Commercial vehicle front windshield assembling and disassembling device and control method

Abstract

The invention provides a commercial vehicle front windshield assembling and disassembling device and a control method. The commercial vehicle front windshield assembling and disassembling device comprises a support part; the adjusting part is located above the support part, and the fixed end of the adjusting part is connected with the support part; the grabbing part comprises a carrying assembly and a recognition assembly, the recognition assembly is located on one side of the carrying assembly, the recognition assembly is connected with the carrying assembly, one end of the carrying assembly is connected with the execution end of the adjusting part, and the grabbing part is movably arranged relative to the support part; wherein the recognition assembly is used for obtaining position data of target windshield glass, the carrying assembly is used for carrying different types of target windshield glass, the carrying assembly is provided with a grabbing position for grabbing the target windshield glass, and the carrying assembly is provided with a releasing position for carrying the target windshield glass to a target position and then releasing the target windshield glass. The technical problem that in the prior art, alignment is difficult when the front windshield of an existing commercial vehicle is assembled is solved.

Description

Technical Field

[0001] This invention relates to the field of glass assembly technology, and more specifically, to a device and control method for assembling and disassembling a commercial vehicle windshield. Background Technology

[0002] The existing operating methods for assembling commercial vehicle windshields have many shortcomings. Not only is it difficult to align the glass, requiring workers to repeatedly adjust its position, but the entire adjustment process is also time-consuming and labor-intensive. This can easily lead to the shape of the adhesive strip being inconsistent, resulting in problems such as rain leakage and weak adhesion after glass assembly. At the same time, this operating method cannot adapt to the flexible assembly requirements of commercial vehicle windshields and is difficult to meet the diverse assembly operation requirements.

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

[0004] The main objective of this invention is to provide a device and control method for assembling and disassembling a commercial vehicle windshield, so as to solve the technical problem of alignment difficulties in the existing assembly of commercial vehicle windshields.

[0005] To achieve the above objectives, according to one aspect of the present invention, a commercial vehicle windshield assembly and disassembly device is provided, comprising: a bracket portion; an adjustment portion located above the bracket portion, with a fixed end of the adjustment portion connected to the bracket portion; and a gripping portion comprising: a transport component and an identification component, the identification component being located on one side of the transport component and connected to the transport component, one end of the transport component being connected to the execution end of the adjustment portion, and the gripping portion being movably disposed relative to the bracket portion; wherein the identification component is used to acquire position data of a target windshield, the transport component is used to transport different types of target windshields, the transport component has a gripping position for gripping the target windshield, and the transport component has a release position for transporting the target windshield to a target position and then releasing the target windshield.

[0006] Furthermore, the commercial vehicle windshield assembly and disassembly device also includes: a position sensor, which is connected to the adjustment unit and is used to acquire the position and posture data of the gripping unit.

[0007] Furthermore, the adjustment unit includes: a rotating assembly located on one side of the gripping unit, with its fixed base connected to the support unit; and a horizontal adjustment assembly positioned above the rotating assembly, with its fixed end movably connected to the actuating end of the rotating assembly, and its actuating end connected to the conveying assembly. A portion of the horizontal adjustment assembly is movably disposed relative to the rotating assembly. Controlling the actuating end of the rotating assembly allows the horizontal adjustment assembly and the gripping unit to rotate relative to the rotating assembly, and controlling the actuating end of the horizontal adjustment assembly allows the gripping unit to move relative to the horizontal adjustment assembly.

[0008] Furthermore, the adjustment unit also includes: an angle adjustment component, which is disposed on one side of the rotation component and located below the horizontal adjustment component. The fixed end of the angle adjustment component is connected to the rotation component, and the actuating end of the angle adjustment component is connected to the horizontal adjustment component. Controlling the actuating end of the angle adjustment component can cause the horizontal adjustment component to rotate relative to the rotation component, so that the horizontal adjustment component and the rotation component are set at a target angle.

[0009] Further, the horizontal adjustment assembly includes: a first adjustment rod, one end of which is movably connected to the actuating end of the rotation assembly, and a portion of which is connected to the actuating end of the angle adjustment assembly; the first adjustment rod having a working cavity; a second adjustment rod, a portion of which is located within the working cavity, and at least a portion of which is movably disposed relative to the first adjustment rod; one end of which is connected to the gripping part; and a drive assembly, a portion of which is located on one side of the first adjustment rod, and a portion of which is located on one side of the second adjustment rod; one end of which is connected to the first adjustment rod, and the other end of which is connected to the first adjustment rod; wherein, controlling the drive assembly enables the second adjustment rod to have an initial position and at least one working position.

[0010] Furthermore, the support unit includes: a support base located below the rotating assembly, the support base and the horizontal adjustment assembly being disposed at a distance, and the fixed seat of the rotating assembly being connected to the top of the support base; and a moving assembly located below the support base, the fixed end of the moving assembly being connected to the support base, the moving assembly being disposed at a distance from the adjustment unit, and the moving assembly being used to move the support base, the adjustment unit and the gripping unit to the target position.

[0011] Furthermore, the moving component includes: a drive wheel assembly, at least one drive wheel assembly, the fixed end of the drive wheel assembly being connected to the support base, and the drive wheel assembly being spaced apart from the rotating component; and a balance wheel assembly, the fixed end of the balance wheel assembly being connected to the support base, the balance wheel assembly being spaced apart from the drive wheel assembly, and the balance wheel assembly including multiple balance wheel units, the multiple balance wheel units being spaced apart along the circumference of the support base.

