution of the present invention provides an assembly system for realizing any of the aforementioned automatic assembly methods for vehicle tailgates, comprising a main control device, a conveyor line for conveying tailgates, a nut conveying device for conveying nuts, a positioning device for grasping tailgates, an assembly device for realizing visual positioning and installing nuts, and a calibration device for correcting the positions of hinges and studs on the tailgate;

[0037] The main control device is communicatively connected with the conveying line, the nut conveying device, the positioning device, the assembling device and the calibration device respectively.

[0038] In one of the optional technical solutions, the positioning device includes a first mechanical arm and a positioning fixture connected to the first mechanical arm for grabbing the back door, and the positioning fixture is provided with a first three-dimensional camera for acquiring a three-dimensional image of the back door;

[0039] The assembly device comprises a second mechanical arm and a tightening assembly connected to the second mechanical arm for tightening a nut, wherein the tightening assembly is provided with a second three-dimensional camera for acquiring a three-dimensional image of a vehicle body and a second two-dimensional camera for acquiring a two-dimensional image of a mounting hole on the vehicle body;

[0040] The calibration device includes a correction component for performing position correction processing on the hinge and the stud on the back door and a first two-dimensional camera for acquiring a two-dimensional image of the stud hole on the hinge.

[0041] In one of the optional technical solutions, the tightening assembly includes a driving mechanism, a steering mechanism and an actuator, one end of the driving mechanism is connected to the end of the second mechanical arm, the other end of the driving mechanism is rotatably connected to the middle part of the actuator through the steering mechanism, and the second two-dimensional camera and the second three-dimensional camera are respectively arranged on the driving mechanism;

[0042] The driving mechanism comprises a driving cylinder for changing the extension distance of the actuator, a latch for limiting the position of the actuator, and a latch cylinder for driving the latch to move;

[0043] The actuator comprises a tightening gun, a torque transmission box and a nut sleeve which are connected in sequence and used to provide torque.

[0044] The above technical solution has the following beneficial effects:

[0045] The automatic assembly method of the vehicle back door provided by the present invention respectively positions the back door and the vehicle body through visual positioning, and realizes the fully automatic assembly of the vehicle back door through the positioning device and the assembly device. On the other hand, during the assembly process of the back door, the hinge on the back door is corrected and the position of the stud hole is detected, and then the position of the mounting hole on the vehicle body is detected. Only when the position detection results of the bolt hole and the mounting hole meet the assembly conditions at the same time, the assembly will continue, so as to ensure the assembly accuracy of the vehicle back door without using auxiliary jigs, and at the same time ensure the safety during the automatic assembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. It should be understood that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In the drawings:

[0047] Figure 1 A flowchart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0048] Figure 2 A flowchart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0049] Figure 3 A flowchart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0050] Figure 4 A flowchart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0051] Figure 5 A flowchart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0052] Figure 6 A flowchart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0053] Figure 7 A physical flow chart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0054] Figure 8 A physical flow chart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0055] Fig. 9 A physical flow chart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0056] Fig.10 A physical flow chart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0057] Fig.11 A physical flow chart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0058] Fig.12 A physical flow chart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0059] Fig.13 A physical flow chart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0060] Fig.14 A physical flow chart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0061] Fig.15 A physical flow chart of an automatic assembly method for a vehicle back door provided by an embodiment of the present invention;

[0062] Fig.16 A schematic diagram of the structure of an assembly system provided by an embodiment of the present invention;

[0063] Fig.17 A schematic diagram of the structure of a positioning device provided by an embodiment of the present invention;

[0064] Fig.18 A schematic diagram of the structure of a positioning fixture provided by an embodiment of the present invention;

[0065] Fig.19 A schematic diagram of the structure of an assembly device provided by an embodiment of the present invention;

[0066] Fig. 20 A schematic diagram of the structure of a tightening assembly provided in one embodiment of the present invention;

[0067] Fig.21 A schematic diagram of the structure of a calibration device provided by an embodiment of the present invention;

[0068] Fig. 22 A schematic diagram of the structure of a conveyor line provided by an embodiment of the present invention;

[0069] Fig.23 A schematic diagram of the structure of a material cart provided by an embodiment of the present invention;

[0070] Fig.24 A schematic structural diagram of a nut conveying device provided in one embodiment of the present invention;

[0071] Fig.25 A schematic structural diagram of a nut splitting mechanism provided in one embodiment of the present invention;

[0072] Fig.26A schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention.

