Automobile parts assembly vision-guided robot system

Abstract

The application belongs to the technical field of automobile intelligent manufacturing and automatic assembly, and discloses an automobile part assembly visual guidance robot system, which comprises a U-shaped frame, a supporting column, an assembly mechanism, a camera, a lifting mechanism and the like. A conveyor is arranged on the U-shaped frame for feeding. The camera can collect visual data. The assembly mechanism drives the clamping jaw mechanical arm to move in a ring shape through a motor, a chain wheel and a chain transmission. The lifting mechanism realizes lifting by means of a scissor frame and a hydraulic rod, and can also move in the U-shaped frame through a roller and complete accurate positioning. The application realizes the full-process automation of part conveying, visual positioning, accurate assembly and station switching by means of the cooperation of various components, effectively improves the assembly efficiency, reduces the labor cost and the risk of operation failure, adapts to the assembly requirements of automobile parts of various specifications, and guarantees the assembly accuracy and stability.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing and automated assembly technology for automobiles, specifically to a vision-guided robot system for assembling automotive parts. Background Technology

[0002] Automotive parts assembly is a core process in automobile manufacturing, and its assembly precision, efficiency, and consistency directly determine the performance of the entire vehicle and production efficiency. As the automotive industry rapidly transforms towards intelligence, flexibility, and customization, traditional assembly models that rely on manual or semi-automated methods are no longer suitable for multi-model co-production, small-batch customized orders, and stringent quality control requirements.

[0003] For example, the national authorized patent announcement number CN110722571B discloses an image recognition-based automotive parts assembly system and method, belonging to the field of automotive technology. It solves the product quality problems caused by incorrect or missing assembly due to varying employee skill levels in existing technologies. This image recognition-based automotive parts assembly system includes: a communication device; a mobile terminal, used to obtain workflow data for the assembly point corresponding to the VIN code at the corresponding workstation based on workstation information and vehicle VIN code; an AR wearable device, used to provide visual and audio prompts for each operation step based on control commands transmitted from the mobile terminal, and to capture and output the image information of the assembled parts after assembly; and an AI host server, used to perform AI recognition on the image information transmitted from the AR wearable device and determine whether the assembly is correctly completed, and then provide prompts through the AR wearable device.

[0004] However, the above-mentioned patent solutions all have obvious defects: they mainly rely on AR wearable devices and human assistance to complete the assembly, resulting in a low degree of automation. They still depend on manual operation and workstation coordination, and cannot achieve fully unmanned automated assembly. Their image recognition is only used for assembly result detection and does not have the functions of real-time visual guidance, precise positioning and trajectory control for robot movement. In addition, they do not have a heavy-duty component lifting mechanism that can be stably lifted and precisely positioned, which makes them less adaptable to the assembly of heavy or large automotive components. Their flexibility and production efficiency are difficult to meet the requirements of synchronous assembly of multiple workstations and multiple components.

[0005] To address this, a vision-guided robot system for assembling automotive parts is proposed. Summary of the Invention

[0006] The purpose of this invention is to provide a vision-guided robot system for assembling automotive parts, in order to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A vision-guided robot system for assembling automotive parts includes a frame. Support columns are fixedly mounted at the four corners of the frame's upper surface. An assembly mechanism is fixedly mounted on the upper surface of the four sets of support columns. Cameras are fixedly mounted on the inner sides of the outer surfaces of the four sets of support columns. A lifting mechanism is fitted inside the frame. Rollers are rotatably mounted on both sides of the lower surface of the lifting mechanism. The lifting mechanism rolls with the frame via the rollers. The monitoring ends of the four sets of cameras are positioned opposite the lifting mechanism.

[0008] In the aforementioned vision-guided robot system for assembling automotive parts, guide rail grooves are provided on both sides of the inner lower surface of the U-shaped frame. The rollers of the lifting mechanism roll and cooperate within the guide rail grooves, and the guide rail grooves provide precise guidance and limitation for the lifting mechanism.

[0009] In the aforementioned automotive parts assembly vision-guided robot system, support plates are fixedly installed on both sides of the U-shaped frame, and conveyors are fixedly installed on the upper surfaces of the two sets of support plates. The two sets of conveyors are within the monitoring range of the four sets of cameras. The two sets of conveyors are used to transport the parts to be assembled to the lower end of the assembly mechanism for the assembly mechanism to grasp.