[0012] Furthermore, the transport assembly includes: a transport support plate, with a second adjusting rod located on one side of the transport support plate, and a portion of the transport support plate connected to one end of the second adjusting rod; a suction cup assembly located on the other side of the transport support plate, spaced apart from the second adjusting rod, the suction cup assembly including multiple suction cup units spaced apart along the width direction of the transport support plate; wherein, an identification component is located on the other side of the transport support plate, spaced apart from the suction cup assembly, the suction cup assembly having an adsorption working state for adsorbing the target windshield glass, and a non-working state where the suction cup assembly is separated from the target windshield glass.

[0013] In another aspect, the present invention provides a control method for a commercial vehicle windshield assembly and disassembly device. The control method is used to control the aforementioned commercial vehicle windshield assembly and disassembly device. The control method includes: in response to a target windshield assembly request, acquiring position data of the target windshield; determining motion data of the gripping unit based on the position data, wherein the motion data includes: target rotation angle data of the rotating component, first target position data of the angle adjustment component, and second target position data of the driving component; and generating a first controller instruction set based on the motion data of the gripping unit. The first controller instruction set is used to control the rotating component, angle adjustment component, and driving component to be located at corresponding target working positions.

[0014] Furthermore, the control method also includes: acquiring the pose data of the gripping part in response to the rotation component, angle adjustment component, and drive component reaching the corresponding target working position; determining deviation data based on the pose data and position data; judging based on the deviation data by a preset threshold to obtain a judgment result; generating a second control instruction set in response to the deviation data being less than or equal to the preset threshold, the second control instruction set being used to control the suction cup component to be in the adsorption working state; and generating a third control instruction set in response to the deviation data being greater than the preset threshold, the third control instruction set being used to control the alarm component to be in the alarm working state.

[0015] By applying the technical solution of this invention, through the cooperative arrangement of the support unit, the adjustment unit, and the gripping unit with the transport component and the identification component, the identification component can accurately acquire the position data of the target windshield, providing a precise basis for glass alignment. The adjustment unit drives the gripping unit to move flexibly, and the transport component can stably transport different types of target windshields and achieve precise control of gripping and releasing. This not only makes the assembly and disassembly of commercial vehicle windshields more convenient, significantly saving operation time and reducing operating force, but also effectively ensures the shape of the adhesive strip, avoiding rain leakage and weak adhesion. Furthermore, it can adapt to the transport and assembly needs of different types of windshields, meet the requirements of flexible assembly, improve the overall operation efficiency and quality of commercial vehicle windshield assembly and disassembly, and solve the technical problem of alignment difficulties in the assembly of commercial vehicle windshields in the prior art. 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 a first embodiment of the commercial vehicle windshield assembly and disassembly device according to the present invention is shown.

[0018] Figure 2 A partial structural schematic diagram of a second embodiment of the commercial vehicle windshield assembly and disassembly device according to the present invention is shown.

[0019] Figure 3 A partial structural schematic diagram of a third embodiment of the commercial vehicle windshield assembly and disassembly device according to the present invention is shown.

[0020] Figure 4 A partial structural schematic diagram of a fourth embodiment of the commercial vehicle windshield assembly and disassembly device according to the present invention is shown.

[0021] The above figures include the following reference numerals:

[0022] 10. Support section;

[0023] 101. Support base;

[0024] 102. Drive wheel assembly;

[0025] 103. Balance wheel unit;

[0026] 104. Pulley;

[0027] 105. Connecting rod;

[0028] 20. Adjustment section;

[0029] 201. Second adjusting rod;

[0030] 202. Driver components;

[0031] 203. First adjusting rod;

[0032] 204. Rotating assembly;

[0033] 205. Angle adjustment assembly;

[0034] 206. Handle;

[0035] 30. Grabbing section;

[0036] 301. Transport support plate;

[0037] 302. Suction cup unit;

[0038] 303. Optical signal transmitter;

[0039] 304. Optical signal receiver;

[0040] 40. Power supply;

[0041] 50. Position sensor. Detailed Implementation

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] In the traditional assembly of commercial vehicle windshields, the entire process relies on manual operation, which has many technical drawbacks. During the operation, workers must manually move the windshield and align it with the vehicle's mounting position. Precise alignment between the glass and the mounting position is difficult, requiring workers to repeatedly move and adjust the glass's position and angle. Furthermore, the entire adjustment process is unsupported by professional auxiliary devices and relies entirely on manual labor. This not only makes the operation time-consuming and labor-intensive, significantly reducing assembly efficiency, but also easily leads to the adhesive strips on the glass edges being squeezed and scraped during repeated adjustments, causing the adhesive strips to lose their pre-set shape. The lack of proper fit can lead to poor sealing after windshield assembly, easily causing water leakage during vehicle operation. Excessive deformation of the adhesive strip can also result in weak adhesion between the glass and the vehicle body, reducing the assembly stability and safety of the windshield. Furthermore, traditional manual operation methods are only suitable for assembling windshields of a single specification and model of commercial vehicle. They cannot adjust the operation method and alignment accuracy according to different models and sizes of windshields, completely failing to meet the flexible assembly requirements of commercial vehicle windshields and the diverse production and assembly needs of today's commercial vehicles.

[0047] Combination Figures 1 to 4 As shown, according to a specific embodiment of this application, a fairing structure for a commercial vehicle is provided.

