Insulation mat assembly system and method

Abstract

The application provides a heat insulation pad assembling system and method, and relates to the technical field of commercial vehicle assembling. The heat insulation pad assembling system comprises: a transfer device, which is arranged close to an assembling station, and has a working platform and a moving base, wherein the working platform and the moving base are arranged to be relatively movable; a visual positioning device, which is movably arranged on the working platform, and is used for position determination on at least one of a heat insulation pad and a mounting stud, wherein the mounting stud is located at a mounting position of the heat insulation pad; and a feeding device, which is movably arranged on the working platform, and is used for grabbing the heat insulation pad and moving the heat insulation pad to the mounting position. The technical scheme of the application solves the problems of low assembling efficiency and high cost in the prior art.

Description

Technical Field

[0001] This invention relates to the field of commercial vehicle assembly technology, and more specifically, to a heat insulation pad assembly system and method. Background Technology

[0002] In existing technologies, designing independent fixtures and assembly equipment for each heat insulation pad is costly and inefficient. Setting up multiple workstations on the production line to photograph, grab, position, and tighten the heat insulation pads on the left and right sides will increase the total investment in equipment and may prolong the overall cycle time. Alternatively, relying on manual placement of the heat insulation pads and tightening of nuts will result in high labor costs, difficulty in ensuring assembly efficiency and consistency, and a high risk of errors.

[0003] There is currently no effective solution to the aforementioned technical problems. Summary of the Invention

[0004] The main objective of this invention is to provide a thermal 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 objectives, according to one aspect of the present invention, a thermal insulation pad assembly system is provided, comprising: a transfer device disposed near an assembly station, the transfer device having a working platform and a movable base, the working platform and the movable base being movable relative to each other; a visual positioning device movably disposed on the working platform, the visual positioning device being used to determine the position of at least one of a thermal insulation pad and a mounting stud, the mounting stud being located at the installation position of the thermal insulation pad; and a loading device movably disposed on the working platform, the loading device being used to grasp the thermal insulation pad and move the thermal insulation pad to the installation position.

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

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

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

[0009] Furthermore, the heat insulation pad assembly system also includes a feeding device, which is mounted on a movable base and is used to store fastening parts.

[0010] Furthermore, the thermal insulation pad assembly system also includes: a safety monitoring device, which is installed on the transfer device and electrically connected to the control device. The safety monitoring device is used to monitor dynamic obstacles around the transfer device.

[0011] According to another aspect of the present invention, a method for assembling a heat insulation pad is provided. The heat insulation pad assembly method employs the aforementioned heat insulation pad assembly system. The method includes: acquiring position information of a material rack, and based on the position information of the material rack, controlling a feeding device to grasp a left heat insulation pad and a right heat insulation pad, wherein both the left and right heat insulation pads are stored on the material rack; acquiring first assembly position information and 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 a fastening device to perform a first assembly operation on the left heat insulation pad; in response to completing 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 a second assembly operation on the right heat insulation pad.

[0012] Optionally, based on the position information of the material rack, the feeding device is controlled to grip the left and right heat insulation pads, including: based on the position information of the material rack, the working platform is controlled to drive the first robotic arm to move until the feeding device moves to a gripping position close to the material rack; wherein the feeding device is mounted on the first robotic arm, and the feeding device has multiple gripping components, some of which are used to grip the left heat insulation pad and others are used to grip 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 mounted 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, controlling the feeding device to move the right heat insulation pad to the second assembly position, and controlling the fastening device to perform a second assembly operation on the right heat insulation pad, includes: based on the second assembly position information, controlling the work 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, controlling the second robotic arm to move so that the fastening device moves to the second working position; and in response to the fastening device moving to the second working position, controlling the fastening device to perform a second assembly operation on the right heat insulation pad.

