Insulation pad assembly system and method

Abstract

The invention provides a heat insulation pad assembly system and method, and relates to the technical field of commercial vehicle assembly. The heat insulation pad assembling system comprises a transferring device, the transferring device is arranged close to an assembling station and provided with a working platform and a moving base, and the working platform and the moving base are arranged in a relative moving mode; the visual positioning equipment is movably arranged on the working platform, the visual positioning equipment is used for determining the position of at least one of the heat insulation pad and the mounting stud, and the mounting stud is located at the mounting position of the heat insulation pad; and the feeding equipment is movably arranged on the working platform, and the feeding equipment is used for grabbing the heat insulation pad and moving the heat insulation pad to the mounting position. By applying the technical scheme, the problems of low assembly efficiency and high cost in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of commercial vehicle assembly, and in particular, to a heat insulation pad assembly system and method. Background Art

[0002] In the prior art, independent jigs and assembly equipment are designed for each heat insulation pad, resulting in high costs and low efficiency. Multiple workstations are set up on the production line to perform operations such as photographing, grasping, positioning, and tightening the heat insulation pads on the left and right sides respectively, which will increase the total equipment investment and may extend the overall cycle time, or rely on manual placement of the heat insulation pads and tightening of the nuts. The labor cost is high, the assembly efficiency and consistency are difficult to guarantee, and errors are prone to occur.

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

[0004] The main object of the present invention is to provide a heat insulation pad assembly system and method to solve the problems of low assembly efficiency and high cost in the prior art.

[0005] To achieve the above object, according to one aspect of the present invention, a heat insulation pad assembly system is provided, including: a transfer device, which is arranged close to the assembly station, and the transfer device has a working platform and a moving base, and the working platform and the moving base are relatively movably arranged; a vision positioning device, which is movably arranged on the working platform, and the vision positioning device is used to determine the position of at least one of the heat insulation pad and the mounting stud, and the mounting stud is located at the mounting position of the heat insulation pad; a feeding device, which is movably arranged on the working platform, and the feeding device is used to grasp the heat insulation pad and move the heat insulation pad to the mounting position.

[0006] Furthermore, the heat insulation pad assembly system further includes: a control device, which is electrically connected to the transfer device, the vision positioning device, and the feeding device, and the control device is at least used to control the feeding device to perform the assembly operation of the heat insulation pad.

[0007] Furthermore, the heat insulation pad assembly system further includes: a fastening device, which is movably arranged on the working platform, and the fastening device is electrically connected to the control device, and the fastening device is used to assemble and fasten the heat insulation pad.

[0008] Furthermore, the heat insulation pad assembly system further includes: a first robotic arm, which is electrically connected to the control device, the first end of the first robotic arm is arranged on the working platform, and the second end of the first robotic arm is provided with the feeding device; a second robotic arm, which is electrically connected to the control device, the first end of the second robotic arm is arranged on the working platform, and the second end of the second robotic arm is provided with at least one of the vision positioning device and the fastening device.

[0009] Further, the heat insulation pad assembly system further includes: a feeding device disposed on the mobile base, and the feeding device is used to store fastening parts.

[0010] Further, the heat insulation pad assembly system further includes: a safety monitoring device disposed on the transfer device, the safety monitoring device is electrically connected to the control device, and the safety monitoring device is used to monitor dynamic obstacles around the transfer device.

[0011] According to another aspect of the present invention, there is provided a heat insulation pad assembly method, which is carried out by using the above heat insulation pad assembly system. The method includes: obtaining the position information of the material rack, and based on the position information of the material rack, controlling the feeding device to grab the left heat insulation pad and the right heat insulation pad, wherein both the left heat insulation pad and the right heat insulation pad are stored on the material rack; obtaining the first assembly position information and the second assembly position information; based on the first assembly position information, controlling the feeding device to move the left heat insulation pad to the first assembly position, and controlling the fastening device to perform the first assembly operation on the left heat insulation pad; in response to the completion of the first assembly operation, based on the second assembly position information, controlling the feeding device to move the right heat insulation pad to the second assembly position, and controlling the fastening device to perform the second assembly operation on the right heat insulation pad.

