Control method of cab heat insulation pad assembly line and assembly line

Abstract

The invention provides a control method of a cab heat insulation pad assembly line and the assembly line. Specifically, the control method comprises the steps that a first cab to be assembled is moved to a first station; a first assembling platform located at the first station is controlled to assemble at least one of the front heat insulation pad and the rear heat insulation pad to the first cab, and a first assembling body is formed; the first assembly body is moved to a second station, and the second station is located on the downstream of the first station of the assembly line; a second assembly platform located at a second station is controlled to assemble at least one of the left heat insulation pad and the right heat insulation pad to the first assembly body, a second assembly body is obtained, and at least one of the first assembly platform and the second assembly platform is provided with a mounting point recognition device and a heat insulation pad automatic mounting device; and the second assembly body is moved out of the second station. The problem that in the prior art, the installation efficiency of a heat insulation pad is low is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of heat insulation pad assembly, and in particular, to a control method and an assembly line for a cab heat insulation pad assembly line. Background Art

[0002] In the commercial vehicle assembly process, especially in the intelligent assembly workshop of trucks, the installation of the bottom heat insulation pad is a complex and time-consuming operation scenario. Traditional assembly methods often rely on a large amount of manpower for processes such as taking, placing, and tightening the heat insulation pad, which is not only inefficient but also has high requirements for the physical strength and skills of workers.

[0003] In response to the above problems, no effective solution has been proposed yet. Summary of the Invention

[0004] The main object of the present invention is to provide a control method and an assembly line for a cab heat insulation pad assembly line to solve the problem of low installation efficiency of heat insulation pads in the prior art.

[0005] To achieve the above object, according to one aspect of the present invention, a control method for a cab heat insulation pad assembly line is provided, including: moving a first cab to be assembled to a first station; controlling a first assembly platform at the first station to assemble at least one of a front heat insulation pad and a rear heat insulation pad onto the first cab to form a first assembly; moving the first assembly to a second station, where the second station is downstream of the first station on the assembly line; controlling a second assembly platform at the second station to assemble at least one of a left heat insulation pad and a right heat insulation pad onto the first assembly to obtain a second assembly, wherein at least one of the first assembly platform and the second assembly platform is provided with a mounting point recognition device and a heat insulation pad automatic installation device; and moving the second assembly out of the second station.

[0006] Further, it includes: after moving the first cab to the first station, and / or moving a second cab to the first station, where the assembly timing of the second cab is after that of the first cab; after moving the second assembly out of the second station, moving the first assembly obtained by assembling the second cab to the second station.

[0007] Further, control the first assembly platform located at the first station to assemble at least one of the front heat insulation pad and the rear heat insulation pad onto the first cab to form a first assembly, including: during the process of moving the first cab to the first station, control the mounting point identification device to identify the storage position of at least one of the front heat insulation pad and the rear heat insulation pad; control the heat insulation pad automatic installation device to grab at least one of the front heat insulation pad and the rear heat insulation pad; when the first cab is located at the first station, control the heat insulation pad automatic installation device to install at least one of the front heat insulation pad and the rear heat insulation pad to the assembly position of the first cab; control the mounting point identification device to identify the stud fixing position of at least one of the grabbed front heat insulation pad and rear heat insulation pad, and control the heat insulation pad automatic installation device to tighten and fix at least one of the front heat insulation pad and the rear heat insulation pad.

[0008] Further, control the second assembly platform located at the second station to assemble at least one of the left heat insulation pad and the right heat insulation pad onto the first assembly to form a second assembly, including: during the process of moving the first assembly to the second station, control the mounting point identification device to identify the storage position of at least one of the left heat insulation pad and the right heat insulation pad; control the heat insulation pad automatic installation device to grab at least one of the left heat insulation pad and the right heat insulation pad; when the first assembly is located at the second station, control the heat insulation pad automatic installation device to install at least one of the left heat insulation pad and the right heat insulation pad to the assembly position of the first assembly; control the mounting point identification device to identify the stud fixing position of at least one of the grabbed left heat insulation pad and right heat insulation pad, and control the heat insulation pad automatic installation device to tighten and fix at least one of the left heat insulation pad and the right heat insulation pad.

[0009] Further, move the first cab to be assembled to the first station, control the pushing device to fix the first cab, and then control the first assembly platform located at the first station to assemble at least one of the front heat insulation pad and the rear heat insulation pad onto the first cab to form a first assembly.

[0010] Further, after obtaining the second assembly, control the pushing device to release the second assembly and move the second assembly out of the second station.

[0011] Further, controlling the mounting point identification device to identify the stud fixing position of at least one of the grabbed front heat insulation pad and rear heat insulation pad includes: controlling the mounting point identification device to photograph the studs, photographing at least 4 studs each time, photographing each stud at least 3 times, generating a photographing result; and identifying the stud fixing position based on the photographing result.

[0012] Further, control the installation point recognition device to recognize the stud fixing positions of at least one of the grabbed left heat insulation pad and right heat insulation pad, including: controlling the installation point recognition device to photograph the studs, photographing at least 2 studs each time, and photographing each stud at least 3 times to generate a photographing result; based on the photographing result, recognize the stud fixing positions.

[0013] According to another aspect of the present invention, there is provided a cab heat insulation pad assembly line, including a control method for the cab heat insulation pad assembly line, the control method being the control method of any one of the above embodiments. The assembly line includes: an installation station, the installation station including a first station and a second station, the first station and the second station being spaced apart along the length direction of the assembly line. Among them, the first station is used to install at least one of the front heat insulation pad and the rear heat insulation pad of the vehicle to be assembled, and the second station is used to install at least one of the left heat insulation pad and the right heat insulation pad; a hoisting device, the hoisting device being arranged above the installation station, and the hoisting device having the function of moving the first cab to be assembled to the first station and moving the second assembly out of the second station.