[0048] Specifically, such as Figure 1 As shown, a commercial vehicle windshield assembly and disassembly device includes: a bracket 10; an adjustment part 20 located above the bracket 10, with its fixed end connected to the bracket 10; and a gripping part 30, comprising a transport component and an identification component. The identification component is located on one side of the transport component and connected to it. One end of the transport component is connected to the execution end of the adjustment part 20. The gripping part 30 is movably disposed relative to the bracket 10. The identification component is used to acquire position data of the target windshield, the transport component is used to transport different types of target windshields, the transport component has a gripping position for gripping the target windshield, and a release position for transporting the target windshield to the target position and then releasing it.

[0049] By applying the technical solution of this invention, through the cooperative arrangement of the bracket 10, the adjustment part 20, and the gripping part 30 with the transport component and the identification component, the identification component can accurately acquire the position data of the target windshield, providing a precise basis for glass alignment. The adjustment part 20 drives the gripping part 30 to move flexibly, and the transport component can stably transport different types of target windshields and achieve precise control of gripping and releasing. This not only makes the assembly and disassembly of commercial vehicle windshields more convenient, significantly saving operation time and reducing operating force, but also effectively ensures the shape of the adhesive strip, avoiding rain leakage and weak adhesion. Furthermore, it can adapt to the transport and assembly needs of different types of windshields, meet the requirements of flexible assembly, improve the overall operation efficiency and quality of commercial vehicle windshield assembly and disassembly, and solve the technical problem of alignment difficulties in the assembly of commercial vehicle windshields in the prior art.

[0050] Furthermore, the commercial vehicle windshield assembly and disassembly device also includes a position sensor 50, which is connected to the adjustment unit 20. The position sensor 50 is used to acquire the position and orientation data of the gripping unit 30. The overall operation is convenient, time-saving, and labor-saving, ensuring the shape of the adhesive strip, avoiding problems such as rain leakage and weak adhesion, adapting to flexible assembly requirements, and improving work efficiency and quality.

[0051] like Figure 2 As shown, the adjustment unit 20 includes: a rotating assembly 204, which is located on one side of the gripping unit 30, and the fixed seat of the rotating assembly 204 is connected to the support unit 10; and a horizontal adjustment assembly, which is disposed above the rotating assembly 204, with its fixed end movably connected to the actuating end of the rotating assembly 204, and its actuating end connected to the conveying assembly. A portion of the horizontal adjustment assembly is movably disposed relative to the rotating assembly 204. Controlling the actuating end of the rotating assembly 204 allows the horizontal adjustment assembly and the gripping unit 30 to rotate relative to the rotating assembly 204, and controlling the actuating end of the horizontal adjustment assembly allows the gripping unit 30 to move relative to the horizontal adjustment assembly.

[0052] In this embodiment, the adjustment unit 20 is provided with a rotation component 204 and a horizontal adjustment component. The rotation component 204 is connected to the bracket unit 10 and can drive the horizontal adjustment component and the gripping unit 30 to rotate. The horizontal adjustment component can drive the gripping unit 30 to move, realizing bidirectional adjustment of the rotation and movement of the gripping unit 30, making the position and posture adjustment of the gripping unit 30 more flexible, effectively improving the alignment and adjustment accuracy of the target windshield, and providing reliable structural adjustment support for the precise assembly of the front windshield of commercial vehicles.

[0053] In this embodiment, the adjustment unit 20 further includes an angle adjustment component 205, which is disposed on one side of the rotation component 204 and located below the horizontal adjustment component. The fixed end of the angle adjustment component 205 is connected to the rotation component 204, and the actuating end of the angle adjustment component 205 is connected to the horizontal adjustment component. By controlling the actuating end of the angle adjustment component 205, the horizontal adjustment component can be rotated relative to the rotation component 204 so that the horizontal adjustment component and the rotation component 204 are set at a target angle.

[0054] In this embodiment, the adjustment unit 20 is equipped with an angle adjustment component 205. The angle adjustment component 205 is connected to the rotation component 204 and the horizontal adjustment component. It can drive the horizontal adjustment component to rotate relative to the rotation component 204 and form a target angle, enriching the adjustment dimensions of the adjustment unit 20. This allows the position adjustment of the gripping unit 30 to better match the assembly angle requirements of the target windshield, further improving the accuracy of glass alignment adjustment and providing more comprehensive adjustment support for the high-precision assembly of commercial vehicle windshields.

[0055] Further, the horizontal adjustment assembly includes: a first adjustment rod 203, one end of which is movably connected to the actuating end of the rotation assembly 204, and a portion of which is connected to the actuating end of the angle adjustment assembly 205; the first adjustment rod 203 has a working cavity; a second adjustment rod 201, a portion of which is located within the working cavity, and at least a portion of which is movably disposed relative to the first adjustment rod 203; one end of which is connected to the gripping part 30; and a drive assembly 202, a portion of which is located on one side of the first adjustment rod 203, and a portion of which is located on one side of the second adjustment rod 201; one end of which is connected to the first adjustment rod 203, and the other end of which is connected to the first adjustment rod 203; wherein, controlling the drive assembly 202 allows the second adjustment rod 201 to have an initial position and at least one working position.

[0056] In this embodiment, the gripping part 30 can be extended and retracted in the horizontal direction with controllable adjustment stroke, making the horizontal position adjustment of the gripping part 30 more precise and flexible, and adaptable to the assembly and alignment requirements of target windshields at different horizontal distances. In conjunction with the rotating component 204 and the angle adjustment component 205, the overall adjustment adaptability and accuracy of the adjustment part 20 are further improved.