[0012] Optionally, based on the position information of the material rack, controlling the feeding device to grab the left heat insulation pad and the right heat insulation pad includes: based on the position information of the material rack, controlling the work platform to drive the first robotic arm to move until the feeding device moves to the grabbing position close to the material rack; wherein, the feeding device is disposed on the first robotic arm, and the feeding device has a plurality of grabbing components, and some of the grabbing components are used to grab the left heat insulation pad, and the other part of the grabbing components are used to grab the right heat insulation pad.

[0013] Optionally, based on the first assembly position information, controlling the feeding device to move the left heat insulation pad to the first assembly position, and controlling the fastening device to perform the first assembly operation on the left heat insulation pad includes: based on the first assembly position information, controlling the work platform to drive the first robotic arm to move so that the left heat insulation pad moves to the first assembly position; in response to the left heat insulation pad moving to the first assembly position, controlling the second robotic arm to move so that the fastening device moves to the first working position, wherein the fastening device is disposed on the second robotic arm; in response to the fastening device moving to the first working position, controlling the fastening device to perform the first assembly operation on the left heat insulation pad.

[0014] Optionally, based on the second assembly position information, control the feeding device to move the right heat insulation pad to the second assembly position, and control the fastening device to perform the second assembly operation on the right heat insulation pad, including: based on the second assembly position information, control the working platform to drive the first robotic arm to move, so that the right heat insulation pad moves to the second assembly position; in response to the right heat insulation pad moving to the second assembly position, control the second robotic arm to move, so that the fastening device moves to the second working position; in response to the fastening device moving to the second working position, control the fastening device to perform the second assembly operation on the right heat insulation pad.

[0015] Applying the technical solution of the present invention, the transfer device is arranged close to the assembly station. A working platform and a moving base are arranged on the transfer device. The vision positioning device and the feeding device are arranged on the working platform. The working platform can move relative to the moving base at the assembly station, and thus can drive the feeding device to perform automatic operations such as positioning, grasping, and feeding of the heat insulation pad, which can save manpower and material resources, has high operation efficiency, low cost, reduces the error of manual assembly, and ensures the assembly accuracy. 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 of the present invention and their descriptions 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 schematic structural diagram of an embodiment of a heat insulation pad assembly system according to the present invention;

[0018] Figure 2 Shows a flowchart of an embodiment of a heat insulation pad assembly method according to the present invention.

[0019] Among them, the above-mentioned accompanying drawings include the following reference numerals:

[0020] 1. Transfer device; 11. Working platform; 12. Moving base; 13. First robotic arm; 14. Second robotic arm;

[0021] 2. Vision positioning device;

[0022] 3. Heat insulation pad;

[0023] 4. Feeding device;

[0024] 5. Fastening device;

[0025] 6. Feeding device. Detailed Embodiments

[0026] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, 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 specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to 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 "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0029] 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 exaggerated, and the same reference numerals are used to denote the same devices, and thus their description will be omitted.

[0030] Combined with Figure 1 As shown, according to a specific embodiment of the present application, a heat insulation pad assembly system is provided.

[0031] Specifically, as Figure 1 shown, the heat insulation pad assembly system includes a transfer device 1, a vision positioning device 2, and a feeding device 4. The transfer device 1 is disposed close to the assembly station. The transfer device 1 has a working platform 11 and a moving base 12, and the working platform 11 and the moving base 12 are relatively movably disposed. The vision positioning device 2 is movably disposed on the working platform 11, and the vision positioning device 2 is used to determine the position of at least one of the heat insulation pad 3 and the mounting stud. The mounting stud is located at the mounting position of the heat insulation pad 3. The feeding device 4 is movably disposed on the working platform 11, and the feeding device 4 is used to grasp the heat insulation pad 3 and move the heat insulation pad 3 to the mounting position.

[0032] Applying the technical solution of this embodiment, the transfer device 1 is arranged near the assembly station. A working platform 11 and a moving base 12 are arranged on the transfer device 1. The vision positioning device 2 and the feeding device 4 are arranged on the working platform 11. The working platform 11 can move relative to the moving base 12 at the assembly station, and then can drive the feeding device 4 to perform automated operations such as positioning, grasping, and feeding of the heat insulation pad 3, which can save manpower and material resources, have high operation efficiency, low cost, reduce the error of manual assembly, and ensure the assembly accuracy.