[0014] Further, the assembly line includes: a first assembly platform, the first assembly platform being arranged at the first station; a second assembly platform, the second assembly platform being arranged at the second station; an installation point recognition device and a heat insulation pad automatic installation device are arranged on at least one of the first assembly platform and the second assembly platform; the heat insulation pad automatic installation device includes: a heat insulation pad grabbing mechanism, a fitting tightening mechanism and a fitting feeding device; a heat insulation pad feeding device, the heat insulation pad feeding device being arranged at at least one end of the installation station, and the heat insulation pad feeding device stores heat insulation pads.

[0015] Applying the technical solution of the present invention, the cab to be assembled is automatically moved to the first station, which is mainly responsible for the installation of the front and rear heat insulation pads. Through the installation point recognition device and the heat insulation pad automatic installation device on the first assembly platform, the precise positioning and rapid assembly of the heat insulation pad are realized, and the first assembly in the preliminary assembly is formed. The first assembly moves to the second station under automatic control, and this downstream station is responsible for the installation of the left and right heat insulation pads. Similarly, the second assembly platform is also equipped with an installation point recognition device and a heat insulation pad automatic installation device to continue to complete the heat insulation pad assembly of the cab, and finally form a fully assembled second assembly. By subdividing the heat insulation pad installation process into parallel operations for the front and rear and left and right, the tact time is significantly shortened, thereby improving the overall assembly efficiency and throughput, reducing the dependence on manpower, and saving production costs. This application solves the problem of low efficiency of heat insulation pad installation in the prior art. Description of the Drawings

[0016] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0017] Figure 1 shows a flowchart of a control method for a cab heat insulation pad assembly line according to an embodiment of the present invention;

[0018] Figure 2 shows a schematic structural diagram of a cab heat insulation pad assembly line according to an embodiment of the present invention;

[0019] Figure 3 shows an installation timing diagram of a front cab heat insulation pad and a rear cab heat insulation pad according to an embodiment of the present invention;

[0020] Figure 4 shows an installation timing diagram of a left cab heat insulation pad and a right cab heat insulation pad according to an embodiment of the present invention.

[0021] Among them, the above-mentioned drawings include the following reference numerals:

[0022] 1, lifting equipment; 2, first assembly platform; 3, second assembly platform;

[0023] 11, heat insulation pad grasping mechanism; 12, fitting tightening mechanism;

[0024] 30, heat insulation pad feeding device; 31, heat insulation pad;

[0025] 40, fitting feeding device;

[0026] 50, first working station; 51, second working station. Detailed implementation manners

[0027] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0028] It should be noted that the terms used here are only for describing specific implementation manners and are not intended to limit the exemplary implementation manners according to this application. As used here, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0029] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily limit to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present application is thorough and complete, and the concept of these exemplary embodiments is fully conveyed to those of ordinary skill in the art. In the drawings, for clarity, the thickness of layers and regions may be enlarged, and the same reference numerals are used to denote the same devices, and thus their description will be omitted.

[0031] In this embodiment, a control method for a cab heat insulation pad assembly line is provided. Figure 1 It is a flowchart of a control method for a cab heat insulation pad assembly line according to one embodiment of the present invention, as Figure 1 shown, and this process includes the following steps:

[0032] Step S102, move the first cab to be assembled to the first station.

[0033] Step S104, control the first assembly platform at the first station to assemble at least one of the front heat insulation pad and the rear heat insulation pad onto the first cab to form a first assembly.

[0034] Step S106, move the first assembly to the second station, and the second station is downstream of the first station on the assembly line.

[0035] Step S108, control the second assembly platform at the second station to assemble at least one of the left heat insulation pad and the right heat insulation pad onto the first assembly to obtain a second assembly, wherein at least one of the first assembly platform and the second assembly platform is provided with a mounting point recognition device and a heat insulation pad automatic installation device.

[0036] Step S110, move the second assembly out of the second station.

[0037] Applying the technical solution of the present invention, the cab to be assembled is automatically moved to the first station, which is mainly responsible for the installation of front and rear heat insulation pads. Through the installation point recognition device and the heat insulation pad automatic installation device on the first assembly platform, the precise positioning and rapid assembly of the heat insulation pads are realized, forming the first assembly body with preliminary assembly. The first assembly body is moved to the second station under automatic control. This downstream station is responsible for the installation of left and right heat insulation pads. Similarly, the second assembly platform is also equipped with an installation point recognition device and a heat insulation pad automatic installation device to continue completing the heat insulation pad assembly of the cab, and finally form the fully assembled second assembly body. By subdividing the heat insulation pad installation process into separate operations for the front and rear and left and right respectively, the tact time is significantly shortened, thereby improving the overall assembly efficiency and throughput, reducing the dependence on labor, and saving production costs. This application solves the problem of low efficiency in heat insulation pad installation in the prior art.

[0038] Further, it includes: after moving the first cab to the first station, and / or moving the second cab to the first station, where the assembly timing of the second cab is after that of the first cab; after moving the second assembly body out of the second station, moving the first assembly body obtained by assembling the second cab to the second station. This design realizes parallel assembly at multiple stations through continuous operation of the assembly line, improves the continuity and efficiency of the production line, further shortens the tact time, can significantly improve the assembly speed, and meets the high-intensity production requirements.

