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, the transfer device is movably arranged, the transfer device is arranged close to a feeding station, the transfer device comprises a moving base and a working platform, and the working platform is movably arranged on the moving base. A collection device is arranged on the working platform, the collection device is used for collecting storage position information and assembling position information of target materials, and the target materials at least include front heat insulation pads and rear heat insulation pads. A feeding device is movably arranged on the working platform, and the feeding device is used for grabbing and moving the target materials. The technical scheme of the application can solve the problems of high cost and low efficiency 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, manual assembly is generally used. Workers use hand tools to position and fix the heat insulation pads to the cab floor, and visual inspection is used to ensure accurate positioning. This method is costly, inefficient, and prone to human error. In contrast, existing automated assembly lines for heat insulation pad assembly typically include multiple workstations, each responsible for different assembly tasks, such as positioning, gripping the heat insulation pads, positioning studs, and tightening nuts. Using robotic arms and fixing fixtures, along with sensors for positioning, can improve the accuracy and speed of assembly. However, the equipment investment and maintenance costs are higher.

[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 high assembly cost and low assembly efficiency of thermal insulation pads in the prior art.

[0005] To achieve the above objectives, according to one aspect of the present invention, a heat insulation pad assembly system is provided, comprising: a transfer device, movably disposed and located near a loading station, the transfer device including a movable base and a working platform, the working platform being relatively movably disposed on the movable base; a collection device disposed on the working platform, the collection device being used to collect storage location information and assembly location information of a target material, the target material including at least a front heat insulation pad and a rear heat insulation pad; and a loading device, movably disposed on the working platform, the loading device being used to grasp and move the target material.

[0006] Furthermore, the heat insulation pad assembly system also includes: a control device, which is electrically connected to the transfer device, the data acquisition device, and the feeding device, and is used to control the transfer device, the data acquisition device, and the feeding device to perform feeding operations.

[0007] Furthermore, the heat insulation pad assembly system also includes: a fastening device, which is set on the work platform and electrically connected to the control device. The fastening device is used to fix the target material to the bottom of the cab.

[0008] Furthermore, the feeding equipment, collection equipment, and fastening equipment are all movably connected to the work platform via robotic arms.

[0009] Furthermore, the heat insulation pad assembly system also includes: a feeding device, which is mounted on a movable base and electrically connected to a control device, and is used to provide 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 method is performed by the aforementioned heat insulation pad assembly system and includes: acquiring storage location information of a target heat insulation pad using a data acquisition device, and controlling a feeding device to pick up the target heat insulation pad based on the storage location information; acquiring assembly location information of the target heat insulation pad using a data acquisition device, and controlling the feeding device to move the target heat insulation pad to the assembly location based on the assembly location information; and fastening the target heat insulation pad to the bottom of the cab using a fastening device.

[0012] Optionally, controlling the feeding device to grasp the target heat insulation pad based on the stored location information includes: determining the target grasping position of the working platform based on the stored location information; controlling the working platform to move to the target grasping position; and controlling the feeding device to grasp the target heat insulation pad, wherein the feeding device is located on the working platform.

[0013] Optionally, the target heat insulation pad includes a rear heat insulation pad and a front heat insulation pad. Based on the storage location information, the target gripping position of the working platform is determined, and the working platform is controlled to move to the target gripping position. Controlling the feeding device to grip the target heat insulation pad includes: determining a first gripping position among the target gripping positions of the working platform based on the storage location information of the rear heat insulation pad; controlling the working platform to move to the first gripping position and controlling the feeding device to grip the rear heat insulation pad; determining a second gripping position among the target gripping positions of the working platform based on the storage location information of the front heat insulation pad; controlling the working platform to move to the second gripping position and controlling the feeding device to grip the front heat insulation pad.

[0014] Optionally, the assembly position information of the target heat insulation pad is collected by a data acquisition device, and based on the assembly position information, the feeding device is controlled to move the target heat insulation pad to the assembly position, and the target heat insulation pad is fastened to the bottom of the cab by a fastening device. This includes: collecting the assembly position information of the rear heat insulation pad by a data acquisition device; controlling the feeding device to move the target heat insulation pad to the assembly position of the rear heat insulation pad based on the assembly position information of the rear heat insulation pad; fastening the rear heat insulation pad to the bottom of the cab by a fastening device; collecting the assembly position information of the front heat insulation pad by a data acquisition device; controlling the feeding device to move the front heat insulation pad to the assembly position of the front heat insulation pad based on the assembly position information of the front heat insulation pad; fastening the front heat insulation pad to the bottom of the cab by a fastening device.