[0033] It should be noted that the moving base 12 can also be fixed at the assembly station. The working platform 11 can move flexibly relative to the moving base 12, which is convenient for realizing the efficient assembly of the heat insulation pad 3. The mounting stud is located at the assembly position of the heat insulation pad 3. The heat insulation pad 3 is fixed to the bottom end of the cab through the cooperation of the mounting stud with nuts and gaskets. By identifying the position of the mounting stud, the assembly position of the heat insulation pad 3 can be confirmed.

[0034] In an embodiment of the present application, the vision positioning device 2 uses a 3D vision sensor or a 3D camera to achieve high-precision positioning of the heat insulation pad 3 and the mounting stud. Combining with the point cloud data matching and processing technology, the heat insulation pad 3 is accurately identified, the assembly accuracy is improved, and the accurate alignment of the heat insulation pad 3 and the stud is ensured. On the automated assembly production line, the vision positioning device 2 can significantly improve the assembly quality and efficiency. The feeding device 4 can flexibly and stably grasp and place the heat insulation pad 3, improve the degree of automation and assembly speed of the assembly, reduce manual intervention. On the automated assembly production line, the feeding device 4 can significantly improve the assembly efficiency and consistency.

[0035] Specifically, the heat insulation pad assembly system further includes a control device. The control device is electrically connected to the transfer device 1, the vision positioning device 2, and the feeding device 4. The control device is at least used to control the feeding device 4 to perform the assembly operation of the heat insulation pad 3. The control device communicates and transfers data with the transfer device 1, the vision positioning device 2, and the feeding device 4 through wired or wireless means, and uses built-in algorithms (such as pose estimation algorithms, target detection algorithms, path planning algorithms) for data processing and analysis to control the actions of the transfer device 1, the vision positioning device 2, and the feeding device 4 to ensure that they act according to the preset program or move along the preset path. As the core processor of intelligence and automation, the control device integrates the above capabilities, ensuring the automation, intelligence, and safety of the heat insulation pad assembly process, greatly improving the assembly efficiency and consistency, and reducing the labor cost and error rate.

[0036] In an embodiment of the present application, the control device is composed of a high-performance embedded industrial computer and a lower-layer PLC (Programmable Logic Controller) system. The control device communicates with the transfer device 1, the vision positioning device 2, and the feeding device 4 through a network interface to achieve intelligent control of the entire assembly system.

[0037] Furthermore, the heat insulation pad assembly system further includes a fastening device 5. The fastening device 5 is movably arranged on the working platform 11. The fastening device 5 is electrically connected to the control device. The fastening device 5 is used for assembling and fastening the heat insulation pad 3. By being electrically connected to the control device, the fastening device 5 can perform fastening operations according to the received signals, including positioning, grasping the gasket, tightening the nut, etc. At the same time, the fastening device 5 can feedback the state information of installing studs, etc. during the fastening process to the control device to achieve closed-loop control, so as to ensure the accuracy and efficiency of the entire assembly process.

[0038] In this embodiment, the fastening device 5 can accurately tighten the nut and gasket onto the installation stud according to the instructions of the control device. The fastening device 5 is movably arranged on the working platform 11, so that the fastening device 5 has a certain degree of freedom of movement to adapt to the fastening requirements of installation studs at different positions and angles.

[0039] In an exemplary embodiment of the present application, the fastening device 5 includes at least one tightening gun. The tightening gun is movably arranged through the working platform 11. With the characteristics of high precision and adjustable torque, the tightening gun performs tightening operations on the assembly of the target material, and can ensure that the nut is tightened to an appropriate degree. The tightening gun moves to a position close to the nut and stud according to the instructions issued by the control device to perform the tightening operation.

[0040] It should be noted that the fastening device 5 cooperates with the vision positioning device 2. Before performing the fastening operation, the fastening device 5 is calibrated according to the accurate position information of the installation stud provided by the vision positioning device 2 to ensure that the fastening device is aligned with the installation stud and avoid fastening operation deviations.