[0015] By applying the technical solution of this invention, the transfer equipment is set up close to the assembly station. A working platform and a movable base are set on the transfer equipment. The vision positioning equipment and the loading equipment are set on the working platform. The working platform can move relative to the movable base at the assembly station, thereby driving the loading equipment to perform automated operations such as positioning, gripping, and loading of the heat insulation pad. This can save manpower and material resources, increase work efficiency, reduce costs, reduce errors in manual assembly, and ensure assembly accuracy. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 A schematic diagram of an embodiment of the heat insulation pad assembly system according to the present invention is shown;

[0018] Figure 2 A flowchart illustrating an embodiment of the heat insulation pad assembly method according to the present invention is shown.

[0019] The above figures include the following reference numerals:

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

[0021] 2. Visual positioning equipment;

[0022] 3. Heat insulation pad;

[0023] 4. Feeding equipment;

[0024] 5. Fastening equipment;

[0025] 6. Feeding equipment. Detailed Implementation

[0026] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate 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, claims, and accompanying drawings of this application 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 used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled 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 therefore their description will be omitted.

[0030] Combination Figure 1 As shown, according to a specific embodiment of this application, a heat insulation pad assembly system is provided.

[0031] Specifically, such as Figure 1 As shown, the heat insulation pad assembly system includes a transfer device 1, a vision positioning device 2, and a loading device 4. The transfer device 1 is located close to the assembly station and has a working platform 11 and a movable base 12, which are movable relative to each other. The vision positioning device 2 is movably mounted on the working platform 11 and is used to determine the position of at least one of the heat insulation pad 3 and the mounting stud, with the mounting stud located at the installation position of the heat insulation pad 3. The loading device 4 is movably mounted on the working platform 11 and is used to pick up the heat insulation pad 3 and move it to the installation position.

[0032] By applying the technical solution of this embodiment, the transfer device 1 is set close to the assembly station. A work platform 11 and a movable base 12 are set on the transfer device 1. The vision positioning device 2 and the loading device 4 are set on the work platform 11. The work platform 11 can move relative to the movable base 12 at the assembly station, thereby driving the loading device 4 to perform automated operations such as positioning, gripping, and loading of the heat insulation pad 3. This can save manpower and material resources, increase work efficiency, reduce the error of manual assembly, and ensure assembly accuracy.

[0033] It should be noted that the movable base 12 can also be fixed at the assembly station. The working platform 11 can move flexibly relative to the movable base 12, which facilitates 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 of the cab by the mounting stud, nut and washer. The assembly position of the heat insulation pad 3 can be confirmed by identifying the position of the mounting stud.

[0034] In one embodiment of this application, the visual positioning device 2 uses a 3D vision sensor or 3D camera to achieve high-precision positioning of the heat insulation pad 3 and the mounting studs. Combined with point cloud data matching and processing technology, it accurately identifies the heat insulation pad 3, improving assembly accuracy and ensuring precise alignment between the heat insulation pad 3 and the studs. On an automated assembly line, the visual positioning device 2 can significantly improve assembly quality and efficiency. The loading device 4 can flexibly and stably grasp and place the heat insulation pad 3, improving the automation level and assembly speed of the assembly, reducing manual intervention. On an automated assembly line, the loading device 4 can significantly improve assembly efficiency and consistency.

[0035] Specifically, the thermal insulation pad assembly system also includes a control device. This control device is electrically connected to the transfer device 1, the visual positioning device 2, and the loading device 4. The control device is used at least to control the loading device 4 in performing the assembly operation of the thermal insulation pad 3. The control device communicates and transmits data with the transfer device 1, the visual positioning device 2, and the loading device 4 via wired or wireless means. It uses built-in algorithms (such as pose estimation algorithms, target detection algorithms, and path planning algorithms) to process and analyze the data, controlling the actions of the transfer device 1, the visual positioning device 2, and the loading device 4 to ensure they operate according to a preset program or move along a preset path. As the core processor for intelligent and automated processes, the control device integrates the above capabilities, ensuring the automation, intelligence, and safety of the thermal insulation pad assembly process, greatly improving assembly efficiency and consistency, and reducing labor costs and error rates.

[0036] In one embodiment of this application, the control device consists of a high-performance embedded industrial computer and a lower-level PLC (Programmable Logic Controller) system. The control device communicates with the transfer device 1, the vision positioning device 2, and the loading device 4 through a network interface to realize intelligent control of the entire assembly system.