[0057] like Figure 3As shown, the support unit 10 includes: a support base 101, which is located below the rotating assembly 204. The support base 101 and the horizontal adjustment assembly are arranged at a distance from each other. The fixed seat of the rotating assembly 204 is connected to the top of the support base 101. A moving assembly is located below the support base 101. The fixed end of the moving assembly is connected to the support base 101. The moving assembly is spaced apart from the adjustment unit 20. The moving assembly is used to move the support base 101, the adjustment unit 20 and the gripping unit 30 to the target position.

[0058] In this embodiment, the support unit 10 is provided with a support base 101 and a moving component. The support base 101 provides a stable mounting foundation for the rotating component 204 and maintains a distance from the horizontal adjustment component to avoid motion interference. The moving component is spaced apart from the adjustment unit 20 and can drive the support base 101, the adjustment unit 20 and the gripping unit 30 to move as a whole to any target working position, so that the device can flexibly adapt to the windshield assembly and disassembly requirements of different working areas. At the same time, the stable support structure also ensures the structural stability of the adjustment unit 20 and the gripping unit 30 during adjustment and operation, thereby improving the overall operational flexibility and structural reliability of the device.

[0059] Furthermore, the moving component includes: a drive wheel assembly 102, at least one drive wheel assembly 102, the fixed end of the drive wheel assembly 102 being connected to the support base 101, and the drive wheel assembly 102 being spaced apart from the rotating component 204; and a balance wheel assembly, the fixed end of the balance wheel assembly being connected to the support base 101, the balance wheel assembly being spaced apart from the drive wheel assembly 102, and the balance wheel assembly including a plurality of balance wheel units 103, the plurality of balance wheel units 103 being spaced apart circumferentially along the support base 101.

[0060] By applying this embodiment, stable moving power and balanced support can be provided for the support unit 10, driving the adjustment unit 20 and gripping unit 30 of the support base 101 to move smoothly and flexibly to the target position, avoiding tilting and deviation when the device moves. The spaced structure can also prevent motion interference with the rotating component 204, ensuring the smoothness of the device's movement and adjustment operations, and improving the overall device's movement stability and operational adaptability.

[0061] In one exemplary embodiment, the included angle between two adjacent balance wheel units 103 in the plurality of balance wheel units 103 is 60 degrees. Any balance wheel unit 103 in the plurality of balance wheel units 103 includes a connecting rod 105 and a pulley 104. One end of the connecting rod 105 is connected to the support base 101, and the fixed seat of the pulley 104 is connected to the other end of the connecting rod 105. The force is uniform and the stability is strong. Each balance wheel unit 103 is composed of a connecting rod 105 and a pulley 104. One end of the connecting rod 105 is connected to the support base 101, and the other end is connected to the pulley 104. The structure is simple and the connection is firm. It can drive the device to move flexibly, while ensuring the smooth movement process and reducing the difficulty of operation.

[0062] In one exemplary embodiment, the adjustment unit 20 further includes a handle 206, which is connected to the fixed end side of the rotating component 204. The connection between the handle 206 and the fixed end side of the rotating component 204 is simple in structure and reasonable in connection method. The rotating component 204 can be conveniently operated through the handle 206, which is labor-saving and highly flexible in adjustment. It can quickly adjust the position and angle of the gripping part, thereby improving the efficiency of windshield assembly and disassembly.

[0063] like Figure 4 As shown, the transport assembly includes: a transport support plate 301, with a second adjusting rod 201 located on one side of the transport support plate 301, and a portion of the transport support plate 301 connected to one end of the second adjusting rod 201; a suction cup assembly located on the other side of the transport support plate 301, spaced apart from the second adjusting rod 201, the suction cup assembly including multiple suction cup units 302 spaced apart along the width direction of the transport support plate 301; wherein, an identification component is located on the other side of the transport support plate 301, spaced apart from the suction cup assembly, the suction cup assembly having an adsorption working state for adsorbing the target windshield glass, and a non-working state where the suction cup assembly is separated from the target windshield glass.

[0064] In this embodiment, the transport support plate 301 provides a stable bearing base. The second adjusting rod 201 is connected to the transport support plate 301 to flexibly adjust the position of the gripping part. Multiple suction cup units 302 are spaced apart along the width direction of the transport support plate 301, which can firmly adsorb the target windshield. The suction cup assembly can flexibly switch between adsorption working state and non-working state, which is convenient to operate. The identification component and the suction cup assembly are spaced apart, which can accurately obtain the position of the target windshield and solve the problem of alignment difficulty. The overall structure is simple, time-saving and labor-saving, and can be adapted to different types of target windshields to ensure the assembly effect.

[0065] In one exemplary embodiment, the identification component includes a light-sensing signal transmitter 303 and a light-sensing signal receiver 304. The light-sensing signal transmitter 303 is located above the front side of the transport support plate 301. The light-sensing signal receiver 304 includes multiple receivers, specifically three in this embodiment. The three light-sensing signal receivers 304 are respectively arranged along the outer edge of the transport support plate 301, which can accurately capture the position signal of the target windshield. The identification is accurate and stable, effectively solving the problem of windshield alignment difficulties. The structure is simple, the operation is convenient, and it helps to improve assembly efficiency.

[0066] In one exemplary embodiment, the commercial vehicle windshield assembly and disassembly device further includes a power supply 40, which is mounted on a support base 101 and electrically connected to a suction cup unit 302, a light-sensing signal transmitter 303, a light-sensing signal receiver 304, a rotation assembly 204, and an angle adjustment assembly 205.