[0041] Furthermore, as Figure 1As shown in the figure, the heat insulation pad assembly system further includes a first robotic arm 13 and a second robotic arm 14. The first robotic arm 13 is electrically connected to the control device. The first end of the first robotic arm 13 is disposed on the working platform 11, and a feeding device 4 is provided at the second end of the first robotic arm 13. The second robotic arm 14 is electrically connected to the control device. The first end of the second robotic arm 14 is disposed on the working platform 11, and at least one of a vision positioning device 2 and a fastening device 5 is provided at the second end of the second robotic arm 14. Through the collaborative operation of the first robotic arm 13 and the second robotic arm 14, an efficient heat insulation pad assembly system is formed. At the same time, the first robotic arm 13 and the second robotic arm 14 are highly integrated with system devices such as the vision positioning device 2 and the feeding device 4. Through real-time data exchange and instruction control, the automation and intelligence of the entire assembly process are realized. According to the position information of the heat insulation pad 3 and the assembly position information provided by the vision positioning device 2, the heat insulation pad 3 can be automatically grabbed, positioned, and fastened to ensure the continuity and efficiency of the assembly process.

[0042] In this embodiment, the first robotic arm 13 grabs the heat insulation pad 3 through the feeding device 4 and moves the heat insulation pad 3 to the assembly position. The second robotic arm 14 can confirm the precise positions of the heat insulation pad 3 and the mounting stud through the integrated vision positioning device 2 and the fastening device 5, and perform the fastening operation. Through the scheduling of the control device, the two robotic arms can operate synchronously, reducing the waiting time and improving the overall assembly efficiency. Through the above design, the heat insulation pad assembly system realizes the high efficiency, high precision, and high flexibility of automatic assembly, significantly reduces the assembly cost, and improves the production speed and assembly quality.

[0043] Furthermore, the heat insulation pad assembly system further includes a feeding device 6. The feeding device 6 is disposed on the moving base 12, and the feeding device 6 is used to store fastening parts. The feeding device 6 stores the fastening parts required for the installation of the heat insulation pad. The feeding device 6 includes an automatic feeding mechanism, and the automatic feeding mechanism can automatically provide the fasteners to the fastening device 5 according to a preset order or requirement. When the fastening device 5 performs the assembly tightening operation, it can move to the feeding device 6 to pick up the fastening parts according to the instruction of the control device. At the same time, by disposing the feeding device 6 on the moving base 12, the fastening device 5 is closer to the feeding device 6, which is convenient for the fastening device 5 to pick up the materials and improves the efficiency and flexibility of the assembly work.

[0044] Furthermore, the heat insulation pad assembly system further includes a safety monitoring device. The safety monitoring device is disposed on the transfer device 1 and is electrically connected to the control device. The safety monitoring device is used to monitor the dynamic obstacles around the transfer device 1. Through the electrical connection between the safety monitoring device and the control device, real-time monitoring of the environment around the transfer device 1 is achieved, ensuring the safety of equipment operation and staff, improving the safety of the assembly system, avoiding collisions between the equipment and personnel or obstacles, and reducing safety risks. In a workshop or production line with a dense population of people, the safety monitoring device can timely detect the surrounding dynamic obstacles and trigger the safety protection mechanism to ensure the safety of personnel and the normal operation of the equipment.

[0045] It should be noted that for the electrical connection between the safety monitoring device and the control device, the safety monitoring device monitors the surrounding signals and transmits the signals to the control device. The control device analyzes the signals to determine whether there are moving obstacles (such as operators) around. If there are moving obstacles around, the control device will issue a control instruction to cut off the power supply, causing the heat insulation pad assembly system to stop operating, avoiding collisions between the heat insulation pad assembly system and obstacles during operation and causing damage to personnel or property. At the same time, after the control device issues a control instruction to cut off the power supply, the control device will also issue an alarm signal to remind the staff.

[0046] In an embodiment of the present application, the safety monitoring device is provided with a lidar. The lidar measures the distance by emitting laser pulses and receiving the reflected signals, and calculates the round-trip time of the laser, thereby generating a 3D point cloud map of the surrounding environment. The lidar has high-precision and long-distance monitoring capabilities and can timely detect personnel, other equipment or other dynamic obstacles around the transfer device.

[0047] As Figure 2 shown, according to another specific embodiment of the present application, a heat insulation pad assembly method is further provided. The heat insulation pad assembly method is carried out by using the heat insulation pad assembly system in the above embodiment. The method includes:

[0048] Step S10: Obtain the position information of the material rack, and based on the position information of the material rack, control the feeding device to grab the left heat insulation pad and the right heat insulation pad, wherein the left heat insulation pad and the right heat insulation pad are both stored on the material rack;

[0049] Specifically, the position information of the material rack and the position information of the left heat insulation pad and the right heat insulation pad on the material rack are obtained through the vision positioning device. At the same time, the vision positioning device can transmit the collected position information of the material rack, the left heat insulation pad, and the right heat insulation pad to the control device, and the control device can determine the coordinate positions of the material rack, the left heat insulation pad, and the right heat insulation pad according to the image processing algorithm.

