Robot real-time tracking type tire assembling system and method

Abstract

The invention discloses a robot real-time tracking type tire assembling system and method, and relates to the technical field of automobile production and manufacturing, and the robot real-time tracking type tire assembling system comprises an external position detection system arranged on one side of a conveyor; the robot control system is electrically connected with the external position detection system; the synchronous switch is arranged on one side of the conveyor; the superior control system is electrically connected with the synchronous switch; the superior control system is electrically connected with the robot control system; and the robot control system is electrically connected with a plurality of assembly robots. According to the scheme, the field automation rate is remarkably increased, the assembly reliability is improved, the production efficiency is improved, personnel operation is reduced, the labor cost is reduced, and the production benefit is improved.

Description

Technical Field

[0001] This invention relates to the field of automobile manufacturing technology, and in particular to a robot real-time tracking tire assembly system and method. Background Technology

[0002] The automotive industry is currently in a phase of rapid development. Final assembly is the last stage of automobile manufacturing, and its production efficiency directly impacts the economic benefits of automotive manufacturers. Current technology involves manual labor using robotic arms to follow the assembly line, requiring a large workforce, resulting in low automation and low assembly efficiency. Summary of the Invention

[0003] In view of the above, the present invention aims to provide a robot real-time tracking tire assembly system and method to solve the aforementioned technical problems.

[0004] The technical solution adopted in this invention is as follows:

[0005] This invention provides a robot real-time tracking tire assembly system, comprising:

[0006] An external position detection system is installed on one side of the conveyor;

[0007] The robot control system is electrically connected to the external position detection system;

[0008] A synchronous switch is installed on one side of the conveyor;

[0009] The upper-level control system is electrically connected to the synchronous switch;

[0010] The upper-level control system is electrically connected to the robot control system;

[0011] The robot control system is electrically connected to multiple assembly robots.

[0012] Optionally, the synchronous switch is mounted on the conveyor or fixed to the ground and is electrically connected to the measurement input terminal of the robot control system.

[0013] Optionally, the robot real-time tracking tire assembly system also includes a rotary transformer digital converter, the first end of which is electrically connected to the external position detection system, and the second end of which is electrically connected to the robot control system.

[0014] Optionally, the conveyor includes an aerial conveyor and a ground conveyor, with the aerial conveyor positioned above the ground conveyor.

[0015] The present invention also provides a method for real-time robot tracking tire assembly, applied to the robot real-time tracking tire assembly system described above, the method comprising:

[0016] The vehicle's location information is obtained through an external location detection system;

[0017] Based on the vehicle's position information, the vehicle's speed in the X direction is obtained and transmitted to the upper-level control system.

[0018] The upper-level control system controls the ground conveyor to move along the X direction at the vehicle's X-direction speed, achieving the first level of tracking and following.

[0019] When the ground conveyor carrying the vehicle moves and triggers the synchronization switch, the synchronization switch sends a trigger signal to the upper-level control system;

[0020] The upper-level control system sends a start command to the robot control system based on the trigger signal;

[0021] The robot control system controls the assembly robot to move along the X direction at the same speed as the vehicle in the X direction according to the start command, and to assemble the tires.

[0022] Optionally, the robot control system receives speed information from multiple external position detection systems and drives the corresponding assembly robots to move synchronously at the same speed.

[0023] Optionally, the ground conveyor restricts the vehicle's degrees of freedom in the Y and Z directions, thereby fixing the vehicle's position in the Y and Z directions.

[0024] The above-described solution of the present invention has at least the following beneficial effects:

[0025] The above-mentioned solution of the present invention includes: an external position detection system disposed on one side of a conveyor; a robot control system electrically connected to the external position detection system; a synchronous switch disposed on one side of the conveyor; an upper-level control system electrically connected to the synchronous switch; the upper-level control system being electrically connected to the robot control system; and the robot control system being electrically connected to multiple assembly robots. The solution of the present invention solves the problems of low automation level at workstations, poor assembly reliability, low work efficiency, high labor costs, and low production efficiency. It significantly improves the on-site automation rate, improves assembly reliability, improves production efficiency, reduces manual operation, lowers labor costs, and improves production efficiency. Attached Figure Description

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described below with reference to the accompanying drawings, wherein:

[0027] Figure 1This is a schematic diagram of a robot real-time tracking tire assembly system provided in an embodiment of the present invention.