[0039] In a specific embodiment, assume that a smart assembly workshop is assembling a truck cab. When the first cab A enters the assembly line, it first enters the first station for the assembly of front and rear heat insulation pads. During the assembly of the first cab A, the second cab B is ready and waits for the completion of the assembly of the first assembly body of the first cab A. After the first cab A completes the assembly of the front and rear heat insulation pads and forms the first assembly body at the first station, it is moved to the second station for the assembly of left and right heat insulation pads. At the same time, the resources at the first station are immediately used for the assembly of the second cab B to achieve continuous operation. At the second station, the first assembly body, i.e., the first cab A, undergoes the assembly of left and right heat insulation pads and finally forms the fully assembled second assembly body. After the assembly is completed, the second assembly body, i.e., the first cab A, is moved out of the second station. At this time, the second cab B has completed the preliminary assembly at the first station and is moved to the second station as the first assembly body to continue the assembly of left and right heat insulation pads. Through the above specific embodiment, it can be seen that the control method of the present invention not only realizes continuous and efficient assembly, but also significantly improves the production efficiency and cost-effectiveness through parallel operation and continuous utilization of resources.

[0040] Specifically, control the first assembly platform at the first station to assemble at least one of the front heat insulation pad and the rear heat insulation pad onto the first cab to form a first assembly, including: during the process of moving the first cab to the first station, control the installation point recognition device to recognize the storage position of at least one of the front heat insulation pad and the rear heat insulation pad; control the heat insulation pad automatic installation device to grab at least one of the front heat insulation pad and the rear heat insulation pad; when the first cab is at the first station, control the heat insulation pad automatic installation device to install at least one of the front heat insulation pad and the rear heat insulation pad to the assembly position of the first cab; control the installation point recognition device to recognize the stud fixing position of at least one of the grabbed front heat insulation pad and rear heat insulation pad, and control the heat insulation pad automatic installation device to tighten and fix at least one of the front heat insulation pad and the rear heat insulation pad. Using visual recognition technology to accurately determine the assembly position of the heat insulation pad, combined with the heat insulation pad automatic installation device, realizes the automatic assembly of the heat insulation pad, improves the assembly accuracy and speed, and reduces human errors.

[0041] During the process of moving the first cab to the first station, the installation point recognition device scans and recognizes the storage positions of the front heat insulation pad and the rear heat insulation pad in real time, ensuring the shortest and most efficient path for the robotic arm to grab the heat insulation pad, reducing the ineffective movement time, and improving the overall assembly efficiency.

[0042] The heat insulation pad automatic installation device (such as a collaborative robot paired with a servo tightening gun) automatically grabs and accurately positions the heat insulation pad to the designated assembly position of the cab according to the data provided by the installation point recognition device. The automated operation not only improves the assembly speed but also greatly reduces the dependence on manual skills and lowers the operation error rate.

[0043] After the heat insulation pad is installed in place, the installation point recognition device further recognizes the stud fixing position on the heat insulation pad, and controls the tightening device (tightening gun) to automatically adjust the tightening torque and angle according to the recognition result, realizing the precise tightening and fixing of different heat insulation pads, ensuring the assembly quality and the structural stability of the cab.

[0044] In a specific embodiment, in the production line of a certain intelligent assembly workshop, the first cab (Cab A) is moving towards the first workstation. During the movement, the installation point recognition device located on the first assembly platform captures the storage positions of the front heat insulation pad and the rear heat insulation pad in real time, and simultaneously calculates the optimal grasping path. When Cab A reaches the first workstation, the heat insulation pad automatic installation device, according to the position information provided by the installation point recognition device, first grabs the rear heat insulation pad and accurately places it at the rear assembly position of Cab A. Subsequently, it grabs the front heat insulation pad and completes the front assembly. The front heat insulation pad and the rear heat insulation pad are respectively installed at the corresponding assembly positions of Cab A. While the front heat insulation pad and the rear heat insulation pad are being assembled, the installation point recognition device accurately identifies the stud positions on the heat insulation pads, and the servo tightening gun automatically adjusts the tightening torque according to the type and position of the studs to tighten and fix the rear heat insulation pad. During the idle period after the rear heat insulation pad assembly is completed, the tightening gun changes the magazine to prepare for the assembly of the front heat insulation pad. Subsequently, the servo tightening gun performs the same tightening and fixing operation on the front heat insulation pad to ensure that the front and rear heat insulation pads of Cab A are firmly installed. Through the above steps, Cab A completes the assembly of the front heat insulation pad and the rear heat insulation pad at the first workstation, forming the first assembly. Throughout the process, the automated devices and intelligent control ensure the high efficiency and accuracy of the operation, significantly reducing the manpower requirement and assembly time, and enhancing the flexibility and production efficiency of the production line. By starting the preparatory action of grabbing the heat insulation pads before the cab enters the workstation and the automated and intelligent control during the in-workstation assembly process, the entire assembly process is smoothly connected, reducing the waiting and idle time, further accelerating the cycle time, and improving the throughput capacity of the production line.

[0045] Specifically, controlling the second assembly platform located at the second workstation to assemble at least one of the left heat insulation pad and the right heat insulation pad onto the first assembly to form the second assembly includes: during the process of moving the first assembly to the second workstation, controlling the installation point recognition device to identify the storage position of at least one of the left heat insulation pad and the right heat insulation pad; controlling the heat insulation pad automatic installation device to grab at least one of the left heat insulation pad and the right heat insulation pad; when the first assembly is at the second workstation, controlling the heat insulation pad automatic installation device to install at least one of the left heat insulation pad and the right heat insulation pad onto the assembly position of the first assembly; controlling the installation point recognition device to identify the stud fixing position of at least one of the grabbed left heat insulation pad and right heat insulation pad, and controlling the heat insulation pad automatic installation device to tighten and fix at least one of the left heat insulation pad and the right heat insulation pad. Through visual recognition and automated assembly, the rapid installation of the left heat insulation pad and the right heat insulation pad is achieved, further improving the assembly efficiency and reducing the assembly time.