[0073] Reference numerals in the figures:

[0074] 1. Back door; 11. Hinge;

[0075] 2. Vehicle body; 21. Mounting hole;

[0076] 3. Main control device;

[0077] 4. Conveyor line; 41. Guide rail; 42. Material cart;

[0078] 5. Nut conveying device; 51. Vibrating plate; 52. Nut separating mechanism;

[0079] 6. Positioning device; 61. First mechanical arm; 62. Positioning fixture; 621. Main frame; 622. Side clamping assembly; 623. Side positioning assembly; 624. Panel adsorption assembly; 625. Door closing assembly; 63. First three-dimensional camera;

[0080] 7. Assembling device; 71. Second mechanical arm; 72. Tightening assembly; 721. Driving mechanism; 7211. Connecting flange; 7212. Driving cylinder; 7213. Latch; 7214. Latch cylinder; 722. Steering mechanism; 723. Actuating mechanism; 7231. Tightening gun; 7232. Torque transmission box; 7233. Nut sleeve; 73. Second three-dimensional camera; 74. Second two-dimensional camera;

[0081] 8. Calibration device; 81. Correction component; 82. First two-dimensional camera. DETAILED DESCRIPTION

[0082] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0083] like Figure 1 The figure shows a workflow diagram of an automatic assembly method for a vehicle tailgate provided by an embodiment of the present invention, wherein a main control device 3 is required to control the conveyor line 4, nut conveying device 5, positioning device 6, assembly device 7 and calibration device 8 described below. The positioning device 6 and the assembly device 7 are moved by robotic arms respectively. The main control device 3 includes at least an air control cabinet, a main distribution board, a visual cabinet and a robotic arm control cabinet. Each two-dimensional camera and three-dimensional camera is provided with a light source to ensure the quality of shooting. The camera may also be other camera devices capable of acquiring images or videos as required.

[0084] The automatic assembly method of a vehicle back door provided by an embodiment of the present invention comprises:

[0085] Step S101 : visually positioning the back door 1 , and controlling the positioning device 6 to grab the back door 1 according to the visual positioning result.

[0086] Step S102 : The tailgate 1 is moved to the calibration device 8 by the positioning device 6 , and the hinge 11 and the stud on the tailgate 1 are corrected by the calibration device 8 .

[0087] Step S103: Perform position detection on the stud hole on the hinge 11 to obtain a first position detection result.

[0088] Step S104: Perform position detection on the vehicle body 2 and the mounting hole 21 on the vehicle body 2 to obtain a second position detection result.

[0089] Step S105: If the first position detection result and the second position detection result match, the first position detection result and the second position detection result are used to guide the control positioning device 6 to install the tailgate 1 on the vehicle body 2, the nut is tightened onto the stud through the assembly device 7, and the control positioning device 6 is closed and releases the tailgate 1.

[0090] Taking a hinge with two studs as an example, the studs passing through the stud holes can be considered concentric, and the position of the stud holes detected is equal to the position of the studs. The information in the first position detection result includes the center point distance between the two studs in the same hinge and the midpoint position of the center distance between the two studs. After the center point distance between the two studs meets the requirements, the midpoint position of the center distance between the two studs is obtained, and the positioning device 6 is guided to move with the midpoint position. Correspondingly, the second position detection result includes the center point distance between the two mounting holes of the same hinge and the midpoint position of the center distance between the two mounting holes. The first position detection result and the second position detection result are matched. Only when the center point distance between the two mounting holes is consistent with the center point distance between the two studs, the back door 1 is further assembled, and then the midpoint position of the center distance between the two mounting holes is obtained. The back door 1 is driven by the guiding positioning device 6 to align the midpoint position of the center distance between the two studs with the midpoint position of the center distance between the two mounting holes, so as to achieve precise guiding and positioning.

[0091] Among them, in different car models, the positions and quantities of the hinges 11 and the studs are different. The present invention takes a hatchback tailgate 1 as a preferred example. A hinge 11 is provided on each side of the tailgate 1, two studs are provided on each hinge 11, two stud holes are provided on each hinge 11, and two mounting holes 21 are provided on each side of the vehicle body 2.

[0092] In step S101, the back door 1 is firstly accurately positioned using visual positioning technology, specifically, a three-dimensional image of the back door 1 is obtained by the first three-dimensional camera 63 on the positioning device 6, and visual positioning is achieved through the three-dimensional image to ensure that the back door 1 can be accurately grasped by the positioning device 6, specifically, the back door 1 is clamped by the positioning clamp 62 on the positioning device 6.

[0093] In step S102, the tailgate 1 is moved to the corresponding position of the calibration device 8 by moving the positioning device 6, and the calibration device 8 is controlled to perform fine position correction on the hinge 11 and the stud on the tailgate 1 to ensure that the angle of the hinge 11 is suitable for assembly to ensure the accuracy of subsequent assembly.

[0094] In step S103, the tailgate 1 is continued to be moved to the two-dimensional shooting position of the calibration device 8 by moving the positioning device 6, and the stud holes on all the hinges 11 on the tailgate 1 are respectively photographed in two dimensions by the first two-dimensional camera 82 on the calibration device 8 to obtain and analyze the two-dimensional images of the stud holes, thereby ensuring that the opening angle of the hinge 11 meets the assembly requirements and that each stud passes through the corresponding stud hole without displacement or deformation of the stud.