[0015] By applying the technical solution of this invention, the transfer equipment is moved to a position close to the loading station. A working platform is set on the transfer equipment, and the acquisition equipment and the loading equipment are set on the working platform. The working platform can move relative to the movable base at the loading station, thereby driving the loading equipment to perform automated operations such as positioning, grabbing, and loading of the target material. 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 thermal 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;

[0021] 11. Movable base;

[0022] 12. Work platform;

[0023] 2. Data acquisition equipment;

[0024] 3. Feeding equipment;

[0025] 4. Fastening equipment;

[0026] 5. Feeding equipment. Detailed Implementation

[0027] 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.

[0028] 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, apparatuses, and / or combinations thereof.

[0029] 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.

[0030] 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.

[0031] Combination Figure 1 As shown, according to a specific embodiment of this application, a heat insulation pad assembly system is provided.

[0032] Specifically, the heat insulation pad assembly system includes a transfer device 1, a data acquisition device 2, and a loading device 3. The transfer device 1 is movably set and located near the loading station. The transfer device 1 includes a movable base 11 and a working platform 12, with the working platform 12 being relatively movably set on the movable base 11. The data acquisition device 2 is set on the working platform 12 and is used to acquire the storage location information and assembly location information of the target material. The target material includes at least a front heat insulation pad and a rear heat insulation pad. The loading device 3 is movably set on the working platform 12 and is used to grab and move the target material.

[0033] By applying the technical solution of this embodiment, the transfer device 1 is moved to a position close to the loading station. A working platform 12 is set on the transfer device 1, and the acquisition device 2 and the loading device 3 are set on the working platform 12. The working platform 12 can move relative to the movable base 11 at the loading station, thereby driving the loading device 3 to perform automated operations such as positioning, grabbing, and loading of the target material. This can save manpower and material resources, increase work efficiency, reduce costs, reduce errors in manual assembly, and ensure assembly accuracy.

[0034] Specifically, the heat insulation pad assembly system also includes a control device, which is electrically connected to the transfer device 1, the data acquisition device 2, and the loading device 3. The control device is used to control the transfer device 1, the data acquisition device 2, and the loading device 3 to perform loading operations. The control device communicates and transmits data with the transfer device 1, the data acquisition device 2, and the loading device 3 via wired or wireless means, and uses built-in algorithms (such as pose estimation algorithms, target detection algorithms, and path planning algorithms) to process and analyze data, and control the actions of the transfer device 1, the data acquisition device 2, and the loading device 3 to ensure that they act according to a preset program or move along a preset path.

[0035] 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 data acquisition device 2, and the loading device 3 through a network interface to realize intelligent control of the entire assembly system.

[0036] Furthermore, the heat insulation pad assembly system also includes a fastening device 4, which is mounted on the work platform 12 and electrically connected to the control equipment. The fastening device 4 is used to fix the target material to the bottom of the cab. Through its electrical connection with the control equipment, the fastening device 4 can perform fastening operations based on received signals, including positioning, gripping the pad, and tightening the nut. Simultaneously, the fastening device 4 can feed back the status information of the studs and other components during the fastening process to the control equipment, achieving closed-loop control to ensure the accuracy and efficiency of the entire assembly process.

[0037] In one exemplary embodiment of this application, the fastening device 4 includes at least one tightening gun, which is movably set via the work platform 12. The tightening gun, with its high precision and adjustable torque characteristics, 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.

[0038] Specifically, the loading device 3, data acquisition device 2, and fastening device 4 are all movably connected to the work platform 12 via a robotic arm. The robotic arm, as the component connecting the work platform 12 to each device, allows each device to move freely at the loading station to complete complex assembly tasks. Through its movable connection with the robotic arm, the loading device 3, data acquisition device 2, and fastening device 4 can move freely within the work platform 12, expanding their operating range. The robotic arm can operate multiple devices simultaneously or sequentially, realizing integrated operations of loading, data acquisition, and fastening, thus improving overall operational efficiency.