[0046] Optionally, while the first assembly (i.e., the cab with the front and rear heat shields assembled) is moving from the first station to the second station, the mounting point identification device (such as a 3D vision sensor) on the second assembly platform starts to identify the storage positions of the left and right heat shields in advance, reducing the waiting time within the station and enabling parallel operation of the assembly of the left and right heat shields and the movement of the first assembly, significantly shortening the total assembly time.

[0047] The heat shield automatic installation device automatically grabs and precisely installs the left or right heat shield to the designated position of the first assembly according to the pre-identified heat shield position, improving the accuracy and consistency of the assembly and reducing the risk of dependence on manual labor and operation errors.

[0048] The mounting point identification device further precisely identifies the stud fixing positions on the heat shield. The heat shield automatic installation device includes a servo tightening gun, which automatically adjusts the tightening torque and angle according to the identification result to achieve intelligent tightening and fixing of the left and right heat shields. This process not only ensures the assembly quality but also improves the overall operation efficiency and safety.

[0049] In another specific embodiment, after the left and right heat shields are assembled at the first station, the formed first assembly, i.e., cab A, is moved to the second station. During this process, the mounting point identification device on the second assembly platform has started scanning to precisely identify the storage positions of the left and right heat shields. After cab A arrives at the second station, the heat shield automatic installation device first grabs the left heat shield according to the position information provided by the mounting point identification device and accurately installs it at the assembly position on the left side of cab A. Subsequently, the robotic arm G grabs the right heat shield to complete the assembly on the right side. While the left and right heat shields are being assembled, the mounting point identification device further identifies the stud positions on the left heat shield, and the servo tightening gun automatically adjusts the tightening torque according to the type and position of each stud to achieve precise tightening and fixing of the left heat shield. During the idle period after the left heat shield is assembled, the tightening gun prepares and performs the assembly and tightening of the right heat shield. The mounting point identification device further identifies the stud positions on the right heat shield, and the servo tightening gun automatically adjusts the tightening torque according to the type and position of each stud to achieve precise tightening and fixing of the right heat shield. Through the above steps, cab A completes the assembly of the left and right heat shields at the second station, forming the fully assembled second assembly. Throughout the assembly process, the efficient utilization of automated devices and intelligent control ensures the speed, accuracy, and safety of the operation, significantly improving the efficiency and quality of the production line.

[0050] Furthermore, the first cab to be assembled is moved to the first workstation, the pushing device is controlled to fix the first cab, and then the first assembly platform located at the first workstation is controlled to assemble at least one of the front insulation pad and the rear insulation pad onto the first cab to form a first assembly. The instant fixation of the pushing device reduces the shaking of the cab during the assembly process and improves the safety of the operation. At the same time, automated assembly reduces manual intervention, reduces operational complexity, and improves overall efficiency.

[0051] In a specific embodiment, in a certain intelligent assembly workshop, the first cab (cab A) to be assembled is smoothly moved to the first station by an automated mobile vehicle. When cab A arrives at the first station, the push device is immediately activated to firmly fix cab A through pre-set positioning points to prevent any shaking during the assembly process. The entire assembly process is carried out with cab A fixed, ensuring the stability and accuracy of the assembly.

[0052] Furthermore, after obtaining the second assembly, the pushing device is controlled to release the second assembly and move the second assembly out of the second workstation. While the cab is fixed to the workstation, the pushing device ensures the stability of the cab during the assembly process and prevents assembly errors caused by shaking or displacement. After the assembly is completed, the pushing device is controlled to release, so that the second assembly can be safely separated from the fixed state, avoiding accidental damage to the assembly and ensuring the safety of the product during subsequent movement and storage.

[0053] In a specific embodiment, after the left and right heat insulation pads of the cab A (the second assembly) are assembled, the second station push device starts to work, and through precise control, gradually releases the fixation of the cab A. This process ensures the stability and safety of the cab when it is moved out of the station, and avoids displacement or shaking caused by sudden release.

[0054] Furthermore, the mounting point identification device is controlled to identify the stud fixing position of at least one of the grasped front insulation pad and the rear insulation pad, including: controlling the mounting point identification device to shoot the studs, shooting at least 4 studs each time, and each stud needs to be shot at least 3 times to generate shooting results; based on the shooting results, identifying the stud fixing position. By controlling the mounting point identification device to shoot the studs multiple times, shooting at least 4 studs each time, the comprehensiveness and accuracy of the stud position information is ensured. The multi-angle and multi-time shooting strategy can effectively solve the identification problems caused by stud occlusion or ambient light changes, and improve the accuracy and reliability of positioning.

[0055] Optionally, the mounting point recognition device on the first assembly platform captures at least 4 studs each time. Compared with capturing them one by one, it significantly reduces the number of captures and waiting time, and speeds up the entire assembly process. At the same time, each stud is captured at least 3 times, and the data from multiple captures is fused through an algorithm to further improve the recognition efficiency and shorten the overall capture and recognition time.

[0056] Further, control the mounting point recognition device to recognize the stud fixing positions of at least one of the grabbed left heat insulation pad and right heat insulation pad, including: controlling the mounting point recognition device to capture the studs, capturing at least 2 studs each time, and each stud needs to be captured at least 3 times to generate a capture result; based on the capture result, recognize the stud fixing positions.