[0010] The aforementioned vision-guided robot system for assembling automotive parts includes an assembly mechanism comprising a first ring frame. Four connecting plates are fixedly installed at the four corners of the bent portion within the first ring frame. The first ring frame is fixedly connected to the upper surfaces of four sets of support columns via four sets of connecting plates. A sliding ring groove is provided on the outer surface of the first ring frame, and a chain is slidably disposed within the sliding ring groove. A sprocket is rotatably mounted on the upper surfaces of the four sets of connecting plates. An elongated opening is provided on the first ring frame corresponding to the sprocket position, and the elongated opening communicates with the sliding ring groove. The inner ring portion of the chain meshes with the four sets of sprockets through the elongated opening.

[0011] In the aforementioned vision-guided robot system for assembling automotive parts, two sets of first motors and two sets of second motors are fixedly mounted on the upper surfaces of the four sets of first connecting plates, respectively. The output shafts of the two sets of first motors rotatably penetrate to the lower surface of the corresponding first connecting plate and are fixedly connected to two sets of sprockets. Second connecting plates are fixedly connected to the upper surfaces of the two sets of first motors and the two sets of second motors. A second ring frame is fixedly mounted on the outer surface of the four sets of second connecting plates. A slip ring groove is formed on the outer surface of the second ring frame, and a chain is slidably disposed in the slip ring groove. Sprockets are rotatably mounted on the upper surfaces of the four sets of second connecting plates. The chain on the second ring frame meshes with the sprockets on the second connecting plates. The output shafts of the two sets of second motors rotatably penetrate to the upper surface of the corresponding second connecting plate and are fixedly connected to two sets of sprockets.

[0012] In the aforementioned vision-guided robot system for assembling automotive parts, each of the chains in the slip ring grooves of the first and second ring frames has a set of connecting posts fixedly installed on the outer surface of a set of chain links. A set of mounting plates is rotatably installed between the other ends of the two sets of connecting posts. A gripper robotic arm is fixedly installed on the lower surface of each of the two sets of mounting plates. The two sets of gripper robotic arms are respectively distributed on the left side of the first ring frame and the right side of the second ring frame, and are both set perpendicular to the conveyor.

[0013] In the aforementioned vision-guided robot system for assembling automotive parts, each set of connecting columns has guide wheels rotatably mounted on its upper and lower surfaces. The upper and lower ends of the outer surfaces of the first and second ring frames are provided with guide ring grooves, and the guide wheels roll within the guide ring grooves.

[0014] In the aforementioned vision-guided robot system for assembling automotive parts, the lifting mechanism includes a chassis and an assembly plate. A first X-frame and a second X-frame are hinged to each side of the chassis and the assembly plate, respectively. The right end of the first X-frame is rotatably connected to the upper surface of the chassis, and the right end of the second X-frame is rotatably connected to the lower surface of the assembly plate. Guide wheels are rotatably mounted on the left ends of both the first and second X-frames. The guide wheel at the left end of the first X-frame rolls against the upper surface of the chassis, and the guide wheel at the left end of the second X-frame rolls against the lower surface of the assembly plate.

[0015] In the aforementioned vision-guided robot system for assembling automotive parts, a first crossbar is fixedly installed between the lower ends of the first X-frame and the second X-frame, and a second crossbar is fixedly installed between the upper ends of the first X-frame and the second X-frame. A hydraulic rod is rotatably installed on the upper surface of the first crossbar, and the piston rod of the hydraulic rod is rotatably connected to one end of the outer surface of the second crossbar.