[0039] In one embodiment of this application, the robotic arm includes a first robotic arm and a second robotic arm. The first ends of both the first and second robotic arms are mounted on a work platform 12. The second end of the first robotic arm is equipped with a loading device 3, and the second end of the second robotic arm integrates a data acquisition device 2 and a fastening device 4. Through the collaborative operation of the first and second robotic arms, a highly efficient heat insulation pad assembly system is formed. At the same time, the first and second robotic arms are highly integrated with system equipment such as the data acquisition device 2 and the loading device 3. Through real-time data exchange and command control, the automation and intelligence of the entire assembly process are realized. Based on the heat insulation pad position information and assembly position information provided by the data acquisition device 2, the heat insulation pad can be automatically grasped, positioned, and fastened to ensure the continuity and efficiency of the assembly process.

[0040] Furthermore, the heat insulation pad assembly system also includes a feeding device 5, which is mounted on the movable base 11 and electrically connected to the control device. The feeding device 5 is used to provide fastening parts. The feeding device 5 stores the fastening parts required for heat insulation pad installation. The feeding device 5 includes an automatic feeding mechanism that automatically supplies fasteners to the fastening device 4 according to a preset sequence or as needed. During assembly and tightening operations, the fastening device 4 can move to the feeding device 5 to retrieve the fastening parts according to instructions from the control device. Simultaneously, mounting the feeding device 5 on the movable base 11 brings the fastening device 4 closer to the feeding device 5, facilitating the retrieval of parts by the fastening device 4 and improving the efficiency and flexibility of the assembly work.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] According to another specific embodiment of this application, such as Figure 2 As shown, a method for assembling a heat insulation pad is also provided. The method is performed using the heat insulation pad assembly system described in the above embodiments, and includes:

[0045] Step S10: Collect the storage location information of the target heat insulation pad through the acquisition device, and control the feeding device to grab the target heat insulation pad based on the storage location information;

[0046] Specifically, after the acquisition device obtains the storage location information of the target heat insulation pad, it transmits the storage location information to the control device. The control device analyzes and processes the storage location information, determines the precise pose of the target heat insulation pad, compares it with the predetermined gripping position and posture, calculates the parameters that the feeding device needs to adjust to grip the target heat insulation pad, generates a gripping instruction for the target heat insulation pad, and transmits the instruction to the feeding device to grip the target heat insulation pad.

[0047] It should be noted that in step S10, the acquisition device can be a 3D (Three-Dimensional) vision camera. The target heat insulation pad is photographed by the 3D vision camera, and the coordinate position and orientation of the target heat insulation pad in three-dimensional space are determined by point cloud technology. This can accurately identify feature points on the target heat insulation pad, such as the positioning holes and edge contours of the target heat insulation pad.

[0048] Step S12: Collect the assembly position information of the target heat insulation pad through the acquisition device, and based on the assembly position information, control the feeding device to move the target heat insulation pad to the assembly position.

[0049] Specifically, the acquisition device can also acquire the assembly position of the target heat insulation pad and transmit the acquired assembly position information of the target heat insulation pad to the control device. The control device analyzes and processes the assembly position information using a pose estimation algorithm (such as the point cloud ICP registration algorithm, i.e., the Iterative Closet algorithm), calculates the relative pose between the heat insulation pad and the assembly position, and plans the motion path of the heat insulation pad. Then, it issues a command to control the feeding device to move to the assembly position, moving the target heat insulation pad to the assembly position.

[0050] Step S14: Secure the target heat insulation pad to the bottom of the cab using the fastening device 4.

[0051] Specifically, after the target heat insulation pad is placed at the predetermined assembly position at the bottom of the cab, the data acquisition device will reconfirm the position and orientation of the target heat insulation pad to ensure that it is accurately aligned with the predetermined position. The fastening device 4 will then perform the assembly operation by aligning the holes on the target heat insulation pad with the assembly position information provided by the data acquisition device.

[0052] In step S14, the fastening device 4 is a tightening gun. The tightening gun can align with the mounting studs of the target heat insulation pad according to the assembly position information collected by the acquisition device, and tighten the gasket and nut.

[0053] Through the above steps, the storage location information of the target heat insulation pad is collected by the acquisition device, and based on the storage location information, the feeding device is controlled to grab the target heat insulation pad; the assembly location information of the target heat insulation pad is collected by the acquisition device, and based on the assembly location information, the feeding device is controlled to move the target heat insulation pad to the assembly position; the target heat insulation pad is fastened to the bottom of the cab by the fastening device 4. By acquiring the storage and assembly location information of the heat insulation pad through the acquisition device, the feeding device grabs and moves the pad according to the information, and the fastening device fixes the heat insulation pad, the entire process is automated and intelligent, which significantly improves the accuracy and speed of heat insulation pad assembly, reduces errors and time in the assembly process, lowers assembly costs, and improves the efficiency and assembly quality of the production line.