[0028] Figure 2 A flowchart of a robot real-time tracking tire assembly method provided in an embodiment of the present invention. Detailed Implementation

[0029] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0030] This invention proposes an embodiment of a robot real-time tracking tire assembly system, specifically, as follows: Figure 1 As shown, it includes:

[0031] An external position detection system 5 is installed on one side of the conveyor 6;

[0032] The robot control system 1 is electrically connected to the external position detection system 5;

[0033] A synchronous switch 7 is installed on one side of the conveyor 6;

[0034] The upper-level control system 2 is electrically connected to the synchronous switch 7;

[0035] The upper-level control system 2 is electrically connected to the robot control system 1;

[0036] The robot control system 1 is electrically connected to multiple assembly robots 3.

[0037] Among them, a rotary transformer digital converter 4 is installed on the base of the assembly robot 3. The first end of the rotary transformer digital converter 4 is electrically connected to the external position detection system 5, and the second end of the rotary transformer digital converter 4 is electrically connected to the robot control system 1.

[0038] Synchronous switch 7 is mounted on conveyor 6 or fixed to the ground and is electrically connected to the measurement input terminal of robot control system 1. Synchronous switch 7 is mounted on conveyor 6 or fixed to the ground and can be connected to a rapid measurement input terminal.

[0039] The external position detection system 5 uses a rotary transformer or rotary encoder, etc., and transmits the position and workpiece information of the conveyor 6 to the robot control system 1 through the rotary transformer-to-digital converter 4 or the upper-level control system 2. In this embodiment, the components of the robot real-time tracking tire assembly system are connected by cables to achieve signal transmission.

[0040] Conveyor 6 includes aerial conveyors (such as grippers, hoists, etc.) and ground conveyors, with the aerial conveyors positioned above the ground conveyors. The aerial conveyors are used to move vehicles in the air within the final assembly workshop and transport them to the ground conveyors.

[0041] The vehicle is transferred from the aerial conveyor to the ground conveyor (e.g., a traveling cart), and the ground conveyor moves the vehicle and provides a stable and accurate reference for the assembly robot.

[0042] like Figure 2 As shown, this embodiment also provides a method for real-time robot tracking tire assembly, applied to the real-time robot tracking tire assembly system in the above embodiment. The method includes:

[0043] S1. Obtain the vehicle's location information through the external location detection system 5;

[0044] S2. Based on the vehicle's position information, obtain the vehicle's X-direction moving speed and transmit it to the upper-level control system 2;

[0045] S3. The upper-level control system 2 controls the ground conveyor to move along the X direction at the vehicle's X-direction speed to achieve the first level of tracking and following.

[0046] S4. When the ground conveyor moves the vehicle and triggers the synchronous switch 7, the synchronous switch 7 sends a trigger signal to the upper control system 2.

[0047] S5. The upper-level control system 2 sends a start command to the robot control system 1 according to the trigger signal;

[0048] S6. The robot control system 1 controls the assembly robot 3 to move along the X direction at the speed of the vehicle's X direction movement according to the start command, and to perform tire assembly.

[0049] The real-time tracking method for assembling tires using a robot in this embodiment is achieved through a two-level tracking system.

[0050] First-level tracking and following:

[0051] In some assembly lines of the automobile final assembly workshop, vehicles are fixed on overhead conveyors and move uniformly along the X-direction at a speed v (which varies depending on the line speed). An external position detection system 5 installed on the overhead conveyor acquires the vehicle's position information in real time, thus obtaining the vehicle's real-time speed v in the X-direction. The external position detection system 5 is connected to a higher-level control system 2 for transmitting position information. The higher-level control system 2 is connected to a driver on a ground conveyor; therefore, the higher-level control system 2 can drive the ground conveyor to move along the X-direction at a real-time speed v.

[0052] Second-level tracking and following:

[0053] After the first level of tracking and following, the ground conveyor has been able to carry the vehicle forward along the X direction at a real-time speed v. The mechanical structure of the ground conveyor can restrict the vehicle's degrees of freedom in the Y and Z directions, ensuring that the vehicle's position and accuracy in the Y and Z directions of the ground conveyor are fixed during the subsequent installation of the assembly robot 3.

[0054] The conveyor is equipped with four sets of external position detection systems 5 to obtain position information. These four sets of external position detection systems 5 are respectively connected to the rotary transformer digital converters 4 of four industrial six-axis robot systems to inform the robot control system 1 of the speed v of the vehicle on the ground conveyor along the X direction in real time.

[0055] When the ground conveyor 6 carries the vehicle into the station, it triggers the synchronous switch 7 at a fixed position. The synchronous switch 7 is connected to the upper control system 2 for signal transmission. After receiving the signal, the upper control system 2 immediately sends it to the "rapid measurement" input terminals of the four robot control systems 1. As a result, the four robot control systems 1 drive the four assembly robots 3 to immediately execute the real-time speed v that is consistent with the speed obtained by the four sets of external position detection systems 5 installed on the ground conveyor, and move along the X direction. This achieves a real-time relative stationary position relationship between the vehicle and the assembly robots 3, enabling the assembly robots 3 to track and install the four tires of the vehicle in real time.