[0016] In the aforementioned automotive parts assembly vision-guided robot system, the chassis serves as the roller mounting base for the lifting mechanism. Rollers are rotatably mounted embedded on both sides of the chassis's outer surface. Limiting grooves are formed in the middle sections of both sides of the chassis. Shrinking grooves are formed on both inner sides of the U-shaped frame. Conical protrusions are slidably mounted within the shrinking grooves. A spring is fixedly connected to one end of the shrinking groove away from the groove opening. The other end of the spring is fixedly connected to one end of the conical protrusion. The spring applies an outward elastic thrust to the conical protrusion, allowing the conical protrusion to engage with the limiting groove.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. The system is equipped with four sets of cameras to collect full-area visual information of the conveyor and lifting mechanism. The visual data directly guides the actions of the assembly mechanism, realizing real-time visual guidance and precise positioning of the robot's movement. Combined with the precise transmission of motors, sprockets and chains in the assembly mechanism, the gripper robot arm can accurately grasp the parts to be assembled and complete the assembly, effectively improving the assembly accuracy of parts and avoiding misassembly or omission. At the same time, the visual guidance of the cameras replaces manual alignment, reducing the errors caused by manual operation.

[0018] 2. The assembly mechanism adopts a double-ring frame structure with a first ring frame and a second ring frame, and is equipped with two sets of first motors and two sets of second motors with independent drive design. This enables the two sets of gripper robotic arms to move independently or synchronously in a ring, giving the gripper robotic arms multi-degree-of-freedom scheduling capabilities, greatly expanding the coverage of assembly operations, and adapting to multi-station and multi-angle assembly needs. At the same time, the dual gripper robotic arms can work together to grasp heavy and large parts, improving the system's adaptability to assembling parts of different specifications.

[0019] 3. The lifting mechanism adopts a scissor-type support structure of the first X-frame and the second X-frame, combined with the hydraulic rod drive method. It can not only realize the smooth lifting and lowering of the assembly tray, allowing the assembly height to be flexibly adjusted according to needs, but also provide strong vertical support for the assembly tray. It can stably support heavy and large automotive parts, solving the problem of poor adaptability of existing systems to the assembly of heavy parts. At the same time, the guide wheel setting makes the opening and closing of the X-frame smoother and avoids jamming that affects the lifting and adjusting.

[0020] 4. The U-shaped frame is equipped with guide rail grooves to guide the movement of the lifting mechanism. The engaging structure of the conical protrusion and the limiting groove enables the automatic positioning and unlocking of the lifting mechanism. The rolling engagement between the guide rail wheel on the connecting column and the guide rail ring groove limits the movement of the gripper robot arm. The design of various guiding and positioning structures makes the movement and positioning of the lifting mechanism and the movement of the gripper robot arm more stable and precise, avoiding deviation and shaking during assembly, ensuring the stability of assembly operations. At the same time, the rolling engagement replaces the sliding contact, reducing frictional wear between components and extending the service life of the components.

[0021] 5. Two sets of conveyors are set on both sides of the U-shaped frame to realize the continuous transport of the parts to be assembled, which can continuously supply materials for the assembly operation and avoid production stoppage due to waiting for materials. With the rapid positioning and unlocking of the lifting mechanism and the rapid gripping and assembly of the gripper robotic arm, the entire process of parts transportation, vision positioning, precise assembly and workstation switching is automated, reducing the links of manual intervention, reducing labor costs and the risk of human operation errors, while improving the overall assembly efficiency and production continuity.

[0022] 6. The system's components are modularly installed and connected. The U-shaped frame is the basic base, and the assembly mechanism, lifting mechanism, conveyor, etc., can be disassembled and maintained independently. At the same time, the actions of each actuator can be flexibly controlled through the control system. The movement trajectory of the gripper robotic arm and the assembly height of the assembly tray can be adjusted according to different automotive parts assembly requirements, so that the system can adapt to the assembly requirements of automotive parts of various specifications and improve the system's flexibility. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the support column and guide rail groove of the present invention; Figure 3 This is a schematic diagram of the structure of the camera and conveyor of the present invention; Figure 4 This is a schematic diagram of the structure of the spring and the conical protrusion of the present invention; Figure 5 This is a schematic diagram of the structure of the first and second ring frames of the present invention; Figure 6 This is a schematic diagram of the connecting column, guide wheel, and mounting plate of the present invention; Figure 7 This is a schematic diagram of the lifting mechanism of the present invention.