[0095] In step S104, the three-dimensional image of the vehicle body 2 is obtained by moving the assembly device 7 for alignment and by using the second three-dimensional camera 73 on the assembly device 7 to achieve visual positioning of the vehicle body 2, and then the assembly device 7 is moved and the second two-dimensional camera 74 on the assembly device 7 is used to perform position detection on the mounting holes 21 on the vehicle body 2 for connection with the tailgate 1 to ensure that the mounting holes 21 match the studs on the hinge 11.

[0096] In step S105, after ensuring that the positions of each installation part correspond, the positioning device 6 is moved to connect the tailgate 1 to the vehicle body 2, and each stud on the hinge 11 is controlled to accurately pass through the corresponding installation hole 21 from top to bottom, and then the assembly device 7 that has grasped the nut is moved to align with the lower end of the stud, so that the nut is tightened onto the stud to achieve the installation of the hinge 11, thereby achieving a fastened connection between the tailgate 1 and the vehicle body 2 that can be opened and closed.

[0097] This embodiment performs visual positioning of the tailgate 1 and the vehicle body 2, performs position correction on the hinge 11 and the stud, and performs position detection on the stud hole and the mounting hole 21. With the triple guarantee, the accuracy and efficiency of the automated assembly of the vehicle tailgate 1 can be ensured.

[0098] In summary, the automatic assembly method of the vehicle tailgate provided by the embodiment of the present invention respectively positions the tailgate 1 and the vehicle body 2 through visual positioning, and realizes the fully automatic assembly of the vehicle tailgate 1 through the positioning device 6 and the assembly device 7. On the other hand, during the assembly process of the vehicle tailgate 1, the hinge 11 on the tailgate 1 is positionally corrected and the position of the stud hole is detected, and then the position of the mounting hole 21 on the vehicle body 2 is detected. Only when the position detection results of the bolt hole and the mounting hole 21 meet the assembly conditions at the same time, the assembly will continue, so as to ensure the assembly accuracy of the vehicle tailgate 1 without using auxiliary jigs, and at the same time ensure the safety during the automatic assembly process.

[0099] In one embodiment, step S101 includes:

[0100] The three-dimensional images of the two sides of the tailgate 1 are obtained respectively by the first three-dimensional camera 63 on the positioning device 6 .

[0101] Three-dimensional structured light synthesis positioning is performed according to the three-dimensional images on both sides of the back door 1 to obtain a first positioning result.

[0102] The positioning device 6 is guided according to the first positioning result, and the positioning device 6 is controlled to move and grab the back door 1 .

[0103] In this embodiment, the first three-dimensional camera 63 on the positioning device 6 obtains three-dimensional images on both sides of the back door 1, and at least one three-dimensional image is obtained on each side of the back door 1. The three-dimensional visual positioning is performed through the three-dimensional image of the back door 1, specifically, the position of the back door 1 is determined by data fitting, and then the positioning device 6 is controlled to move accordingly according to the located position of the back door 1, and the first mechanical arm 61 is controlled to move and drive the positioning fixture 62 to move through the main control device 3, so that the positioning fixture 62 reaches the gripping position of the back door 1, and then the positioning fixture 62 is controlled by the main control module to change the gripping state, so that the positioning fixture 62 firmly grips the back door 1. In the subsequent steps, the back door 1 is fixedly connected to the positioning fixture 62, and the back door 1 moves with the movement of the positioning device 6.

[0104] Among them, the three-dimensional structured light synthesis positioning is to actively project structured light onto the back door 1 through the light source on the first three-dimensional camera 63, and use the deformation or flight time of the structured light to determine the size and structure of the back door 1. After the structured light is projected onto the back door 1, the back door 1 will modulate the structured light, and the modulated structured light is collected by the first three-dimensional camera 63, and then the main control device 3 performs algorithm analysis to calculate the three-dimensional surface data of the back door 1. The three-dimensional structured light synthesis positioning can determine the position and surface structure of the back door 1, so as to accurately control the positioning fixture 62 on the positioning device 6 to contact the surface of the back door 1 according to the designed structure, and control the positioning fixture 62 to firmly grasp the back door 1.

[0105] In one embodiment, if Figure 2 As shown, step S102 includes:

[0106] Step S201 : controlling the positioning device 6 to move the tailgate 1 , and moving the hinge 11 to the correction component 81 of the calibration device 8 .

[0107] Step S202 : adjusting the opening angle of the hinge 11 by means of the correction component 81 so that each stud passes through the corresponding stud hole on the hinge 11 .

[0108] In one embodiment, if Figure 3 As shown, step S103 includes:

[0109] Step S301 : controlling the positioning device 6 to move the tailgate 1 so that the hinge 11 is aligned with the first two-dimensional camera 82 on the calibration device 8 .