[0067] In this embodiment, the power supply 40 is integrated and installed on the support base 101. The layout is compact and reasonable and does not occupy additional operating space. The power supply 40 can simultaneously supply power to the suction cup unit 302, the light-sensing signal transmitter 303, the light-sensing signal receiver 304, the rotating component 204, and the angle adjustment component 205. There is no need to connect multiple external power supply devices. The power supply is stable and the wiring is simple, which can ensure the coordinated and efficient operation of each component, greatly improving the ease of operation and overall work efficiency of the device.

[0068] According to another specific embodiment of this application, a control method for a commercial vehicle windshield assembly and disassembly device is also provided. The control method is used to control the aforementioned commercial vehicle windshield assembly and disassembly device, and the control method includes:

[0069] Step S101: In response to the target windshield assembly request, obtain the position data of the target windshield;

[0070] In step S101, when the operator initiates a target windshield assembly request, a start signal can be sent through the control button, touch command or external control terminal of the commercial vehicle windshield assembly and disassembly device. The control system of the device immediately responds to the target windshield assembly request and synchronously triggers the identification component to start working, ensuring that the location data acquisition process starts quickly and seamlessly.

[0071] The photosensitive signal transmitter 303 in the identification component is located above the front of the transport support plate 301. Upon responding to a request, it quickly activates and continuously emits a stable photosensitive detection signal. This detection signal is directionally projected onto the placement area where the target windshield is located, ensuring that the signal covers the entire detection range of the target windshield and avoiding detection blind spots. Multiple photosensitive signal receivers 304 work in conjunction with the photosensitive signal transmitter 303 and are evenly arranged along the outer edge of the transport support plate 301. These multiple photosensitive signal receivers 304 are synchronously in standby mode, capturing the photosensitive reflection signal after reflection from the target windshield surface in real time. Each photosensitive signal receiver 304 independently records the original detection parameters such as the propagation time, propagation angle, and signal strength of the reflected signal, ensuring that the collected parameters are comprehensive and accurate, providing a reliable basis for subsequent data processing.

[0072] Subsequently, each photosensitive signal receiver 304 transmits all the raw detection parameters collected to the device's main control system in real time through a preset signal transmission line. After receiving all the raw parameters, the main control system immediately starts the built-in data processing algorithm. Combining the fixed installation position parameters of the photosensitive signal transmitter 303 and the photosensitive signal receiver 304, and the relative distance parameters between them, the system summarizes, calibrates, analyzes, and converts the raw detection parameters. Finally, it accurately obtains the key information such as the three-dimensional spatial coordinates, placement angle, and edge contour position of the target windshield relative to the gripping part 30 (specifically, the adsorption center of the suction cup assembly). This complete information, after processing and summarizing, is the position data of the target windshield. This position data is stored in real time and synchronously fed back to the control system, providing core data support for determining the action data of the gripping part 30 and achieving precise gripping and assembly in subsequent steps. No manual intervention is required throughout the process, ensuring the real-time, accurate, and stable acquisition of position data and effectively avoiding the deviation problems caused by manual positioning.

[0073] Step S102: Determine the motion data of the gripping unit based on the position data;

[0074] In step S102, the motion data includes: target rotation angle data of the rotating component, first target position data of the angle adjustment component, and second target position data of the drive component. After the control system acquires the position data of the target windshield (including key information such as the three-dimensional spatial coordinates, placement angle, and edge contour position of the target windshield), it will use this position data as the core reference, combined with the preset installation parameters, motion trajectory limit parameters, and reference parameters of the target assembly position of each component of the gripping unit 30 and the adjustment unit 20, and through the built-in data analysis and calculation algorithm, gradually disassemble and determine the complete motion data of the gripping unit 30, ensuring that the motion data accurately matches the gripping requirements of the target windshield, and providing clear instruction basis for the precise actions of the subsequent components. Specifically, the motion data includes the target rotation angle data of the rotating component 204, the first target position data of the angle adjustment component 205, and the second target position data of the drive component. The three work together to achieve precise alignment between the gripping unit 30 and the target windshield.

[0075] For the target rotation angle data of the rotating component 204, the control system will first extract the deviation value between the placement angle of the target windshield and the current initial angle of the gripping part 30 from the position data. Combining the connection relationship between the rotating component 204 and the transport support plate 301 and the rotation range parameters of the rotating component 204, the required target rotation angle data will be calculated. This data will specify the exact angle by which the rotating component 204 needs to rotate clockwise or counterclockwise, ensuring that the rotating component 204 drives the transport support plate 301, the suction cup assembly (suction cup unit 302), and the identification components (light signal transmitter 303 and light signal receiver 304) to rotate synchronously, so that the adsorption surface of the suction cup assembly remains parallel to the surface of the target windshield, avoiding the problem of tilting or misalignment during adsorption.

[0076] For the first target position data of the angle adjustment component 205, the control system will calculate the first target position data of the specific stroke that the angle adjustment component 205 needs to extend and retract based on the three-dimensional spatial tilt angle of the target windshield in the position data, combined with the connection relationship between the angle adjustment component 205 and the second adjustment rod 201 and the transport support plate 301, as well as the extension range and adjustment accuracy parameters of the angle adjustment component 205. By adjusting the extension and retraction amount of the angle adjustment component 205, the tilt angle of the transport support plate 301 will be further fine-tuned so that the multiple suction cup units 302 can be evenly aligned with the adsorption area of ​​the target windshield, ensuring the stability of subsequent adsorption and avoiding uneven local force that could lead to glass damage or adsorption detachment.