[0054] Optionally, in step S10, based on the stored location information, controlling the feeding device to grasp the target heat insulation pad includes:

[0055] Step S101: Determine the target grabbing location of the working platform based on the storage location information;

[0056] Specifically, after the acquisition device collects the storage location information of the target heat insulation pad and the control device calculates the pose and three-dimensional coordinates of the target heat insulation pad, the target heat insulation pad needs to be grasped. The control device will calculate a target grasping position and grasp the target heat insulation pad based on the target grasping position.

[0057] Step S102: Control the work platform to move to the target grasping position;

[0058] Specifically, there is a certain distance between the initial position of the target heat insulation pad and the assembly position. When the size of the feeding equipment and the robotic arm does not meet the requirements for gripping and installing the target heat insulation pad, the working platform can be relatively movable on the mobile base. After the working platform drives the robotic arm to grip the target heat insulation pad at the target gripping position, it is then moved to the assembly position to assemble the target heat insulation pad, which can avoid the limitation of size on the assembly operation.

[0059] Step S103: Control the feeding device to grab the target heat insulation pad, wherein the feeding device is located on the working platform.

[0060] Specifically, after the work platform moves the robotic arm and the feeding device to the target gripping position, the feeding device moves above the target heat insulation pad according to the storage position of the target heat insulation pad provided by the acquisition device and the control device, and then the robotic arm rotates to adjust to the angle at which the feeding device grips the target heat insulation pad before gripping the target heat insulation pad.

[0061] Through steps S101-S103, when the size of the robotic arm and the loading equipment does not meet the requirements of the work station, the work platform can be movably set up, thereby driving the robotic arm and the loading equipment to grab the target heat insulation pad at the target gripping position, realizing the gripping operation of the heat insulation pad assembly system, reducing the cost of large-size robotic arms and loading equipment, while improving the flexibility of the loading equipment and improving assembly efficiency.

[0062] Optionally, the target heat insulation pad includes a rear heat insulation pad and a front heat insulation pad. In steps S101-S103, based on the stored location information, the target gripping position of the working platform is determined, the working platform is controlled to move to the target gripping position, and the feeding device is controlled to grip the target heat insulation pad, including:

[0063] Step S104: Based on the storage location information of the rear heat insulation pad, determine the first gripping position among the target gripping positions of the working platform;

[0064] Specifically, the target heat insulation pad includes a front heat insulation pad and a rear heat insulation pad, and the front heat insulation pad and the rear heat insulation pad are respectively set on different material racks. Thus, the front heat insulation pad and the rear heat insulation pad have different storage locations. After the data acquisition device collects the storage location information of the front heat insulation pad and the rear heat insulation pad respectively, the control device controls the feeding device to grab them respectively based on the different storage location information of the front heat insulation pad and the rear heat insulation pad.

[0065] In step S104, the first gripping position is a gripping position close to the rear heat insulation pad, and the work platform moves to the gripping position close to the rear heat insulation pad.

[0066] In this embodiment, the front heat insulation pad and the rear heat insulation pad are stored on both sides of the loading station. The control equipment first controls the working platform to move to the first gripping position in order to grip the rear heat insulation pad.

[0067] Step S105: Control the work platform to move to the first gripping position, and control the feeding device to grip the heat insulation pad;

[0068] Specifically, after the work platform moves to the first gripping position, it adjusts the gripping posture according to the preset storage location information of the rear heat insulation pad, grips the rear heat insulation pad, and then moves the rear heat insulation pad.

[0069] Step S106: Based on the storage location information of the front heat insulation pad, determine the second gripping position among the target gripping positions of the working platform;

[0070] Specifically, in step S106, the second gripping position is a gripping position close to the front heat insulation pad. The acquisition device acquires the storage position information of the front heat insulation pad and sends the storage position information of the front heat insulation pad to the control device to calculate the precise pose of the front heat insulation pad.

[0071] It should be noted that in steps S105-S106, since the data acquisition device and the feeding device are set on different robotic arms, the data acquisition device can collect the storage location information of the front heat insulation pad while the rear heat insulation pad is being picked up. This makes the picking of the front and rear heat insulation pads more time-saving and can improve the assembly efficiency of the production line.