[0057] Based on the data generated from the capture result, the stud fixing positions can be quickly recognized, providing accurate guiding information for the grasping and tightening operations of the heat insulation pad automatic installation device, ensuring the automation and intelligence of the assembly. The intelligent algorithm can also perform real-time analysis on the recognition result and adaptively adjust the assembly parameters to cope with different assembly requirements and environmental changes.

[0058] Accurate stud position recognition helps to avoid assembly errors, ensuring that each nut and gasket can be accurately fixed in the designed position, thus guaranteeing the assembly quality and safety. At the same time, the multiple capture and recognition strategy increases the redundancy of the system and reduces the risk of assembly problems caused by single recognition errors.

[0059] The above embodiments can also be used in the field of equipment technology. That is, according to another aspect of the present invention, a cab heat insulation pad assembly line is provided, including a control method for the cab heat insulation pad assembly line. The control method is the control method of any one of the above embodiments. The assembly line includes: a mounting station and a hoisting device 1. The mounting station includes a first station 50 and a second station 51. The first station 50 and the second station 51 are arranged at intervals along the length direction of the assembly line. Among them, the first station is used to install at least one of the front heat insulation pad and the rear heat insulation pad of the vehicle to be assembled, and the second station is used to install at least one of the left heat insulation pad and the right heat insulation pad; the hoisting device 1 is arranged above the mounting station, and the hoisting device 1 has the function of moving the first cab to be assembled to the first station and moving the second assembly out of the second station. The principle of this assembly line is to improve the assembly efficiency and the intelligent level of the production line by splitting the stations and parallel operations, combined with automated assembly equipment. The implementation effect is that the manpower requirement is significantly reduced, the tact time is shortened, the assembly quality and production safety are improved. Especially under the parallel operation of the first station and the second station, the assembly tact time is greatly shortened, the manpower requirement is reduced, and the production cost is lowered.

[0060] In a specific embodiment, the hoisting device 1 will smoothly move the first cab to be assembled from the upstream of the assembly line to the first station 50. After the front heat insulation pad and the rear heat insulation pad are assembled to form the first assembly, the first assembly is then moved to the second station 51 to complete the assembly of the left heat insulation pad and the right heat insulation pad, forming the second assembly. The second assembly is then smoothly removed from the second station by the hoisting device 1 and enters the subsequent process. The efficient operation of the hoisting device 1 provides key support for the parallelism and assembly between the two stations. Its precise positioning ability and smooth moving characteristics ensure the stability of the cab during the assembly process, avoid assembly errors caused by shaking during transportation, reduce waiting time, and improve the continuity and efficiency of the production line.

[0061] Further, the assembly line includes: a first assembly platform 2, the first assembly platform 2 is arranged at the first station 50; a second assembly platform 3, the second assembly platform 3 is arranged at the second station 51; at least one of the first assembly platform 2 and the second assembly platform 3 is provided with a mounting point identification device and a heat insulation pad automatic installation device; the heat insulation pad automatic installation device includes: a heat insulation pad grasping mechanism 11, a fitting tightening mechanism 12 and a fitting feeding device 40; a heat insulation pad feeding device 30, the heat insulation pad feeding device 30 is arranged at at least one end of the installation station, and the heat insulation pad feeding device 30 stores heat insulation pads 31.

[0062] Specifically, the heat insulation pad automatic installation device includes a heat insulation pad grasping mechanism 11, a fitting tightening mechanism 12 and a fitting feeding device 40. The heat insulation pad grasping mechanism 11 is responsible for grasping the heat insulation pad 31 from the heat insulation pad feeding device 30 and installing it at the assembly positions on both sides of the cab. The heat insulation pad grasping mechanism 11 is composed of a robotic arm and a clamping device. The fitting tightening mechanism 12 performs the bolt tightening operation of the left and right heat insulation pads according to the identified stud positions. In this embodiment, the fitting tightening mechanism 12 is composed of a single tightening gun and a robotic arm. The single tightening gun improves the operation flexibility, facilitates the replacement of the magazine to realize the automatic loading and unloading function, and tightens each nut one by one.

[0063] It should be further noted that the assembly part feeding device 40 may include a nut automatic blowing device and a gasket cutting device. The nut automatic blowing device blows nuts from the feeder to the end of the tightening gun through the pneumatic principle, realizing the rapid and continuous supply of nuts, greatly improving the feeding speed, and reducing the assembly waiting time. The integration of the nut automatic blowing device and the tightening gun enables the nut feeding and tightening processes to be fully automated, reduces the dependence on manual operations, further improves the automation level of the assembly line, reduces the labor cost, and also improves the assembly accuracy and consistency. The gasket magazine feeding structure feeds gaskets by pre-loading them into the magazine. Compared with the traditional cutting method, it avoids cutting gaskets in real time during the assembly process, simplifies the cutting mechanism, reduces the complexity of the equipment, and also reduces the errors that may occur during the cutting process, improving the accuracy and speed of gasket feeding. The magazine feeding structure enables gaskets to be supplied to the tightening gun quickly and continuously like bullets, improving the continuity and stability of feeding, ensuring the timeliness of gasket supply during the assembly process, and avoiding the stoppage of the production line caused by the interruption of gasket feeding.

[0064] In a specific embodiment, the gasket and nut assembly process steps are described in combination with the control method steps: Step 1: Use an installation point recognition device (such as a 3D sensor) to position the cab to ensure its precise position on the assembly platform. Trigger the pushing device to stabilize the cab and prevent it from shaking during the assembly process.