[0077] For the second target position data of the drive component, the control system will focus on analyzing the difference between the three-dimensional spatial coordinates of the target windshield and the current initial coordinates of the gripping part 30 in the position data. Combined with the connection relationship between the drive component and the support part 10 and the adjustment part 20, as well as the horizontal and vertical movement accuracy and movement speed parameters of the drive component, the control system will calculate the specific distances that the drive component needs to move in the horizontal and vertical directions, forming the second target position data. This data will guide the drive component to move the adjustment part 20 and the gripping part 30 as a whole, so that the suction cup component of the gripping part 30 can be accurately moved to the top of the target windshield and maintain a suitable gripping distance with the target windshield, preparing for the subsequent adsorption action.

[0078] After calculating the above three sets of motion data, the control system will perform secondary calibration on the data, compare the motion limit parameters of each component, and ensure that the target rotation angle of the rotating component 204, the first target position of the angle adjustment component 205, and the second target position of the drive component are all within the preset safety range, so as to avoid exceeding the motion range of the components and causing damage to the device. After the calibration is correct, the three sets of data are integrated into the complete motion data of the gripping unit 30 and synchronously transmitted to the control module of the corresponding component, providing accurate data support for generating the first controller instruction set in step S103.

[0079] Step S103: Based on the motion data of the gripping unit, a first controller instruction set is generated. The first controller instruction set is used to control the rotation component, angle adjustment component and drive component to be located in the corresponding target working position.

[0080] In step S103, after the complete motion data of the gripping unit 30 is determined in step S102, the control system will immediately start the instruction generation process. Using this motion data as the sole core basis, combined with the preset control parameters of the rotating component 204, the angle adjustment component 205, the drive component, the motion response threshold, and the collaborative logic between the components, the system will gradually decompose, encode, and integrate the data to finally generate the first controller instruction set. The core function of this instruction set is to accurately control the rotating component 204, the angle adjustment component 205, and the drive component to move to their respective target working positions, laying the foundation for the accurate gripping of the target windshield glass. The entire process realizes automated instruction generation and issuance without manual intervention, ensuring the accuracy and consistency of motion control.

[0081] During the instruction generation process, the control system first classifies and breaks down the motion data of the gripping unit 30, generating dedicated control instructions for each of the three components to ensure precise matching between the instructions and the component motion requirements. For the rotating component 204, a corresponding rotation control instruction is generated based on the determined target rotation angle data. The instruction clearly includes the rotation direction (clockwise or counterclockwise), the specific value of the rotation angle, the rotation speed, and the positioning and holding parameters after rotation to the target position. At the same time, the action delay parameters of the rotating component 204 are embedded to avoid damage to the component or angle deviation caused by excessive rotation, ensuring that the rotating component 204 can rotate smoothly and accurately to the target angle, driving the transport support plate 301 and subsequent related components to adjust to the corresponding posture synchronously.

[0082] For the angle adjustment component 205, a telescopic control command will be generated based on the first target position data. The command will specify in detail the telescopic stroke, telescopic speed, telescopic accuracy, and locking parameters after the angle adjustment component 205 is fully extended. Combined with the connection relationship between the angle adjustment component 205, the second adjustment rod 201, and the transport support plate 301, the command will ensure that the angle adjustment component 205 can be precisely extended and retracted, thereby fine-tuning the tilt angle of the transport support plate 301. This will ensure that the multiple suction cup units 302 of the suction cup assembly can maintain precise contact with the adsorption surface of the target windshield, ensuring subsequent adsorption stability.

[0083] For the drive component, based on the second target position data, horizontal and vertical movement control commands will be generated. The commands will specify the movement distance, speed and accuracy of the drive component in the horizontal and vertical directions, respectively. At the same time, the optimal movement trajectory will be planned to avoid interference between the component and the support 10 or other components during the movement. This will ensure that the drive component can smoothly drive the adjustment 20 and the gripping 30 to move as a whole, so that the gripping 30 can accurately reach the preset gripping position directly above the target windshield.

[0084] After generating the dedicated control commands for the three components, the control system will perform collaborative calibration on all commands, verifying the timing and parameter range of each command to ensure that the actions of the rotation component 204, angle adjustment component 205, and drive component do not conflict and cooperate effectively. For example, the control drive component will first move the entire system to a general range, and then the rotation component 204 and angle adjustment component 205 will perform precise attitude adjustments to avoid deviations caused by overlapping actions. After calibration, all dedicated control commands will be encoded and integrated to form a unified first controller command set. The command set will indicate the execution priority, execution timing, and abnormal feedback threshold of each command.

[0085] Finally, the control system synchronously sends the first controller instruction set to the corresponding control modules of the rotating component 204, the angle adjustment component 205, and the drive component through a preset signal transmission line. After receiving the instruction, each component control module immediately parses the instruction parameters and starts the action execution, providing real-time feedback on the action execution progress until all three components accurately reach the corresponding target working position, completing all the control functions of the first controller instruction set, and making full preparations for subsequent gripping part posture detection and adsorption actions.

[0086] After the first controller instruction set is executed and the rotating component 204, angle adjustment component 205, and drive component all accurately reach their corresponding target working positions, the device's control system will receive the positioning signals from each component in real time. In response to these signals, the system immediately initiates the gripping part posture detection process to acquire the posture data of the gripping part 30. This verifies the alignment accuracy between the current posture of the gripping part 30 and the target windshield, providing a basis for subsequent adsorption actions or anomaly handling. The posture data is acquired through preset posture detection elements. These elements collect the overall three-dimensional spatial coordinates and tilt angle of the gripping part 30, as well as the real-time posture parameters of the transport support plate 301 and the suction cup assembly (suction cup unit 302) on the gripping part 30. Simultaneously, they capture the position feedback signals from the recognition components (photosensitive signal transmitter 303 and photosensitive signal receiver 304). After summarizing and calibrating all collected parameters, complete gripping part posture data is formed, transmitted in real time to the control system, and stored. This ensures the real-time performance, completeness, and accuracy of the posture data, providing reliable support for subsequent deviation calculations.