[0072] Step S107: Control the work platform to move to the second gripping position and control the feeding device to grip the front heat insulation pad.

[0073] Specifically, after the feeding equipment has finished grabbing the rear heat insulation pad, the working platform needs to move the feeding equipment to the second grabbing position near the front heat insulation pad to grab the front heat insulation pad.

[0074] Through steps S104-S107, the storage location information of the rear and front heat insulation pads is analyzed by the control equipment to determine the movement path and gripping sequence of the work platform, thereby achieving efficient gripping of the heat insulation pads and improving the order and efficiency of heat insulation pad gripping. At the same time, the synchronous operation of the data acquisition equipment and the feeding equipment reduces the waiting time during the gripping process, lowers assembly costs, and improves production efficiency.

[0075] Optionally, in steps S12-S14, the assembly position information of the target heat insulation pad is collected by the acquisition device, and based on the assembly position information, the loading device is controlled to move the target heat insulation pad to the assembly position, and the target heat insulation pad is fastened to the bottom of the cab by the fastening device 4, including:

[0076] Step S121: Collect the assembly position information of the rear heat insulation pad using the data acquisition device;

[0077] It should be noted that since the target heat insulation pad is divided into a front heat insulation pad and a rear heat insulation pad, the assembly positions of different target heat insulation pads are also different. The data acquisition equipment needs to collect the assembly position information of the front heat insulation pad and the assembly position information of the rear heat insulation pad respectively, so as to determine the assembly position of different heat insulation pads.

[0078] In step S121, the assembly position information of the rear heat insulation pad is collected by the acquisition device, and the assembly position information of the rear heat insulation pad is analyzed and processed by the control device to determine the assembly position of the rear heat insulation pad.

[0079] Step S122: Based on the assembly position information of the rear heat insulation pad, control the feeding equipment to move the target heat insulation pad to the assembly position of the rear heat insulation pad;

[0080] Specifically, the control equipment receives and analyzes the rear heat insulation pad assembly position information collected by the acquisition equipment, including the precise coordinates of the studs, the installation outline of the heat insulation pad, and the three-dimensional posture of the assembly position. This data is then compared with a preset assembly model to confirm the correctness of the assembly position. Based on the assembly position information, a path is planned, and the loading device holding the rear heat insulation pad is moved to the assembly position to facilitate the fastening of the rear heat insulation pad.

[0081] Step S123: Secure the rear heat insulation pad to the bottom of the cab using the fastening device 4;

[0082] Specifically, after the feeding equipment has placed the rear heat insulation pad at the rear heat insulation pad assembly position at the bottom of the cab, the fastening equipment 4 uses the precise position of the studs obtained by the acquisition equipment to fasten and install the rear heat insulation pad.

[0083] Step S124: Collect the assembly position information of the front heat insulation pad using the data acquisition device;

[0084] Specifically, the assembly position information of the front heat insulation pad is collected by the acquisition device, and the assembly position information of the front heat insulation pad is analyzed and processed by the control device to determine the assembly position of the front heat insulation pad.

[0085] Step S125: Based on the assembly position information of the front heat insulation pad, control the feeding device to move the front heat insulation pad to the assembly position of the front heat insulation pad.

[0086] Specifically, the control equipment receives and parses the front heat insulation pad assembly position information collected by the acquisition equipment, including the precise coordinates of the studs at the assembly position, the installation outline of the front heat insulation pad, and the three-dimensional orientation of the assembly position. This data is then compared with a preset assembly model to confirm the correctness of the assembly position. Based on the front heat insulation pad assembly position information, a path is planned, and the loading device holding the front heat insulation pad is moved to the assembly position to facilitate the fastening of the front heat insulation pad.

[0087] Step S126: Secure the front heat insulation pad to the bottom of the cab using the fastening device 4.

[0088] Specifically, after the feeding equipment has placed the front heat insulation pad at the front heat insulation pad assembly position at the bottom of the cab, the fastening equipment 4 uses the precise position of the studs obtained by the acquisition equipment to fasten and install the front heat insulation pad.

[0089] Through steps S121-S126, a high degree of automation, precise control, and efficient assembly of the front and rear heat insulation pads are achieved. Automated feeding and fastening equipment replaces manual operation, significantly improving assembly efficiency. The robotic arm can move quickly and stably grasp the heat insulation pads, while the fastening equipment can complete multi-point fastening work in a short time without manual alignment and tightening of nuts, greatly shortening assembly time and reducing assembly costs. The combination of a work platform and a robotic arm allows the feeding equipment to move flexibly within the workshop to grasp the target heat insulation pads.