[0065] Step 2: Preparation for gasket magazine feeding and nut automatic blowing: At the initial stage of the feeding phase, confirm that the magazine gasket feeding structure is full of gaskets and in the initial feeding state. Confirm that the blowing air pressure of the nut automatic blowing device and the number of nuts in the feeder are sufficient to respond to the assembly requirements at any time.

[0066] Step 3: Grab the heat insulation pad and perform preliminary positioning: The robotic arm grabs the left heat insulation pad from the heat insulation pad feeding device and performs preliminary positioning using the installation point recognition device. Synchronously, the robotic arm grabs the right heat insulation pad and also performs preliminary positioning.

[0067] Step 4: Gasket and nut feeding: When the heat insulation pad grabbing and preliminary positioning are completed, the gasket magazine feeding structure is activated to push the gasket to the picking position of the tightening gun. The nut automatic blowing device is activated, and according to the pre-set program, the nuts are blown to the end of the tightening gun.

[0068] Step 5: Place the heat insulation pad on the cab and perform refined positioning: The robotic arm precisely places the left heat insulation pad at the preset position in the left part of the cab and uses the vision system for refined positioning to ensure that the gasket is aligned with the stud. The robotic arm also places the right heat insulation pad at the position in the right part of the cab for refined positioning.

[0069] Step 6: Nut and gasket assembly: The tightening gun starts automatically. First, tighten the nut in contact with the end of the gasket onto the stud on the left. The servo tightening gun will adjust to the required torque to ensure the reliable fixation of the gasket and the nut. Synchronously, the nut and gasket on the right are also assembled onto the corresponding stud.

[0070] Step 7: Repeat the assembly steps: After completing the assembly of the gasket and nut on one side, the tightening gun will automatically switch to the other side and repeat the same steps until all the studs are assembled.

[0071] Step 8: Cab release and removal: After all the assembly steps are completed, the auxiliary fixing mechanism releases the cab, and the lifting equipment smoothly removes the assembled cab from the assembly platform. While removing the cab, the assembly work for the next cab starts to be prepared.

[0072] As Figure 2 shown, heat insulation pad feeding devices 30 are provided at both ends of the first assembly platform 2, and a heat insulation pad feeding device 30 is provided at any one end of the second assembly platform 3. The feeding layout is optimized to ensure that the assembly platform can quickly and accurately obtain heat insulation pads, improving the assembly efficiency, reducing the feeding waiting time, and enhancing the continuity and efficiency of the production line.

[0073] It should be further noted that there are 2 heat insulation pad gripping mechanisms 11 provided on the first assembly platform 2, and heat insulation pad feeding devices 30 are respectively provided at both ends of the first assembly platform 2. The 2 heat insulation pad gripping mechanisms 11 are respectively arranged close to the heat insulation pad feeding devices 30 at the ends. When gripping the front heat insulation pad and the rear heat insulation pad, the materials can be obtained nearby, greatly reducing the time consumption caused by too long material transmission distance and improving the assembly efficiency. In addition, feeding from both ends also provides redundancy of materials. Even if a feeding device at one end fails or the materials are insufficient, the other end can still continue to supply, avoiding the interruption of the production line.

[0074] A heat insulation pad feeding device 30 is provided at only one end of the second assembly platform 3, and there is 1 heat insulation pad gripping mechanism 11 provided on the second assembly platform 3. This is based on an in-depth analysis of the assembly process of the second station. Considering that the assembly of the left and right heat insulation pads can be effectively completed through single-end feeding and an optimized robotic arm movement path, unnecessary equipment redundancy is avoided, which helps to simplify the production line layout and reduce the equipment investment and maintenance costs.

[0075] Specifically, the installation point recognition device mainly consists of 3D vision sensors, which are used to accurately identify the assembly points and stud positions of the front heat insulation pad, rear heat insulation pad, left heat insulation pad, and right heat insulation pad in the cab. Through multi-angle shooting, ensure that each stud is photographed at least 3 times to generate shooting results, and then intelligently identify the fixing positions of the studs based on these results to provide accurate positioning information for subsequent assembly. Two 3D vision sensors are set on the first assembly platform 2, and only one 3D vision sensor is set on the second assembly platform 3 to reduce the hardware cost.

[0076] As Figure 3 shown, the assembly timing of the front heat insulation pad and the rear heat insulation pad is described in detail using the above control method and assembly line. Starting from 11 seconds, the cab lifting device starts to work, and smoothly moves the first cab to be assembled to the assembly position of the first assembly platform 2. This process lasts for 25 seconds, and by 36 seconds, the first cab is in place. The pushing device is activated to clamp and fix the cab to ensure its stability during the assembly process. The entire clamping process takes 2 seconds. From 0 to 6 seconds, the installation point recognition device (such as a 3D vision sensor) photographs the storage position of the rear heat insulation pad. Starting from 6 seconds, the heat insulation pad grabbing mechanism 11 grabs the rear heat insulation pad from the heat insulation pad feeding device 30 behind the cab, which takes 13 seconds. By 19 seconds, the rear heat insulation pad has been grabbed. Starting from 19 seconds, the installation point recognition device photographs the storage position of the front heat insulation pad, which takes 6 seconds. Starting from 25 seconds, the heat insulation pad grabbing mechanism 11 grabs the front heat insulation pad from the heat insulation pad feeding device 30 in front of the cab, which takes 13 seconds. By 38 seconds, the front heat insulation pad has been grabbed. Starting from 38 seconds, the rear studs are photographed and the cab positioning information is merged, which takes 16 seconds. By 54 seconds, the accurate photographing and positioning of the rear studs are completed. Install the rear heat insulation pad at the corresponding assembly position on the cab. The entire process takes 15 seconds (while waiting for the rear heat insulation pad to be loaded, the tightening gun changes the magazine, using the idle time of the upper heat insulation pad, which takes 15 seconds). Starting from 69 seconds, the robot tightens the studs of the rear heat insulation pad through the servo tightening gun, which takes 56 seconds. By 125 seconds, the fixing of the rear heat insulation pad is completed. Starting from 125 seconds, the front studs are photographed and the cab positioning information is merged, which takes 16 seconds. By 141 seconds, the accurate photographing and positioning of the front studs are completed. Install the front heat insulation pad at the corresponding assembly position on the cab. The entire process takes 15 seconds. Starting from 156 seconds, the robot tightens the studs of the front heat insulation pad through the servo tightening gun, which takes 72 seconds. By 228 seconds, the fixing of the rear heat insulation pad is completed. Starting from 228 seconds, the pushing device releases the cab. The entire clamping process takes 2 seconds. By 230 seconds, then the lifting device 1 moves the cab out of the first station, completing all operations at the first station. The entire process takes about 240 seconds.