[0087] After acquiring the pose data of the gripping unit 30, the control system immediately initiates the deviation calculation process. Using the target windshield position data obtained in step S101 as a benchmark, the pose data and position data are compared, analyzed, and converted parameter by parameter to determine the deviation data between them. Specifically, the deviation data includes the three-dimensional coordinate deviation between the gripping unit 30 and the target windshield, the angular deviation between the tilt angle of the gripping unit 30 and the placement angle of the target windshield, and the alignment deviation between the adsorption center of the suction cup assembly (suction cup unit 302) and the preset adsorption position of the target windshield. The control system quantifies various deviations using a built-in deviation calculation algorithm, ultimately forming unified deviation data that clearly reflects the degree of deviation between the current position and attitude of the gripping unit 30 and the ideal gripping state, ensuring the objectivity and accuracy of the deviation judgment.

[0088] Once the deviation data is determined, the control system will call preset threshold parameters and compare the deviation data with the preset thresholds to obtain a clear judgment result. The preset thresholds are the maximum allowable deviation values ​​pre-set based on the assembly precision requirements of the commercial vehicle windshield, the movement precision of each component of the device, and the adsorption stability requirements. They cover subdivided thresholds for various types of deviations, such as coordinate deviation thresholds and angle deviation thresholds. During the judgment process, the control system compares each subdivided parameter of the deviation data with its corresponding preset threshold. If all subdivided deviation parameters are less than or equal to their respective preset thresholds, the judgment result is "alignment qualified"; if any subdivided deviation parameter is greater than its corresponding preset threshold, the judgment result is "alignment unqualified," ensuring that the judgment logic is rigorous and conforms to actual assembly requirements.

[0089] In response to a successful alignment (i.e., deviation data is less than or equal to a preset threshold), the control system immediately generates a second control instruction set. This instruction set is specifically designed to control the suction cup assembly to switch to the adsorption working state. The second control instruction set explicitly includes the start command for the suction cup unit 302, vacuum adsorption pressure parameters, adsorption holding time parameters, and feedback commands after adsorption is complete. After the commands are sent to the control module of the suction cup assembly, the suction cup unit 302 immediately activates the vacuum adsorption function, adsorbing the target windshield glass according to the preset pressure, while simultaneously providing real-time feedback of the adsorption pressure signal. Once the adsorption pressure reaches the preset standard, the suction cup assembly stably maintains the adsorption working state, ensuring the target windshield glass is firmly adsorbed, preventing detachment or displacement during subsequent handling, and preparing for subsequent assembly operations.

[0090] In response to a misalignment judgment (i.e., deviation exceeding a preset threshold), the control system immediately generates a third control instruction set. This set is specifically designed to switch the alarm component to alarm mode and simultaneously stop the rotation component 204, angle adjustment component 205, and drive component from all movement to prevent excessive deviation from causing device damage or glass breakage. The third control instruction set includes the alarm component's activation command, alarm mode (e.g., audible and visual alarm), alarm duration parameters, and anomaly feedback commands. Upon receiving the command, the alarm component immediately activates its audible and visual alarm to promptly alert the operator to the misalignment. Simultaneously, the control system feeds back the deviation data and anomaly type to the operating terminal, facilitating rapid troubleshooting. After the operator completes the adjustment and issues a reset command, the control system restarts the position detection and deviation judgment process, ensuring the safety and accuracy of the assembly operation and preventing assembly errors and glass damage caused by misalignment.

[0091] In this embodiment, the control method further includes: acquiring the pose data of the gripping part in response to the rotation component, angle adjustment component, and drive component reaching the corresponding target working position; determining deviation data based on the pose data and position data; judging based on the deviation data using a preset threshold to obtain a judgment result; generating a second control instruction set in response to the deviation data being less than or equal to the preset threshold, the second control instruction set being used to control the suction cup component to be in the adsorption working state; and generating a third control instruction set in response to the deviation data being greater than the preset threshold, the third control instruction set being used to control the alarm component to be in the alarm working state. This method provides precise positioning, avoids assembly deviations, ensures reliable adsorption, promptly alerts to abnormalities, improves operational safety and efficiency, and offers convenient operation.

[0092] 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.

[0093] 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.

[0094] 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 device for assembling and disassembling a commercial vehicle windshield, characterized in that, include: Support section (10); Adjustment part (20), the adjustment part (20) is located above the support part (10), and the fixed end of the adjustment part (20) is connected to the support part (10); The gripping part (30) includes a transport component and an identification component. The identification component is located on one side of the transport component and is connected to the transport component. One end of the transport component is connected to the execution end of the adjustment part (20). The gripping part (30) is movably disposed relative to the support part (10). The identification component is used to acquire the position data of the target windshield, the transport component is used to transport different types of the target windshield, the transport component has a gripping position for gripping the target windshield, and the transport component has a release position for transporting the target windshield to the target position and then releasing the target windshield.

2. The commercial vehicle windshield assembly and disassembly device according to claim 1, characterized in that, The commercial vehicle windshield assembly and disassembly device also includes: A position sensor (50) is connected to the adjustment unit (20) and is used to acquire the pose data of the gripping unit (30).