[0037] Furthermore, the heat insulation pad assembly system also includes a fastening device 5, which is movably mounted on the work platform 11. The fastening device 5 is electrically connected to the control device and is used to assemble and fasten the heat insulation pad 3. Through its electrical connection to the control device, the fastening device 5 can perform fastening operations based on received signals, including positioning, gripping the pads, and tightening the nuts. Simultaneously, the fastening device 5 can feed back the status information of the studs and other components during the fastening process to the control device, achieving closed-loop control to ensure the accuracy and efficiency of the entire assembly process.

[0038] In this embodiment, the fastening device 5 can precisely tighten the nut and washer onto the mounting stud by controlling the device's commands. The fastening device 5 is movably mounted on the work platform 11, giving it a certain degree of freedom of movement to adapt to the fastening requirements of mounting studs at different positions and angles.

[0039] In one exemplary embodiment of this application, the fastening device 5 includes at least one tightening gun, which is movably set via the work platform 11. The tightening gun, with its high precision and adjustable torque, performs tightening operations on the assembly of the target material, ensuring that the nut is tightened to the appropriate degree. The tightening gun moves to a position close to the nut or stud according to a preset path based on the instructions issued by the control device, and performs the tightening operation.

[0040] It should be noted that the fastening device 5 works in conjunction with the visual positioning device 2. Before performing the fastening operation, the fastening device 5 is calibrated according to the precise position information of the mounting studs provided by the visual positioning device 2 to ensure that the fastening device is aligned with the mounting studs and to avoid deviations in the fastening operation.

[0041] Furthermore, such as Figure 1As shown, the heat insulation pad assembly system also includes a first robotic arm 13 and a second robotic arm 14. The first robotic arm 13 is electrically connected to the control equipment, with its first end mounted on the work platform 11 and its second end equipped with a loading device 4. The second robotic arm 14 is also electrically connected to the control equipment, with its first end mounted on the work platform 11 and its second end equipped with at least one of a vision positioning device 2 and a fastening device 5. Through the collaborative operation of the first robotic arm 13 and the second robotic arm 14, a highly efficient heat insulation pad assembly system is formed. Furthermore, the first and second robotic arms 13 and 14 are highly integrated with system equipment such as the vision positioning device 2 and the loading device 4. Through real-time data exchange and command control, the entire assembly process is automated and intelligent. Based on the position information of the heat insulation pad 3 and the assembly position information provided by the vision positioning device 2, the system can automatically grasp, position, and fasten the heat insulation pad 3, ensuring the continuity and efficiency of the assembly process.

[0042] In this embodiment, the first robotic arm 13 picks up the heat insulation pad 3 using the feeding device 4 and moves it to the assembly position; the second robotic arm 14, through the integrated vision positioning device 2 and fastening device 5, can confirm the precise position of the heat insulation pad 3 and the mounting studs, and perform the fastening operation. By controlling the scheduling of the equipment, the two robotic arms can operate synchronously, reducing waiting time and improving overall assembly efficiency. Through the above design, the heat insulation pad assembly system achieves high efficiency, high precision, and high flexibility in automated assembly, significantly reducing assembly costs and improving production speed and assembly quality.

[0043] Furthermore, the heat insulation pad assembly system also includes a feeding device 6, which is mounted on the movable base 12. The feeding device 6 is used to store fastening parts. The feeding device 6 stores the fastening parts required for heat insulation pad installation. The feeding device 6 includes an automatic feeding mechanism that automatically supplies fasteners to the fastening device 5 according to a preset sequence or as needed. During assembly and tightening operations, the fastening device 5 can move to the feeding device 6 to retrieve fastening parts according to instructions from the control equipment. Simultaneously, positioning the feeding device 6 on the movable base 12 brings the fastening device 5 closer to the feeding device 6, facilitating the retrieval of parts by the fastening device 5 and improving the efficiency and flexibility of the assembly work.