[0056] In summary, the first-level real-time tracking and following operation ensures the synchronization of the ground conveyor and vehicle speed v, while also ensuring the vehicle's fixation in the Y / Z directions. The second-level real-time tracking and following operation ensures real-time synchronization between the assembly robot and the vehicle in the X direction, achieving a real-time relative stationary relationship between them. This guarantees the accuracy of the assembly robot's automatic tire assembly and the flexibility of the production line cycle time.

[0057] Through the above two levels of tracking and following operations, it can be ensured that the four assembly robots 3 remain relatively stationary with the vehicle in real time, thereby enabling the assembly robots 3 to track the vehicle and perform tire assembly tasks. Furthermore, this is real-time speed tracking; even if the speed v changes, it can ensure that the speed of the assembly robots 3 along the X-direction changes synchronously with the speed v, guaranteeing assembly accuracy and reliability, while also ensuring the flexible and automated installation of the production line.

[0058] The robot real-time tracking tire assembly system and method of the above embodiments of the present invention solve the problems of low automation level at workstations, poor assembly reliability, low work efficiency, high labor costs, and low production benefits. It significantly improves on-site automation rate, assembly reliability, production efficiency, reduces manual operation, lowers labor costs, and increases production benefits.

[0059] In this invention, when directional terms are mentioned, they are relative concepts based on the embodiments. Furthermore, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, A and B simultaneously, or B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0060] The above description of the structure, features, and effects of the present invention is based on the embodiments shown in the figures. However, the above are only preferred embodiments of the present invention. It should be noted that the technical features involved in the above embodiments and their preferred methods can be reasonably combined and matched by those skilled in the art to form a variety of equivalent solutions without departing from or changing the design concept and technical effects of the present invention. Therefore, the present invention is not limited to the scope of implementation shown in the figures. Any changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments, that do not exceed the spirit covered by the specification and figures, should be within the protection scope of the present invention.

Claims

1. A robot real-time tracking tire assembly system, characterized in that, include: An external position detection system (5) is installed on one side of the conveyor (6); The robot control system (1) is electrically connected to the external position detection system (5); Synchronous switch (7) is installed on one side of the conveyor (6); The upper-level control system (2) is electrically connected to the synchronous switch (7); The upper-level control system (2) is electrically connected to the robot control system (1); The robot control system (1) is electrically connected to multiple assembly robots (3).

2. The robot real-time tracking tire assembly system according to claim 1, characterized in that, The synchronous switch (7) is installed on the conveyor (6) or fixed to the ground and is electrically connected to the measurement input terminal of the robot control system (1).

3. The robot real-time tracking tire assembly system according to claim 1, characterized in that, It also includes a rotary transformer digital converter (4), the first end of which is electrically connected to the external position detection system (5), and the second end of which is electrically connected to the robot control system (1).

4. The robot real-time tracking tire assembly system according to claim 1, characterized in that, The conveyor (6) includes an aerial conveyor and a ground conveyor, with the aerial conveyor positioned above the ground conveyor.

5. A method for real-time tracking assembly of tires using a robot, characterized in that, The method, applied to the robot real-time tracking tire assembly system as described in any one of claims 1 to 4, comprises: The vehicle's location information is obtained through an external location detection system (5); Based on the vehicle's position information, the vehicle's X-direction moving speed is obtained and transmitted to the upper-level control system (2). The upper-level control system (2) controls the ground conveyor to move along the X direction at the vehicle's X-direction moving speed to achieve the first level of tracking and following; When the ground conveyor carrying the vehicle moves and triggers the synchronization switch (7), the synchronization switch (7) sends a trigger signal to the upper control system (2); The upper-level control system (2) sends a start command to the robot control system (1) according to the trigger signal; The robot control system (1) controls the assembly robot (3) to move along the X direction at the X-direction speed of the vehicle and to assemble the tires according to the start command.

6. The method for real-time tracking assembly of tires using a robot according to claim 5, characterized in that, The robot control system (1) receives speed information from multiple external position detection systems and drives the corresponding assembly robots (3) to move synchronously at the same speed.

7. The method for real-time tracking assembly of tires using a robot according to claim 5, characterized in that, The ground conveyor restricts the vehicle's degrees of freedom in the Y and Z directions, thus fixing the vehicle's position in the Y and Z directions.

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