[0110] Step S302 : acquiring a two-dimensional image of the stud hole by using the first two-dimensional camera 82 .

[0111] Step S303: determining the position of the stud hole according to the two-dimensional image of the stud hole.

[0112] Step S304: if each stud passes through the corresponding stud hole and the position deviation of the stud hole is less than the first deviation threshold, then outputting a first position detection result that meets the assembly condition.

[0113] In one embodiment, if Figure 4 As shown, step S104 includes:

[0114] Step S401: obtaining three-dimensional images of both sides of the vehicle body 2 through the second three-dimensional camera 73 on the assembly device 7 respectively.

[0115] Step S402: performing three-dimensional structured light synthesis positioning according to the three-dimensional images of both sides of the vehicle body 2 to obtain a second positioning result.

[0116] Step S403 : acquiring a two-dimensional image of the mounting hole 21 through the second two-dimensional camera 74 on the assembly device 7 .

[0117] Step S404 : determining the position of the mounting hole 21 according to the two-dimensional image of the mounting hole 21 .

[0118] Step S405: If the position of the vehicle body 2 is within the assembly range and the position deviation of the mounting hole 21 is less than the second deviation threshold, a second position detection result that meets the assembly condition is output.

[0119] In one embodiment, if Figure 5 As shown, step S105 includes:

[0120] Step S501 : controlling the positioning device 6 according to the first position detection result and the second positioning result, moving the tailgate 1 onto the vehicle body 2 , and allowing the stud to pass through the mounting hole 21 .

[0121] Step S502: Control the assembly device 7 to move according to the second position detection result, align the nut with the stud passing through the mounting hole 21, and control the assembly device 7 to rotate the nut so that the nut is tightened onto the stud.

[0122] Step S503 : controlling the positioning device 6 to drive the tailgate 1 to close on the vehicle body 2 .

[0123] This embodiment ensures that the gap between the back door 1 and the vehicle body 2 after it is installed and closed meets the assembly requirements by ensuring the installation accuracy.

[0124] As a preferred implementation, the method may further include step S504: detecting a gap between the closed back door 1 and the vehicle body 2 , and if the gap meets a preset condition, controlling the positioning device 6 to release the back door 1 .

[0125] When acquiring a 3D image and a 2D image, the first 3D camera 63, the second 3D camera 73, the first 2D camera 82 and the second 2D camera 74 all emit illumination light or structured light from the light source to ensure the clarity and content accuracy of the 3D image and the 2D image. When acquiring a 2D image and a 3D image, the positioning device 6 or the assembly device 7 can be moved in sequence to obtain the images respectively. Alternatively, multiple 2D cameras or 3D cameras can be set as needed to achieve the effect of simultaneously acquiring multiple 2D images or multiple 3D images.

[0126] If it is detected that the stud hole accuracy of the stud does not meet the standard, the assembly of the tailgate 1 is suspended, and a corresponding alarm is issued to remind the operator. Mechanical correction can also be automatically performed through the correction component 81 on the calibration device 8.

[0127] The two-dimensional image of the mounting hole 21 on the vehicle body 2 needs to be fitted with the two-dimensional image of the stud hole on the hinge 11 by a visual algorithm. Specifically, the positions of the stud and the mounting hole 21 need to be matched one by one, and the deviations are calculated in the X and Y directions, that is, the deviations in the horizontal and vertical directions are calculated. When comparing separately, ensure that the position deviation of the stud hole from the preset position is less than the first deviation threshold and the deviation of the mounting hole 21 from the preset position is less than the second deviation threshold. Preferably, the first deviation threshold and the second deviation threshold are both 0.1 mm. When performing a mixed comparison, the two different two-dimensional images are positioned and fitted by a visual algorithm, so that the position of the stud hole and the position of the mounting hole 21 are compared with each other as reference objects to ensure that the position deviation of the stud and the mounting hole 21 is within the preset range.

[0128] When positioning the vehicle body 2, it is necessary to use six degrees of freedom data for positioning, specifically the distance positioning of the XYZ coordinate axis and the angle positioning of the RxRyRz coordinate axis. First, place the vehicle body 2 on the slide and roughly position it through the slide. At this time, the positioning accuracy is: the deviation range of the XYZ coordinate axis is plus or minus 15mm, and the deviation range of the RxRyRz coordinate axis is plus or minus 3°. Then, the three-dimensional images of both sides of the vehicle body 2 are obtained by the second three-dimensional camera 73 on the assembly device 7, and then the position of the vehicle body 2 is fitted by the three-dimensional images on both sides to minimize the angle deviation. At this time, after fitting the two six-degree-of-freedom data, the deviation range of the XY coordinate axis of the vehicle body 2 position is 0.5mm, the deviation range of the Z coordinate axis is 0.8mm, and the deviation range of the RxRyRz coordinate axis is plus or minus 0.5°. Finally, high-precision positioning is performed using the plane data of three-dimensional vision, and the two-dimensional images of the mounting holes 21 on both sides of the vehicle body 2 are obtained by the second two-dimensional camera 74 on the assembly device 7, and the plane accuracy is improved to within 0.1mm deviation.