[0044] Furthermore, the heat insulation pad assembly system also includes safety monitoring equipment, which is installed on the transfer device 1 and electrically connected to the control device. The safety monitoring equipment is used to monitor dynamic obstacles around the transfer device 1. Through the electrical connection between the safety monitoring equipment and the control device, real-time monitoring of the environment around the transfer device 1 is achieved, ensuring the safety of equipment operation and personnel, improving the safety of the assembly system, avoiding collisions between equipment and personnel or obstacles, and reducing safety risks. In densely populated workshops or production lines, the safety monitoring equipment can promptly detect surrounding dynamic obstacles, triggering safety protection mechanisms to ensure personnel safety and normal equipment operation.

[0045] It should be noted that the electrical connection between the safety monitoring equipment and the control equipment allows the safety monitoring equipment to detect surrounding signals and transmit them to the control equipment. The control equipment analyzes the signals to determine if there are any moving obstacles (such as operators). If a moving obstacle is found, the control equipment will issue a power cut-off command, stopping the insulation pad assembly system from operating and preventing personnel or property damage from encountering the obstacle during operation. Simultaneously, after issuing the power cut-off command, the control equipment will also issue an alarm signal to alert personnel.

[0046] In one embodiment of this application, the safety monitoring device is equipped with a lidar. The lidar emits laser pulses and receives reflected signals, and measures the distance by calculating 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 promptly detect personnel, other equipment or other dynamic obstacles around the moving equipment.

[0047] like Figure 2 As shown, according to another specific embodiment of this application, a method for assembling a thermal insulation pad is also provided. The method employs the thermal insulation pad assembly system described in the above embodiments, and 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 location information of the material rack, as well as the location information of the left and right heat insulation pads on the material rack, are obtained through a visual positioning device. At the same time, the visual positioning device can transmit the collected location information of the material rack and the left and right heat insulation pads to the control device. The control device can determine the coordinate positions of the material rack, the left heat insulation pad, and the right heat insulation pad based on 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 will generate a control command to control the feeding device to grab the left heat insulation pad or the right heat insulation pad. The feeding device will work together with the vision positioning device and the control device to grab the left heat insulation pad or the right heat insulation pad according to the preset grabbing path.

[0051] It should be noted that the feeding equipment can simultaneously grab the left and right heat insulation pads based on the position information of the left and right heat insulation pads, so that the left and right heat insulation pads can be integrated into the feeding equipment at the same time, so as to complete the grabbing, moving and assembling of the left and right heat insulation pads in one go, 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 first assembly position information and the second assembly position information are obtained through the visual positioning device, and the first assembly position information and the second assembly position information are sent 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, orientation, 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 equipment calculates the optimal path for the left heat insulation pad to move to the bottom of the cab, it simultaneously generates instructions to control the loading equipment to move the heat insulation pad and instructions to control the fastening equipment to move to the assembly position to prepare for fastening operations. When the left heat insulation pad moves to the first assembly position, the fastening equipment 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 fastening equipment completes the first assembly operation, it generates a feedback signal to the control equipment. The feedback signal can be generated based on the correct tightening of the nut and the torque value reaching the requirements. After the first assembly operation is completed, the vision positioning equipment accurately scans and positions the second assembly position of the right heat insulation pad to obtain the second assembly position information. The control equipment calculates the optimal path for the right heat insulation pad to move to the bottom of the cab, and then generates instructions to control the loading equipment to move the right heat insulation pad to the second assembly position and to control the fastening equipment 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 vision positioning device is set on the second robotic arm and the feeding device is set on the first robotic arm, the vision positioning device can be controlled to collect the second assembly position information at the same time during the process of the left heat insulation pad moving to the first assembly position through the first robotic arm, so as to achieve parallel optimization, save assembly time, and greatly improve the efficiency of the production line.