[0090] As can be seen from the above description, the heat insulation pad assembly method in this embodiment has the following technical effects:

[0091] 1) The front and rear heat insulation pad feeding method, combined with 3D vision sensors and point cloud data splicing technology, can significantly reduce the positioning time during the assembly process.

[0092] 2) By eliminating the coarse positioning step in the cab, the 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.

[0093] 3) By automating material loading and assembly, the reliance on skilled workers is reduced, thus lowering labor costs.

[0094] 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.

[0095] 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.

[0096] 5) The fastening device 4 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.

[0097] 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.

[0098] 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.

[0099] 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 in other embodiments.

[0100] 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 thermal insulation pad assembly system, characterized in that, include: The transfer device (1) is movably arranged and is located close to the loading station. The transfer device (1) includes a movable base (11) and a working platform (12). The working platform (12) is relatively movably arranged on the movable base (11). The acquisition device (2) is set on the working platform (12). The acquisition device (2) is used to acquire the storage location information and assembly location information of the target material. The target material includes at least a front heat insulation pad and a rear heat insulation pad. The feeding device (3) is movably mounted on the working platform (12) and is used to grab the target material and move the target material. The heat insulation pad assembly system also includes: Fastening device (4), the fastening device (4) is set on the working platform (12), the fastening device (4) is electrically connected to the control device, and the fastening device (4) is used to fix the target material to the bottom of the cab; The method for assembling a heat insulation pad using the above-described heat insulation pad assembly system includes the following steps: The storage location information of the target heat insulation pad is collected by the data acquisition device, and the feeding device is controlled to grab the target heat insulation pad based on the storage location information. The assembly position information of the target heat insulation pad is collected by the acquisition device, and based on the assembly position information, the feeding device is controlled to move the target heat insulation pad to the assembly position. The target heat insulation pad is fastened to the bottom of the cab using fastening equipment; Based on the stored location information, controlling the feeding device to grab the target heat insulation pad includes: Based on the storage location information, the target grabbing location of the working platform is determined; Control the work platform to move to the target grasping position; The feeding device is controlled to grab the target heat insulation pad, wherein the feeding device is located on the working platform; The target heat insulation pad includes a rear heat insulation pad and a front heat insulation pad. Based on the stored location information, the target gripping position of the working platform is determined, the working platform is controlled to move to the target gripping position, and the feeding device is controlled to grip the target heat insulation pad, including: Based on the storage location information of the rear heat insulation pad, the first gripping position among the target gripping positions of the working platform is determined; Control the work platform to move to the first gripping position, and control the feeding device to grip the rear heat insulation pad; Based on the storage location information of the front heat insulation pad, the second gripping position in the target gripping position of the working platform is determined; Control the working platform to move to the second gripping position, and control the feeding device to grip the front heat insulation pad; The assembly position information of the target heat insulation pad is collected by the acquisition device, and based on the assembly position information, the loading device is controlled to move the target heat insulation pad to the assembly position. The target heat insulation pad is then fastened to the bottom of the cab by the fastening device, including: The assembly position information of the rear heat insulation pad is collected by the acquisition device; Based on the assembly position information of the rear heat insulation pad, the feeding device is controlled to move the target heat insulation pad to the assembly position of the rear heat insulation pad; The rear heat insulation pad is fastened to the bottom of the cab using a fastening device; The assembly position information of the front heat insulation pad is collected by the data acquisition device; Based on the assembly position information of the front heat insulation pad, the feeding device is controlled to move the front heat insulation pad to the assembly position of the front heat insulation pad. The front heat insulation pad is fastened to the bottom of the cab using a fastening device.

2. The heat insulation pad assembly system 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 acquisition device (2), and the loading device (3). The control device is used to control the transfer device (1), the acquisition device (2), and the loading device (3) to perform loading operations.

3. The heat insulation pad assembly system according to claim 1, characterized in that, The feeding device (3), the collecting device (2), and the fastening device (4) are all movably connected to the working platform (12) via a robotic arm.

4. The heat insulation pad assembly system according to claim 2, characterized in that, The heat insulation pad assembly system also includes: The feeding device (5) is mounted on the movable base (11) and is electrically connected to the control device. The feeding device (5) is used to provide fastening parts.

5. The heat insulation pad assembly system according to claim 3, 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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