[0077] As Figure 4As shown, the above control method and assembly line are used to describe in detail the assembly timing of the left and right heat insulation pads. At 0 seconds, the cab (the second assembly) is moved into the second assembly platform 3, which is executed by the lifting equipment 1 to ensure that the cab is smoothly and accurately positioned on the assembly station, preparing for the installation of the left and right heat insulation pads. The moving process usually synchronizes with the end of the assembly at the first station, which can ensure the continuity and efficiency of the production line. This process lasts for 25 seconds. When the first assembly is in place, the pushing device is activated to clamp and fix the cab to ensure its stability during the assembly process. The entire clamping process takes 2 seconds. While moving the first assembly, from 0 to 6 seconds, the installation point recognition device (such as a 3D vision sensor) takes pictures of the storage position of the left heat insulation pad. Starting from 6 seconds, the robotic arm equipped with a grasping mechanism grabs the left heat insulation pad from the heat insulation pad feeding device 30, which takes 13 seconds. By 19 seconds, the left heat insulation pad has been grabbed. Starting from 19 seconds, the installation point recognition device takes pictures of the storage position of the right heat insulation pad, which takes 6 seconds. Starting from 25 seconds, the heat insulation pad grasping mechanism 11 grabs the right heat insulation pad from the heat insulation pad feeding device 30, which takes 13 seconds. By 38 seconds, the right heat insulation pad has been grabbed. Starting from 38 seconds, the left stud is photographed and the cab positioning information is merged, which takes 8 seconds. By 46 seconds, the accurate photographing and positioning of the left stud are completed to ensure that each stud is photographed at least 3 times. The robotic arm quickly and accurately places the left heat insulation pad on the assembly position on the left side of the cab, which takes 15 seconds. By 61 seconds, the left heat insulation pad has been loaded. Starting from 61 seconds, the assembly tightening mechanism 12 starts the tightening operation on the studs of the left heat insulation pad, and a servo tightening gun is used to achieve precise tightening of different torques, which takes 32 seconds. By 93 seconds, the fixation of the left heat insulation pad is completed. Starting from 93 seconds, the right stud is photographed and the cab positioning information is merged, which takes 8 seconds. By 101 seconds, the accurate photographing and positioning of the right stud are completed. Installing the right heat insulation pad on the corresponding assembly position of the cab takes 15 seconds in total. Starting from 116 seconds, the robot uses a servo tightening gun to tighten the studs of the front heat insulation pad, which takes 32 seconds. By 148 seconds, the fixation of the right heat insulation pad is completed. Starting from 148 seconds, the pushing device releases the cab, and the entire clamping process takes 2 seconds. By 150 seconds, then the lifting equipment 1 moves the cab out of the second station, completing all the operations at the second station. (While the cab is being moved out of the second station, the tightening gun goes through the process of changing the material bin, which takes 15 seconds.) The entire process takes about 175 seconds.

[0078] In a specific embodiment, the cab heat insulation pad assembly line further includes an industrial control system, which is connected to the first assembly platform 2 and the second assembly platform 3 by means of a wired quick change connection. In the above control method, when in the normal working state, the industrial control system controls the first assembly platform 2 and the second assembly platform 3 to move to the installation station along the planned path to assemble the heat insulation pad for the cab. Once an abnormality is detected, such as a power supply interruption, a navigation signal loss, an unstable robotic arm fixation, or an obstacle detected by a sensor, etc., the industrial control system will immediately trigger a fault alarm, and the first assembly platform 2 and the second assembly platform 3 will immediately stop running. In the case of a power supply interruption, the industrial control system will immediately instruct the first assembly platform 2 and the second assembly platform 3 to switch to the backup battery pack for power supply to ensure that the first assembly platform 2 and the second assembly platform 3 can move autonomously when out of the fault state. The design of the backup battery needs to ensure that sufficient power can be provided within a short time to support the movement requirements of the mobile trolley.

[0079] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper" etc. may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, the device described as "above" or "over" other devices or structures will then be oriented "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both the orientation of "above" and "below". The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the corresponding explanations for the spatial relative descriptions used herein will be made accordingly.

[0080] In addition to the above, it should also be noted that when referring to "one embodiment", "another embodiment", "the embodiment" etc. in this specification, it means that the specific features, structures or characteristics described in connection with the embodiment are included in at least one embodiment generally described in this application. The same expression appearing in multiple places in the specification does not necessarily refer to the same embodiment. Further, when describing a specific feature, structure or characteristic in connection with any one embodiment, it is intended that the implementation of such feature, structure or characteristic in combination with other embodiments also falls within the scope of the present invention.