[0129] For example, there are four mounting holes 21 on the vehicle body 2, two on the left and two on the right sides of the vehicle body 2. The mounting holes 21 on the left are Y1 and Y2, and the mounting holes 21 on the right are Y3 and Y4. Positioning is performed based on the center distance of the mounting holes 21, (Y1+Y2) / 2=A1, (Y3+Y4) / 2=A2, and the final Y-axis centering determination is (A1+A2) / 2, with a repeatability accuracy of ±0.1mm.

[0130] By performing three-dimensional visual positioning on the back door 1, it is ensured that the positioning device 6 can reliably grasp the back door 1. Then, the position of the stud on the back door 1 is corrected and two-dimensionally positioned, and then the vehicle body 2 is positioned in three dimensions. Finally, the mounting hole 21 on the vehicle body 2 is accurately positioned in two dimensions to ensure that the positions of the stud and the mounting hole 21 match, thereby ensuring that the positioning device 6 can accurately drive the stud to pass through the mounting hole 21, and ensuring that the assembly device 7 can accurately tighten the nut onto the stud after passing through the mounting hole 21.

[0131] After the nuts are tightened, the assembly device 7 moves away, and the first mechanical arm 61 of the positioning device 6 moves precisely to drive the back door 1 to close, and then the door closing assembly 625 on the positioning fixture 62 flexibly pushes the glass of the back door 1 to close the back door 1 and the vehicle body 2. After the back door 1 is closed, the image of the back door 1 is obtained to determine whether the gap between the back door 1 and the vehicle body 2 is within a preset range.

[0132] In one embodiment, if Figure 6 As shown, before step S101, it also includes:

[0133] Step S601: pre-install hinges 11 and studs on the back door 1, and convey the back door 1 to a first target position via the conveyor line 4.

[0134] Step S602 : conveying nuts via the nut conveying device 5 , and controlling the assembly device 7 to obtain nuts from the nut conveying device 5 .

[0135] The nut conveying device 5 transports and simultaneously raises multiple nuts to a preset position, so that the tightening assembly 72 on the assembly device 7 can accurately and simultaneously obtain multiple nuts, thereby improving the processing efficiency of nut tightening. During the operation of the assembly device 7, nuts can be tightened on the studs on the same side at the same time.

[0136] like Figure 7-15 As shown, it is a schematic diagram of the overall process of installing the vehicle tailgate 1 onto the vehicle body 2 , wherein precise positioning and assembly are mainly accomplished through the actions of the positioning device 6 and the assembly device 7 .

[0137] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0138] like Figure 16-25 As shown, the technical solution of the present invention provides an assembly system for realizing any of the aforementioned automatic assembly methods for vehicle tailgates, including a main control device 3, a conveyor line 4 for transporting the tailgate 1, a nut conveying device 5 for conveying nuts, a positioning device 6 for grasping the tailgate 1, an assembly device 7 for realizing visual positioning and installing nuts, and a calibration device 8 for correcting the positions of the hinges 11 and studs on the tailgate 1.

[0139] The main control device 3 is respectively connected to the conveying line 4, the nut conveying device 5, the positioning device 6, the assembly device 7 and the calibration device 8. The main control device 3 includes a gas control cabinet, a main switchboard, a visual cabinet and a robot arm control cabinet to control the operation of different devices to complete the automatic assembly of the back door 1.

[0140] like Fig.17 and Fig.18 As shown, the positioning device 6 includes a first mechanical arm 61 and a positioning fixture 62 connected to the first mechanical arm 61 for grasping the back door 1 , and a first three-dimensional camera 63 for acquiring a three-dimensional image of the back door 1 is disposed on the positioning fixture 62 .

[0141] The positioning fixture 62 includes a main frame 621, and a mechanical arm connecting end, a side clamping assembly 622, a side positioning assembly 623, a panel adsorption assembly 624 and a door closing assembly 625 installed on the main frame 621. The mechanical arm connecting end is used to connect with the first mechanical arm 61. The side clamping assembly 622 is slidably installed on one side of the main frame 621, and is used to clamp the left and right sides of the back door 1. The side positioning assembly 623 is slidably installed on the other side of the main frame 621, and is used to position the left and right sides of the back door 1. The panel adsorption assembly 624 is located on the same side of the side clamping assembly 622, and is used to adsorb the upper panel of the back door 1. The door closing assembly 625 is located on the same side of the side positioning assembly 623, and is used to adsorb the lower panel of the back door 1 and push the back door 1 to close.