[0060] Through the above steps, the position information of the material rack is obtained, and based on this information, the feeding equipment is controlled to grasp the left and right heat insulation pads, both of which are stored on the material rack. First and second assembly position information are obtained. Based on the first assembly position information, the feeding equipment is controlled to move the left heat insulation pad to the first assembly position, and the fastening equipment 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 equipment is controlled to move the right heat insulation pad to the second assembly position, and the fastening equipment is controlled to perform the second assembly operation on the right heat insulation pad. This integrated process of obtaining the material rack position information and automatically grasping and assembling the left and right heat insulation pads significantly reduces manual intervention and greatly improves assembly speed. Through intelligent scheduling of the control equipment, the automated grasping, positioning, and assembly of the left and right heat insulation pads are achieved, significantly improving the automation level of the production line, reducing reliance on manual labor, and enhancing the stability and reliability of the production line.

[0061] Optionally, in step S10, based on the position information of the material rack, the feeding device is controlled to grab the left and right heat insulation pads, including:

[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 gripping position close to the material rack;

[0063] The feeding device is mounted on the first robotic arm and has multiple gripping components. Some of the gripping components are used to grip the left heat insulation pad, and the other part of the gripping components are used to grip the right heat insulation pad.

[0064] Specifically, the control equipment sends control commands to the work platform, which can move between the gripping position and the heat insulation pad assembly position via a slide rail or other structure. The work belt then drives the first robotic arm to move the loading equipment to the gripping position near the material rack, facilitating the loading equipment to grip the left and right heat insulation pads according to a preset path. This movable design of the first robotic arm avoids situations where the size of the first robotic arm does not meet the requirements of the workstation, thus reducing costs.

[0065] It should be noted that by setting up multiple gripping components on a single feeding device, the heat insulation pads on both the left and right sides can be gripped and assembled, reducing the space occupied by the equipment, which is conducive to the compact layout of the production line and saves production space.

[0066] By using a feeding device in step S11 to grab the left and right heat insulation pads, the left and right heat insulation pads can be grabbed simultaneously in one movement operation, which significantly improves the efficiency of the grabbing operation, reduces equipment costs, and significantly shortens the production cycle time by reducing repetitive movement and grabbing operations, providing an efficient and flexible solution for large-scale production.

[0067] Optionally, in step S14, 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, including:

[0068] Step S141: Based on the first assembly position information, control the work 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 processes and calculates the information to generate a movement path plan. In the process of controlling the left heat insulation pad to move to the first assembly position, the movement path plan first moves the feeding device holding the heat insulation pad from the gripping position to the assembly position working position through the control work platform, drives the first robotic arm to move closer 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, wherein the fastening device is mounted on the second robotic arm;

[0071] Specifically, since the work platform is equipped with a first robotic arm and a second robotic arm, when the work platform moves from the gripping position to the assembly position, the second robotic arm also moves to a position 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 a position confirmation signal from the sensor, it indicates that the fastening device has moved accurately to the first working position, namely the stud position above the left heat insulation pad, and begins 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 process of the work platform, the first robotic arm, and the second robotic arm, which involves path planning, significantly improves assembly efficiency and the automation level of the production line. At the same time, the fastening equipment can efficiently and accurately complete the first assembly operation of the left heat insulation pad, ensuring assembly quality, reducing the need for manual operation, lowering assembly costs, and ensuring the safety and stability of the production process through continuous safety monitoring and quality verification.

[0075] Optionally, in step S16, 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 a second assembly operation on the right heat insulation pad, including:

[0076] Step S161: Based on the second assembly position information, control the work 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 equipment processes and calculates the information to generate a movement path plan. In the process of controlling the right heat insulation pad to move to the second assembly position, the movement path plan first moves the feeding device holding the heat insulation pad from the gripping position to the assembly position working position through the control work platform, drives the first robotic arm to move closer to the first assembly position, and then assembles 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 equipment controls the second robotic arm to move, and the second robotic arm drives the fastening equipment 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 a 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, namely the stud position above the right heat insulation pad, and begins to apply the preset torque to perform 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 work platform, the first robotic arm, and the second robotic arm, based on the movement path planning, significantly improves assembly efficiency and the automation level of the production line. At the same time, the fastening equipment can efficiently and accurately complete the second assembly operation of the left heat insulation pad, ensuring assembly quality, reducing the need for manual operation, lowering assembly costs, and ensuring the safety and stability of the production process through continuous safety monitoring and quality verification.