[0050] In step S10, after obtaining the position information of the material rack, the left heat insulation pad, and the right heat insulation pad, the control device generates a control instruction for the feeding device to grasp the left heat insulation pad or the right heat insulation pad. The feeding device will cooperate with the vision positioning device and the control device to grasp the left heat insulation pad and the right heat insulation pad according to the preset grasping path.

[0051] It should be noted that the feeding device can simultaneously grasp the left heat insulation pad and the right heat insulation pad based on the position information of the left heat insulation pad and the position information of the right heat insulation pad, so that the left heat insulation pad and the right heat insulation pad are simultaneously integrated on the feeding device, facilitating the one-time completion of the grasping, moving, and assembling operations of the left heat insulation pad and the right heat insulation pad, saving time.

[0052] Step S12: Obtain the first assembly position information and the second assembly position information;

[0053] Specifically, the first assembly position information is the assembly position information of the left heat insulation pad, and the second assembly position information is the assembly position information of the right heat insulation pad. In step S12, the vision positioning device obtains the first assembly position information and the second assembly position information and sends them to the control device. The control device processes the information and calculates the optimal path for the left heat insulation pad and the right heat insulation pad to move to the bottom of the cab.

[0054] It should be noted that the first assembly position information and the second assembly position information include their coordinates, directions, and specific position information of the studs relative to the bottom of the cab.

[0055] Step S14: Based on the first assembly position information, control the feeding device to move the left heat insulation pad to the first assembly position and control the fastening device to perform the first assembly operation on the left heat insulation pad;

[0056] Specifically, after the control device calculates the optimal path for the left heat insulation pad to move to the bottom of the cab, it simultaneously generates an instruction for the feeding device to move the heat insulation pad and an instruction for the fastening device to move to the assembly position to prepare for the fastening operation. When the left heat insulation pad moves to the first assembly position, the fastening device aligns with the studs and other assembly points at the first assembly position and performs the first assembly operation on the left heat insulation pad.

[0057] Step S16: In response to the completion of the first assembly operation, based on the second assembly position information, control the feeding device to move the right heat insulation pad to the second assembly position and control the fastening device to perform the second assembly operation on the right heat insulation pad.

[0058] Specifically, after the equipment to be fastened completes the first assembly operation, a feedback signal is generated and sent to the control device. The feedback signal can be generated after the nut is correctly fastened and the torque value meets the requirements. After the first assembly operation is completed, the visual positioning device precisely scans and locates the second assembly position of the right heat insulation pad, obtains the second assembly position information, and the control device calculates the optimal path for the right heat insulation pad to move to the bottom of the cab. Then, instructions are generated to control the feeding device to move the right heat insulation pad to the second assembly position and to control the fastening device to move to the second assembly position to prepare for the fastening operation.

[0059] It should be noted that in steps S14 - S16, since the visual positioning device is installed on the second robotic arm and the feeding device is installed on the first robotic arm, during the process of moving the left heat insulation pad to the first assembly position by the first robotic arm, the visual positioning device can be controlled to simultaneously collect the second assembly position information, achieving parallel optimization, saving assembly time, and significantly improving the efficiency of the production line.

[0060] Through the above steps, the position information of the material rack is obtained, and based on the position information of the material rack, the feeding device is controlled to grasp the left heat insulation pad and the right heat insulation pad, where both the left heat insulation pad and the right heat insulation pad are stored on the material rack; the first assembly position information and the second assembly position information are obtained; based on the first assembly position information, the feeding device is controlled to move the left heat insulation pad to the first assembly position, and the fastening device is controlled to perform the first assembly operation on the left heat insulation pad; in response to the completion of the first assembly operation, based on the second assembly position information, the feeding device is controlled to move the right heat insulation pad to the second assembly position, and the fastening device is controlled to perform the second assembly operation on the right heat insulation pad. The integrated process of obtaining the position information of the material rack and automatically grasping and assembling the left and right heat insulation pads significantly reduces manual intervention and greatly improves the assembly speed. Through the intelligent scheduling of the control device, the automatic grasping, positioning, and assembly of the left and right heat insulation pads are realized, the automation level of the production line is significantly improved, the dependence on manual labor is reduced, and the stability and reliability of the production line are enhanced.