3. The commercial vehicle windshield assembly and disassembly device according to claim 1 or 2, characterized in that, The adjustment unit (20) includes: Rotating assembly (204), the rotating assembly (204) is located on one side of the gripping part (30), and the fixed seat of the rotating assembly (204) is connected to the support part (10); A horizontal adjustment component is disposed above the rotating component (204). The fixed end of the horizontal adjustment component is movably connected to the actuating end of the rotating component (204). The actuating end of the horizontal adjustment component is connected to the conveying component. A portion of the horizontal adjustment component is movably disposed relative to the rotating component (204). The actuator of the rotating component (204) can be controlled to make the horizontal adjustment component and the gripping part (30) rotate relative to the rotating component (204), and the actuator of the horizontal adjustment component can be controlled to make the gripping part (30) move relative to the horizontal adjustment component.

4. The commercial vehicle windshield assembly and disassembly device according to claim 3, characterized in that, The adjustment unit (20) further includes: An angle adjustment component (205) is disposed on one side of the rotation component (204) and located below the horizontal adjustment component. The fixed end of the angle adjustment component (205) is connected to the rotation component (204), and the actuating end of the angle adjustment component (205) is connected to the horizontal adjustment component. The actuator of the angle adjustment component (205) can be controlled to rotate the horizontal adjustment component relative to the rotation component (204) so ​​that the horizontal adjustment component and the rotation component (204) are set at a target angle.

5. The commercial vehicle windshield assembly and disassembly device according to claim 4, characterized in that, The horizontal adjustment component includes: A first adjusting rod (203) is connected at one end to the actuating end of the rotating assembly (204), and a portion of the first adjusting rod (203) is connected to the actuating end of the angle adjusting assembly (205). The first adjusting rod (203) has a working cavity. The second adjusting rod (201) is partially located in the working cavity, and at least part of the second adjusting rod (201) is movably disposed relative to the first adjusting rod (203). One end of the second adjusting rod (201) is connected to the gripping part (30). The drive assembly (202) is partially located on one side of the first adjusting rod (203) and partially located on one side of the second adjusting rod (201). One end of the drive assembly (202) is connected to the first adjusting rod (203), and the other end of the drive assembly (202) is connected to the first adjusting rod (203). The drive assembly (202) can be controlled to give the second adjusting rod (201) an initial position and at least one working position.

6. The commercial vehicle windshield assembly and disassembly device according to claim 3, characterized in that, The support portion (10) includes: A support base (101) is located below the rotating assembly (204). The support base (101) and the horizontal adjustment assembly are arranged at a distance from each other. The fixed seat of the rotating assembly (204) is connected to the top of the support base (101). The moving component is located below the support base (101), and the fixed end of the moving component is connected to the support base (101). The moving component is spaced apart from the adjustment part (20). The moving component is used to move the support base (101), the adjustment part (20) and the gripping part (30) to the target position.

7. The commercial vehicle windshield assembly and disassembly device according to claim 6, characterized in that, The moving component includes: A drive wheel assembly (102) is provided, comprising at least one drive wheel assembly (102), the fixed end of which is connected to the support base (101), and the drive wheel assembly (102) is spaced apart from the rotating assembly (204). The balance wheel assembly has a fixed end connected to the support base (101), and the balance wheel assembly is spaced apart from the drive wheel assembly (102). The balance wheel assembly includes a plurality of balance wheel units (103), which are spaced apart circumferentially along the support base (101).

8. The commercial vehicle windshield assembly and disassembly device according to claim 5, characterized in that, The transport component includes: The transport support plate (301) has a second adjusting rod (201) located on one side of the transport support plate (301), and a portion of the transport support plate (301) is connected to one end of the second adjusting rod (201). A suction cup assembly is located on the other side of the transport support plate (301). The suction cup assembly is spaced apart from the second adjusting rod (201). The suction cup assembly includes a plurality of suction cup units (302), which are spaced apart along the width direction of the transport support plate (301). The identification component is located on the other side of the transport support plate (301). The identification component and the suction cup component are spaced apart. The suction cup component has an adsorption working state for adsorbing the target windshield glass, and a non-working state for separating from the target windshield glass.

9. A control method for a commercial vehicle windshield assembly and disassembly device, the control method being used to control the commercial vehicle windshield assembly and disassembly device according to any one of claims 1-8, characterized in that, The control method includes: In response to the target windshield assembly request, obtain the position data of the target windshield; Based on the position data, the motion data of the gripping unit is determined, wherein the motion data includes: target rotation angle data of the rotating component, first target position data of the angle adjustment component, and second target position data of the driving component; Based on the motion data of the gripping unit, a first controller instruction set is generated. The first controller instruction set is used to control the rotation component, the angle adjustment component, and the drive component to be located in the corresponding target working position.

10. The control method for the commercial vehicle windshield assembly and disassembly device according to claim 9, characterized in that, The control method further includes: In response to the rotation component, the angle adjustment component, and the drive component reaching the corresponding target working position, the pose data of the gripping part is acquired; Based on the pose data and the position data, the deviation data is determined; Based on the deviation data, a judgment is made by using a preset threshold to obtain the judgment result; In response to the deviation data being less than or equal to the preset threshold, a second control instruction set is generated, which is used to control the suction cup assembly to be in the adsorption working state. In response to the deviation data being greater than the preset threshold, a third control instruction set is generated, which is used to control the alarm component to be in the alarm working state.

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