[0081] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0082] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A control method for a cab thermal insulation pad assembly line, characterized in that: include: Moving the first cab to be assembled to the first workstation; Controlling a first assembly platform located at the first workstation to assemble at least one of a front thermal insulation pad and a rear thermal insulation pad onto the first cab to form a first assembly; Moving the first assembly to a second station, the second station being located downstream of the first station of the assembly line; Controlling the second assembly platform located at the second workstation to assemble at least one of the left thermal insulation pad and the right thermal insulation pad onto the first assembly body to obtain a second assembly body, wherein at least one of the first assembly platform and the second assembly platform is provided with an installation point identification device and an automatic installation device for the thermal insulation pad; The second assembly is moved out of the second station.

2. The control method according to claim 1, characterized in that: include: After the first cab is moved to the first workstation, and / or, a second cab is moved to the first workstation, wherein the assembly sequence of the second cab is after the assembly sequence of the first cab; After the second assembly body is moved out of the second workstation, the first assembly body obtained by assembling the second cab is moved to the second workstation.

3. The control method according to claim 2, characterized in that: Controlling the first assembly platform located at the first workstation to assemble at least one of the front thermal insulation pad and the rear thermal insulation pad onto the first cab to form the first assembly, including: During the process of moving the first cab to the first workstation, controlling the installation point identification device to identify the storage position of at least one of the front thermal insulation pad and the rear thermal insulation pad; Controlling the thermal insulation pad automatic installation device to grab at least one of the front thermal insulation pad and the rear thermal insulation pad; When the first cab is located at the first workstation, controlling the thermal insulation pad automatic installation device to install at least one of the front thermal insulation pad and the rear thermal insulation pad to an assembly position of the first cab; The installation point identification device is controlled to identify the stud fixing position of at least one of the front thermal insulation pad and the rear thermal insulation pad, and the thermal insulation pad automatic installation device is controlled to tighten and fix at least one of the front thermal insulation pad and the rear thermal insulation pad.

4. The control method according to claim 3, characterized in that: Controlling the second assembly platform located at the second station to assemble at least one of the left thermal insulation pad and the right thermal insulation pad onto the first assembly to form the second assembly, including: During the process of moving the first assembly to the second station, controlling the installation point identification device to identify the storage position of at least one of the left thermal insulation pad and the right thermal insulation pad; Controlling the thermal insulation pad automatic installation device to grab at least one of the left thermal insulation pad and the right thermal insulation pad; When the first assembly body is located at the second workstation, controlling the thermal insulation pad automatic installation device to install at least one of the left thermal insulation pad and the right thermal insulation pad to the assembly position of the first assembly body; The installation point identification device is controlled to identify the stud fixing position of at least one of the left thermal insulation pad and the right thermal insulation pad, and the thermal insulation pad automatic installation device is controlled to tighten and fix at least one of the left thermal insulation pad and the right thermal insulation pad.

5. The control method according to claim 1, characterized in that: Move the first cab to be assembled to the first workstation, control the pushing device to fix the first cab, and then control the first assembly platform located at the first workstation to assemble at least one of the front insulation pad and the rear insulation pad onto the first cab to form the first assembly.

6. The control method according to claim 5, characterized in that: After obtaining the second assembly body, the pushing device is controlled to release the second assembly body and move the second assembly body out of the second workstation.

7. The control method according to claim 5, characterized in that: Controlling the mounting point identification device to identify the stud fixing position of at least one of the grasped front thermal insulation pad and the rear thermal insulation pad includes: Controlling the installation point identification device to photograph the studs, photographing at least 4 studs each time, photographing each stud at least 3 times, and generating a photographing result; Based on the photographing result, the stud fixing position is identified.

8. The control method according to claim 5, characterized in that: Controlling the mounting point identification device to identify the stud fixing position of at least one of the grasped left thermal insulation pad and the right thermal insulation pad includes: Controlling the installation point identification device to photograph the studs, photographing at least two of the studs each time, photographing each of the studs at least three times, and generating a photographing result; Based on the photographing result, the stud fixing position is identified.

9. A cab insulation pad assembly line, characterized in that: The assembly line is controlled by the control method according to any one of claims 1 to 8, and the assembly line comprises: An installation station, the installation station comprising a first station (50) and a second station (51), the first station (50) and the second station (51) being arranged at intervals along the length direction of the assembly line, wherein the first station is used to install at least one of the front thermal insulation pad and the rear thermal insulation pad of the vehicle to be assembled, and the second station is used to install at least one of the left thermal insulation pad and the right thermal insulation pad; A lifting device (1) is arranged above the installation station, and the lifting device (1) has the function of moving the first cab to be assembled to the first station, and moving the second assembly body out of the second station.

10. The cab insulation pad assembly line according to claim 9, characterized in that: The assembly line comprises: A first assembly platform (2), wherein the first assembly platform (2) is arranged on the first workstation (50); A second assembly platform (3), the second assembly platform (3) being arranged on the second workstation (51); At least one of the first assembly platform (2) and the second assembly platform (3) is provided with an installation point identification device and an automatic installation device for a thermal insulation pad; The thermal insulation pad automatic installation device comprises: a thermal insulation pad grabbing mechanism (11), an assembly part tightening mechanism (12) and an assembly part feeding device (40); A thermal insulation pad feeding device (30), wherein the thermal insulation pad feeding device (30) is arranged at at least one end of the installation station, and the thermal insulation pad feeding device (30) stores a thermal insulation pad (31).

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