[0061] Optionally, in step S10, controlling the feeding device to grasp the left heat insulation pad and the right heat insulation pad based on the position information of the material rack includes:

[0062] Step S11: Based on the position information of the material rack, control the work platform to drive the first robotic arm to move until the feeding device moves to the grasping position close to the material rack;

[0063] Among them, the feeding device is installed on the first robotic arm, and the feeding device has multiple grasping components. Some of the grasping components are used to grasp the left heat insulation pad, and the other part of the grasping components are used to grasp the right heat insulation pad.

[0064] Specifically, the control device issues a control instruction to the working platform. The working platform can move between the grasping position and the heat insulation pad assembly position through structures such as slide rails. The working belt then drives the first robotic arm to move the feeding device to the grasping position close to the material rack, facilitating the feeding device to grasp the left heat insulation pad and the right heat insulation pad according to the preset path. In this way, by movably arranging the first robotic arm, the situation where the size of the first robotic arm does not meet the station requirements is avoided, and the cost is reduced.

[0065] It should be noted that by arranging multiple grasping components on a set of feeding devices, it can serve the grasping and assembly of the heat insulation pads on both the left and right sides, reducing the space occupied by the equipment, facilitating the compact layout of the production line, and saving production space.

[0066] Through step S11, using a set of feeding devices to grasp the left and right heat insulation pads, the left heat insulation pad and the right heat insulation pad can be grasped simultaneously in one moving operation, significantly improving the efficiency of the grasping operation, reducing the equipment cost, and also significantly shortening the production cycle time by reducing repeated moving and grasping operations, providing an efficient and flexible solution for large-scale production.

[0067] Optionally, in step S14, based on the first assembly position information, control the feeding device to move the left heat insulation pad to the first assembly position, and control the fastening device to perform the first assembly operation on the left heat insulation pad, including:

[0068] Step S141: Based on the first assembly position information, control the working platform to drive the first robotic arm to move, so that the left heat insulation pad moves to the first assembly position;

[0069] Specifically, after obtaining the first assembly position information, the control device generates a movement path plan after processing and calculating the information. In the process of controlling the left heat insulation pad to move to the first assembly position, first, the control device controls the working platform to move the feeding device holding the heat insulation pad from the grasping position to the working position of the assembly position, drives the first robotic arm to move close to the first assembly position, and then assembles the left heat insulation pad according to the preset assembly path.

[0070] Step S142: In response to the left heat insulation pad moving to the first assembly position, control the second robotic arm to move, so that the fastening device moves to the first working position, where the fastening device is arranged on the second robotic arm;

[0071] Specifically, since the first robotic arm and the second robotic arm are integrally arranged on the working platform, when the working platform moves from the grasping position to the assembly position, the second robotic arm also moves close to the first assembly position. After the left heat insulation pad moves to the first assembly position, the control device controls the second robotic arm to move, and the second robotic arm drives the fastening device to move to the first working position.

[0072] Step S143: In response to the fastening device moving to the first working position, control the fastening device to perform the first assembly operation on the left heat insulation pad.

[0073] Specifically, when the control device receives the position confirmation signal from the sensor, indicating that the fastening device has accurately moved to the first working position, that is, the stud position above the left heat insulation pad, it starts to apply the preset torque to perform the first assembly operation. During the first assembly operation, the control device monitors the torque output of the tightening gun in real time to ensure that the torque value is stable and meets the design requirements.

[0074] Through steps S141 - S143, the automated movement processes of the working platform, the first robotic arm, and the second robotic arm with the movement path planning significantly improve the assembly efficiency and the automation level of the production line. At the same time, the fastening device can efficiently and accurately complete the first assembly operation of the left heat insulation pad, ensuring the assembly quality, reducing the need for manual operation, lowering the assembly cost, and through continuous safety monitoring and quality verification, ensuring the safety and stability of the production process.