[0142] The panel adsorption assembly 624 includes a third driving cylinder 7212, a third driving rod, a third slider, a third slide rail and a vacuum adsorption unit. The third driving cylinder 7212 is installed on the main frame 621. The third driving cylinder 7212 drives the third driving rod to move up and down. The third driving rod is fixedly connected to the third slider. The third slide rail is arranged longitudinally. The third slider is slidably installed on the third slide rail. A vacuum adsorption unit is connected to each end of the third driving rod. The vacuum adsorption unit is used to repair the upper part of the panel of the back door 1.

[0143] The vacuum adsorption unit comprises a fourth cylinder, a telescopic rod, an extension rod and a first suction cup. The fourth cylinder is used to drive the telescopic rod to move up and down. The telescopic rod is connected to the extension rod, and the extension rod is connected to the first suction cup.

[0144] The door closing assembly 625 includes an adapter bracket, a fifth cylinder, a connecting plate and a second suction cup. The adapter bracket is connected between the main frame 621 and the fifth cylinder. The fifth cylinder can drive the connecting plate to perform telescopic movement. Two second suction cups are connected to the connecting plate, and the second suction cups are used to adsorb the lower part of the panel of the back door 1.

[0145] like Fig.19 and Fig. 20 As shown, the assembly device 7 includes a second robotic arm 71 and a tightening assembly 72 connected to the second robotic arm 71 for tightening the nut, and the tightening assembly 72 is provided with a second three-dimensional camera 73 for acquiring a three-dimensional image of the vehicle body 2 and a second two-dimensional camera 74 for acquiring a two-dimensional image of the mounting hole 21 on the vehicle body 2.

[0146] The tightening assembly 72 includes a driving mechanism 721, a steering mechanism 722 and an actuator 723. One end of the driving mechanism 721 is connected to the end of the second mechanical arm 71, and the other end of the driving mechanism 721 is rotatably connected to the middle of the actuator 723 through the steering mechanism 722. The second two-dimensional camera 74 and the second three-dimensional camera 73 are respectively arranged on the driving mechanism 721. The steering mechanism 722 is a connection structure of a belt and a pulley.

[0147] The driving mechanism 721 includes a connecting flange 7211 for connecting to the end of the second robotic arm 71, a driving cylinder 7212 for changing the extension distance of the actuator 723, a latch 7213 for limiting the position of the actuator 723, and a latch cylinder 7214 for driving the latch 7213 to move.

[0148] The actuator 723 includes a tightening gun 7231 for providing torque, a torque transmission box 7232 and a nut sleeve 7233 connected in sequence. Preferably, the torque transmission box 7232 is matched with high-precision gears to achieve two tightening guns 7231 tightening four nuts at the same time.

[0149] During the tightening process after the positioning of the vehicle body 2 is completed, the second mechanical arm 71 drives the tightening assembly 72 to the top of the nut conveying device 5, controls the nut sleeve 7233 to obtain a number of nuts from the nut conveying device 5, and then the second mechanical arm 71 drives the tightening assembly 72 to the position of the studs where the nuts need to be tightened at the connection between the vehicle body 2 and the tailgate 1, the nut sleeve 7233 rotates to tighten the nuts on the studs on the same side of the tailgate 1, and then the driving cylinder 7212 drives the steering mechanism 722 to move, drives the actuator 723 to rotate a certain angle, and then the latch cylinder 7214 drives the latch 7213 to limit the position of the steering mechanism 722, so that the nut sleeve 7233 on the actuator 723 completes the position change, and then the second mechanical arm 71 drives the tightening assembly 72 to the position of the studs on the other side where the nuts need to be tightened, and then the nut sleeve 7233 rotates to tighten the nuts onto the studs. The tightening assembly 72 has a compact structure and can be used to tighten nuts in the narrow space of a vehicle trunk. The position and posture can be switched through the steering mechanism 722 to avoid interference. It can also achieve high-precision processing by tightening multiple nuts at the same time with constant torque accuracy.

[0150] like Fig.21 As shown, the calibration device 8 includes a correction component 81 for performing position correction processing on the hinge 11 and the stud on the back door 1, and a first two-dimensional camera 82 for obtaining a two-dimensional image of the stud hole on the hinge 11. The second two-dimensional camera 74 is provided with a light source, and the correction component 81 is provided with a parallel cylinder to ensure alignment with the hinge 11, and is also provided with a precision pressure regulating valve for accurately controlling the force.

[0151] like Fig. 22 and Fig.23 As shown, the conveyor line 4 includes a guide rail 41 and a trolley 42 located on the guide rail 41 for carrying the back door 1. The structure of the trolley 42 matches the back door 1, so that the back door 1 can be placed at a preset angle and transported smoothly.