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

[0084] 1) The left and right heat insulation pad assembly method, combined with 3D vision sensors and point cloud data stitching technology, can significantly reduce the positioning time during the assembly process.

[0085] 2) By eliminating the coarse positioning step in the cab, the mounting studs can be precisely photographed and positioned directly, which can quickly and accurately achieve vehicle body positioning, thereby improving the assembly speed of the heat insulation pad.

[0086] 3) By automating material loading and assembly, the reliance on skilled workers is reduced, thus lowering labor costs.

[0087] 4) The use of robotic arms can adjust the gripping angle and force to adapt to heat insulation pads of different sizes and shapes, improving 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 safety protection mechanisms, protect the safety of personnel in the work area, and reduce work-related accidents caused by equipment failure or operational errors.

[0089] 5) The fastening device 5 adopts a gun tightening scheme, 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," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0091] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this invention.

[0092] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0093] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for assembling a heat insulation pad, characterized in that, The heat insulation pad assembly method employs a heat insulation pad assembly system. The heat insulation pad assembly system includes: The transfer device (1) is located close to the assembly station. The transfer device (1) has a working platform (11) and a movable base (12). The working platform (11) and the movable base (12) are movable relative to each other. A visual positioning device (2) is movably mounted on the work platform (11). The visual 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 installation position of the heat insulation pad (3). The feeding device (4) is movably mounted on the working platform (11). The feeding device (4) is used to grab the heat insulation pad (3) and move the heat insulation pad (3) to the installation position. A feeding device (6) is provided on the movable base (12) and is used to store fastening parts; 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 the second end of the first robotic arm (13) is disposed on the feeding device (4). 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 work platform (11), and the second end of the second robotic arm (14) is provided with the visual positioning device (2) and the fastening device (5). The method includes: 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 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; Acquire first assembly position information and second assembly position information, wherein the first assembly position information and the second assembly position information are acquired through a vision positioning device, and the first assembly position information and the second assembly position information are sent to a control device; 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; Specifically, based on the position information of the material rack, controlling the feeding device to grab the left and right heat insulation pads includes: Based on the position information of the material rack, the control platform drives the first robotic arm to move until the feeding device moves to a gripping position close to the material rack; The feeding device is mounted on the first robotic arm and has multiple gripping components. Some of the gripping components are used to grip the left heat insulation pad, and the other part of the gripping components are used to grip the right heat insulation pad. Specifically, 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, including: Based on the first assembly position information, the working platform is controlled to drive the first robotic arm to move so that the left heat insulation pad moves to the first assembly position. Since the visual positioning device is set on the second robotic arm and the feeding device is set on the first robotic arm, the visual positioning device can be controlled to collect the second assembly position information at the same time during the process of the left heat insulation pad moving to the first assembly position through the first robotic arm. In response to the left heat insulation pad moving to the first assembly position, the second robotic arm is controlled to move so that the fastening device moves to the first working position, wherein the fastening device is mounted on the second robotic 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 heat insulation pad; Specifically, 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 a second assembly operation on the right heat insulation pad, including: Based on the second assembly position information, the work platform is controlled to move the first robotic arm so that the right heat insulation pad is moved to the second assembly position. In response to the right heat insulation pad moving to the second assembly position, the second robotic arm is controlled 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, the fastening device is controlled to perform the second assembly operation on the right heat insulation pad.

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

3. The method for assembling a heat insulation pad according to claim 2, characterized in that, The heat insulation pad assembly system also includes: Fastening device (5), which is movably mounted on the working platform (11), is electrically connected to the control device, and is used to assemble and fasten the heat insulation pad (3).

4. The method for assembling a heat insulation pad according to claim 1, characterized in that, The heat insulation pad assembly system also includes: A safety monitoring device is installed on the transfer device (1) and is electrically connected to the control device. The safety monitoring device is used to monitor dynamic obstacles around the transfer device (1).

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