[0075] Optionally, in step S16, based on the second assembly position information, control the feeding device to move the right heat insulation pad to the second assembly position, and control the fastening device to perform the second assembly operation on the right heat insulation pad, including:

[0076] Step S161: Based on the second assembly position information, control the working platform to drive the first robotic arm to move, so that the right heat insulation pad moves to the second assembly position;

[0077] Specifically, after obtaining the second assembly position information, the control device generates a movement path plan after processing and calculating the information. During the process of controlling the right heat insulation pad to move to the second assembly position, it first controls the working platform to move the feeding device holding the heat insulation pad from the grasping position to the assembly position (working position), drives the first robotic arm to move close to the first assembly position, and then performs the assembly of the right heat insulation pad according to the preset assembly path.

[0078] Step S162: In response to the right heat insulation pad moving to the second assembly position, control the second robotic arm to move, so that the fastening device moves to the second working position;

[0079] Specifically, after the right heat insulation pad moves to the second assembly position, the control device controls the second robotic arm to move, and the second robotic arm drives the fastening device to move to the second working position.

[0080] Step S163: In response to the fastening device moving to the second working position, control the fastening device to perform the second assembly operation on the right heat insulation pad.

[0081] Specifically, the control device receives a position confirmation signal from the sensor, indicating that the fastening device has accurately moved to the second working position, i.e., the stud position above the right heat insulation pad, and starts to apply a preset torque for the second assembly operation. During the second assembly operation, the control device monitors the torque output of the tightening gun in real time to ensure that the torque value is stable and meets the design requirements.

[0082] Through steps S161 - S163, the automated movement process of the working platform, the first robotic arm, and the second robotic arm through movement path planning significantly improves the assembly efficiency and the automation level of the production line. At the same time, the fastening device can efficiently and accurately complete the second assembly operation of the left heat insulation pad, ensuring the assembly quality, reducing the need for manual operation, lowering the assembly cost, and guaranteeing the safety and stability of the production process through continuous safety monitoring and quality verification.

[0083] From the above description, it can be seen that the heat insulation pad assembly method in this embodiment has the following technical effects:

[0084] 1) By adopting the left and right heat insulation pad assembly method, combining the 3D vision sensor and the point cloud data stitching technology, it can significantly reduce the positioning time during the assembly process.

[0085] 2) By canceling the rough positioning link of the cab and directly performing precise shooting and positioning of the mounting studs, the body positioning can be achieved quickly and accurately, thereby improving the assembly speed of the heat insulation pad.

[0086] 3) Through automated feeding and assembly, the dependence on skilled workers is reduced, and the labor cost is lowered.

[0087] 4) The use of the robotic arm can adjust the grasping angle and force, adapt to heat insulation pads of different sizes and shapes, and improve the adaptability and flexibility of the assembly line.

[0088] 4) The use of lidar continuously monitors the working environment, can detect dynamic obstacles in a timely manner, trigger the safety protection mechanism, protect the safety of personnel in the operation area, and reduce work-related injuries caused by equipment failures or operation errors.

[0089] 5) The fastening device 5 adopts a gun tightening solution, which improves the flexibility of the heat insulation pad assembly operation, facilitates automated loading and unloading, and further speeds up the assembly process.

[0090] 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, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the corresponding explanations for the spatial relative descriptions used herein will be made accordingly.

[0091] In addition to the above, it should also be noted that the "one embodiment", "another embodiment", "embodiment", etc. mentioned in this specification refer to the specific features, structures or characteristics described in connection with that embodiment being 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 fall within the scope of the present invention.

[0092] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0093] 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 changes. Any modifications, equivalent replacements, improvements, 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 thermal insulation pad assembly system, characterized in that: include: A transfer device (1), the transfer device (1) being arranged close to an assembly station, the transfer device (1) comprising a working platform (11) and a movable base (12), the working platform (11) and the movable base (12) being arranged to be relatively movable; A visual positioning device (2), the visual positioning device (2) being movably arranged on the working platform (11), the visual positioning device (2) being used to determine the position of at least one of a thermal insulation pad (3) and a mounting stud, the mounting stud being located at the mounting position of the thermal insulation pad (3); A loading device (4), wherein the loading device (4) is movably arranged on the working platform (11), and the loading device (4) is used to grab the thermal insulation pad (3) and move the thermal insulation pad (3) to the installation position.

2. The thermal insulation pad assembly system according to claim 1, characterized in that: The thermal insulation pad assembly system also includes: A control device, wherein the control device is electrically connected to the transfer device (1), the visual positioning device (2), and the loading device (4), and the control device is at least used to control the loading device (4) to perform the assembly operation of the thermal insulation pad (3).