[0152] like Fig.24 and Fig.25 As shown, the nut conveying device 5 includes a vibrating plate 51 and a nut separating mechanism 52. The vibrating plate 51 can ensure uniform transportation of the nuts, and the nut separating mechanism 52 can accurately transfer the position and lift the height of the nuts to facilitate the tightening component 72 on the assembly device 7 to accurately obtain the nuts.

[0153] like Fig.26 The figure shows a hardware structure diagram of an electronic device of the present invention, including a memory 2602, a processor 2601 and an electronic device program on the memory 2602, and the processor 2601 executes the electronic device program to implement the steps of the automatic assembly method of the vehicle tailgate of any of the above embodiments.

[0154] Fig.26 A processor 2601 is taken as an example.

[0155] The electronic device may further include: an input device 2603 and a display device 2604 .

[0156] The processor 2601, the memory 2602, the input device 2603 and the display device 2604 may be connected via a bus or other means, and the figure takes the connection via a bus as an example.

[0157] The memory 2602 is a non-volatile electronic device readable storage medium, which can be used to store non-volatile software programs, non-volatile electronic device executable programs and modules, such as program instructions / modules corresponding to the automatic assembly method of the vehicle back door in the embodiment of the present application. The processor 2601 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 2602, that is, the automatic assembly method of the vehicle back door in the above embodiment is realized.

[0158] The memory 2602 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the automatic assembly method of the vehicle back door, etc. In addition, the memory 2602 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 2602 may optionally include a memory remotely arranged relative to the processor 2601, and these remote memories may be connected to the device for executing the automatic assembly method of the vehicle back door via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0159] The input device 2603 may receive user clicks and generate signal inputs related to user settings and function control of the automatic assembly method of the vehicle back door. The display device 2604 may include display devices such as a display screen.

[0160] The one or more modules are stored in the memory 2602 and when executed by the one or more processors 2601 , the automatic assembly method of the vehicle tailgate in any of the above method embodiments is executed.

[0161] When the electronic device disclosed in the present invention is in operation, it can execute all the steps of the above-mentioned method for automatically assembling the vehicle tailgate, and respectively position the tailgate 1 and the vehicle body 2 through visual positioning. During the assembly process of the tailgate 1, the position of the hinge 11 on the tailgate 1 is corrected and the position of the stud hole is detected, and then the position of the mounting hole 21 on the vehicle body 2 is detected, and the purpose of fully automatic assembly of the vehicle tailgate 1 is achieved through the positioning device 6 and the assembly device 7.

[0162] An embodiment of the present invention provides an electronic device readable storage medium, which stores an electronic device program / instruction. When the electronic device program / instruction is executed by the processor 2601, all steps of the automatic assembly method of the vehicle tailgate as described above are implemented.

[0163] In the context of the present disclosure, a storage medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus. The storage medium may be a machine-readable signal medium or a machine-readable storage medium. Alternatively, the storage medium may be a non-temporary electronic device readable storage medium, for example, a non-temporary electronic device readable storage medium may be a ROM, a random access memory (Random Access Memory, RAM), a compact disc read-only memory (Compact Disc ROM, CD ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0164] An embodiment of the present invention provides an electronic device program product, including an electronic device program / instruction, which implements the steps of the automatic assembly method of the vehicle tailgate as described above when executed by a processor.

[0165] By running the above-mentioned electronic device program product, all steps of the automatic assembly method of the vehicle tailgate as described above can be executed, and the tailgate 1 and the vehicle body 2 are positioned respectively by visual positioning. During the assembly process of the tailgate 1, the hinge 11 on the tailgate 1 is position-corrected and the position of the stud hole is detected, and then the position of the mounting hole 21 on the vehicle body 2 is detected. The purpose of fully automatic assembly of the vehicle tailgate 1 is achieved by the positioning device 6 and the assembly device 7.

[0166] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for automatically assembling a vehicle back door, characterized in that: include: Performing visual positioning on the back door, and controlling a positioning device to grab the back door according to the visual positioning result; The tailgate is moved to the calibration device by the positioning device, and the hinges and studs on the tailgate are corrected by the calibration device; Performing position detection on the stud hole on the hinge to obtain a first position detection result; Performing position detection on the vehicle body and the mounting holes on the vehicle body to obtain a second position detection result; If the first position detection result and the second position detection result match, the first position detection result and the second position detection result are used to guide and control the positioning device to install the tailgate onto the vehicle body, the nut is tightened onto the stud through the assembly device, and the positioning device is controlled to close and release the tailgate.

2. The automatic assembly method of a vehicle back door according to claim 1, characterized in that: The step of performing position correction processing on the hinge and stud on the back door by the calibration device comprises: Controlling the positioning device to move the back door and move the hinge to the correction component of the calibration device; The opening angle of the hinge is adjusted by the correction component so that each stud passes through the corresponding stud hole on the hinge.