3. The thermal insulation pad assembly system according to claim 2, characterized in that: The thermal insulation pad assembly system also includes: A fastening device (5), wherein the fastening device (5) is movably arranged on the working platform (11), the fastening device (5) is electrically connected to the control device, and the fastening device (5) is used to assemble and fasten the thermal insulation pad (3).

4. The thermal insulation pad assembly system according to claim 3, characterized in that: The thermal insulation pad assembly system also includes: A first mechanical arm (13), the first mechanical arm (13) being electrically connected to the control device, a first end of the first mechanical arm (13) being arranged on the working platform (11), and a second end of the first mechanical arm (13) being provided with the feeding device (4); A second robotic arm (14), wherein the second robotic arm (14) is electrically connected to the control device, a first end of the second robotic arm (14) is disposed on the working platform (11), and a second end of the second robotic arm (14) is provided with at least one of the visual positioning device (2) and the fastening device (5).

5. The thermal insulation pad assembly system according to claim 1, characterized in that: The thermal insulation pad assembly system also includes: A feeding device (6), wherein the feeding device (6) is arranged on the mobile base (12), and the feeding device (6) is used for storing fastening parts.

6. The thermal insulation pad assembly system according to claim 2, characterized in that: The thermal insulation pad assembly system also includes: A safety monitoring device, wherein the safety monitoring device is arranged on the transfer device (1), the safety monitoring device is electrically connected to the control device, and the safety monitoring device is used to monitor dynamic obstacles around the transfer device (1).

7. A method for assembling a thermal insulation pad, characterized in that: The thermal insulation pad assembly method is performed using the thermal insulation pad assembly system described in any one of claims 1 to 6, and the method comprises: Acquire the position information of the material rack, and based on the position information of the material rack, control the loading device to grab the left thermal insulation pad and the right thermal insulation pad, wherein the left thermal insulation pad and the right thermal insulation pad are both stored on the material rack; Acquire first assembly position information and second assembly position information; Based on the first assembly position information, control the loading device to move the left thermal insulation pad to the first assembly position, and control the fastening device to perform a first assembly operation on the left thermal insulation pad; In response to completing the first assembly operation, based on the second assembly position information, the loading device is controlled to move the right thermal insulation pad to a second assembly position, and the fastening device is controlled to perform a second assembly operation on the right thermal insulation pad.

8. The thermal insulation pad assembly method according to claim 7, characterized in that: Based on the position information of the material rack, controlling the feeding device to grab the left thermal insulation pad and the right thermal insulation pad includes: Based on the position information of the material rack, the working platform is controlled to drive the first mechanical arm to move until the feeding device moves to a grabbing position close to the material rack; Wherein, the loading device is arranged on the first robotic arm, and the loading device has a plurality of grabbing components, some of the grabbing components are used to grab the left thermal insulation pad, and the other part of the grabbing components are used to grab the right thermal insulation pad.

9. The thermal insulation pad assembly method according to claim 8, characterized in that: Based on the first assembly position information, controlling the loading device to move the left thermal insulation pad to the first assembly position, and controlling the fastening device to perform a first assembly operation on the left thermal insulation pad, including: Based on the first assembly position information, controlling the working platform to drive the first mechanical arm to move, so that the left thermal insulation pad moves to the first assembly position; In response to the left thermal insulation pad moving to the first assembly position, controlling the second mechanical arm to move so that the fastening device moves to the first working position, wherein the fastening device is arranged on the second mechanical arm; In response to the fastening device moving to the first working position, the fastening device is controlled to perform the first assembly operation on the left thermal insulation pad.

10. The thermal insulation pad assembly method according to claim 9, characterized in that: Based on the second assembly position information, controlling the feeding device to move the right thermal insulation pad to the second assembly position, and controlling the fastening device to perform a second assembly operation on the right thermal insulation pad, including: Based on the second assembly position information, controlling the working platform to drive the first mechanical arm to move, so that the right thermal insulation pad moves to the second assembly position; In response to the right thermal insulation pad moving to the second assembly position, controlling the second mechanical arm to move so as to move the fastening device to the second working position; In response to the fastening device moving to the second working position, the fastening device is controlled to perform the second assembly operation on the right thermal insulation pad.

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