3. The automatic assembly method of a vehicle back door according to claim 2, characterized in that: The step of performing position detection on the stud hole on the hinge to obtain a first position detection result includes: Controlling the positioning device to move the back door so that the hinge is aligned with the first two-dimensional camera on the calibration device; Acquire a two-dimensional image of the stud hole by using the first two-dimensional camera; Determining the position of the stud hole according to the two-dimensional image of the stud hole; If each of the studs passes through the corresponding stud hole and the position deviation of the stud hole is less than the first deviation threshold, a first position detection result that meets the assembly condition is output.

4. The automatic assembly method of a vehicle back door according to claim 1, characterized in that: The performing visual positioning on the back door and controlling the positioning device to grab the back door according to the visual positioning result includes: Obtain three-dimensional images of both sides of the back door respectively by using a first three-dimensional camera on the positioning device; Performing three-dimensional structured light synthesis positioning according to the three-dimensional images of both sides of the back door to obtain a first positioning result; The positioning device is guided according to the first positioning result, and the positioning device is controlled to move and grasp the rear door.

5. The automatic assembly method of a vehicle back door according to claim 1, characterized in that: The performing position detection on the vehicle body and the mounting hole on the vehicle body to obtain a second position detection result includes: Obtaining three-dimensional images of both sides of the vehicle body respectively by means of a second three-dimensional camera on the assembly device; Performing three-dimensional structured light synthesis positioning according to the three-dimensional images of both sides of the vehicle body to obtain a second positioning result; Acquiring a two-dimensional image of the mounting hole by a second two-dimensional camera on the assembly device; Determining the position of the mounting hole according to the two-dimensional image of the mounting hole; If the position of the vehicle body is within the assembly range and the position deviation of the mounting hole is less than a second deviation threshold, a second position detection result that meets the assembly condition is output.

6. The automatic assembly method of a vehicle back door according to claim 5, characterized in that: If the first position detection result and the second position detection result match, guiding and controlling the positioning device to install the tailgate to the vehicle body based on the first position detection result and the second position detection result, tightening the nut onto the stud by an assembly device, and controlling the positioning device to close and release the tailgate, including: Controlling the positioning device according to the first position detection result and the second positioning result to move the tailgate onto the vehicle body so that the stud passes through the mounting hole; Control the assembly device to move according to the second position detection result so that the nut is aligned with the stud passing through the mounting hole, and control the assembly device to rotate the nut so that the nut is tightened onto the stud; The positioning device is controlled to drive the back door to close on the vehicle body.

7. The automatic assembly method of a vehicle back door according to claim 1, characterized in that: Before visually positioning the back door and controlling the positioning device to grab the back door according to the visual positioning result, the method further includes: pre-installing hinges and studs on a tailgate, and conveying the tailgate to a first target location via a conveyor line; The nuts are conveyed by a nut conveying device, and the assembling device is controlled to obtain the nuts from the nut conveying device.

8. An assembly system for implementing the automatic assembly method of a vehicle tailgate according to any one of claims 1 to 7, characterized in that: It includes a main control device, a conveying line for conveying the back door, a nut conveying device for conveying nuts, a positioning device for grabbing the back door, an assembly device for realizing visual positioning and installing nuts, and a calibration device for correcting the position of hinges and studs on the back door; The main control device is communicatively connected with the conveying line, the nut conveying device, the positioning device, the assembling device and the calibration device respectively.

9. The assembly system according to claim 8, characterized in that: The positioning device comprises a first mechanical arm and a positioning fixture connected to the first mechanical arm for grasping the back door, wherein the positioning fixture is provided with a first three-dimensional camera for acquiring a three-dimensional image of the back door; The assembly device comprises a second mechanical arm and a tightening assembly connected to the second mechanical arm for tightening a nut, wherein the tightening assembly is provided with a second three-dimensional camera for acquiring a three-dimensional image of a vehicle body and a second two-dimensional camera for acquiring a two-dimensional image of a mounting hole on the vehicle body; The calibration device includes a correction component for performing position correction processing on the hinge and the stud on the back door and a first two-dimensional camera for acquiring a two-dimensional image of the stud hole on the hinge.

10. The assembly system according to claim 9, characterized in that: The tightening assembly includes a driving mechanism, a steering mechanism and an actuator, one end of the driving mechanism is connected to the end of the second mechanical arm, the other end of the driving mechanism is rotatably connected to the middle of the actuator through the steering mechanism, and the second two-dimensional camera and the second three-dimensional camera are respectively arranged on the driving mechanism; The driving mechanism comprises a driving cylinder for changing the extension distance of the actuator, a latch for limiting the position of the actuator, and a latch cylinder for driving the latch to move; The actuator comprises a tightening gun, a torque transmission box and a nut sleeve which are connected in sequence and used to provide torque.

Images