[0024] In the diagram: 1. U-shaped frame; 101. Guide rail groove; 102. Support plate; 103. Conveyor; 104. Support column; 105. Conical protrusion; 106. Camera; 107. Shrinkage groove; 108. Spring; 2. Assembly mechanism; 201. First ring frame; 202. Second ring frame; 203. First connecting plate; 204. Sprocket; 205. First motor; 206. Second motor; 207. Chain; 2 08. Connecting column; 209. Guide wheel; 210. Mounting plate; 211. Gripper robotic arm; 212. Slip ring groove; 213. Second connecting plate; 214. Guide ring groove; 3. Lifting mechanism; 301. Chassis; 302. Assembly plate; 303. First X-frame; 304. Second X-frame; 305. Second crossbar; 306. First crossbar; 307. Hydraulic rod; 308. Guide wheel; 309. Limiting groove. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figures 1-7 This embodiment provides a vision-guided robot system for assembling automotive parts, including a frame 1. Support columns 104 are fixedly installed at the four corners of the upper surface of the frame 1. An assembly mechanism 2 is fixedly installed on the upper surface of the four sets of support columns 104. Cameras 106 are fixedly installed on the inner side of the outer surface of the four sets of support columns 104. A lifting mechanism 3 is provided inside the frame 1. Rollers are rotatably installed on both sides of the lower surface of the lifting mechanism 3. The lifting mechanism 3 rolls with the frame 1 through the rollers. The monitoring ends of the four sets of cameras 106 are all arranged opposite to the lifting mechanism 3.

[0027] In this design, the U-shaped frame 1 serves as the foundation for the entire system, providing stable mounting points for the support columns 104. This allows for an integrated installation layout of all components, adapting to the industrial production environment and ensuring the overall stability of the system structure. The support columns 104 provide robust vertical support for the assembly mechanism 2, ensuring it maintains a stable operating posture. Simultaneously, the support columns 104 provide a dedicated fixed mounting position for the camera 106, enabling its monitoring end to be stably aligned with the lifting mechanism 3. This allows for continuous acquisition of visual information about the lifting mechanism 3 and the components to be assembled above it, providing a fundamental information source for visually guided assembly. The lifting mechanism 3, through rollers on its lower surface, rolls in conjunction with the U-shaped frame 1, allowing for movement within the frame 1 and meeting the operational needs of workstation switching during assembly. The spatial layout of each component matches the range of motion of visual acquisition with the assembly operation, ensuring that the visual data collected by the camera 106 effectively guides the assembly actions of the assembly mechanism 2, guaranteeing the smooth implementation of visually guided assembly.

[0028] Specifically, in this embodiment, guide grooves 101 are provided on both sides of the inner lower surface of the U-shaped frame 1. The rollers of the lifting mechanism 3 roll and cooperate within the guide grooves 101, which provide precise guidance and limit for the lifting mechanism 3. The guide grooves 101 on the inner lower surface of the U-shaped frame 1 define a dedicated rolling trajectory for the rollers of the lifting mechanism 3, restricting the direction of roller movement and preventing lateral deviation and swaying of the lifting mechanism 3 during movement. This ensures that the movement trajectory of the lifting mechanism 3 remains accurate, guaranteeing that the lifting mechanism 3 can accurately move to the designated assembly position and improving the accuracy of the lifting mechanism 3's movement. The rolling of the rollers within the guide grooves 101 reduces the contact friction between the rollers and the U-shaped frame 1, making the movement of the lifting mechanism 3 smoother and more stable, reducing wear between components, extending the service life of the rollers and the U-shaped frame 1, and also making the position adjustment of the lifting mechanism 3 more convenient without the need for additional correction actions.

[0029] Specifically, in this embodiment, support plates 102 are fixedly installed on both sides of the U-shaped frame 1. Conveyors 103 are fixedly installed on the upper surfaces of both sets of support plates 102. Both sets of conveyors 103 are within the monitoring range of four sets of cameras 106. The two sets of conveyors 103 are used to transport the parts to be assembled to the lower end of the assembly mechanism 2 for the assembly mechanism 2 to grasp. The support plates 102 on both sides of the U-shaped frame 1 provide horizontal and stable installation support for the conveyors 103, allowing the conveyors 103 to maintain a stable operating state and preventing the conveyors 103 from tilting or shaking during the feeding process. The conveyors 103 can realize the automated continuous conveying of the parts to be assembled, replacing the manual feeding operation, reducing the operational errors caused by manual intervention, improving the work efficiency of the feeding process, and at the same time, the continuous material conveying can prevent the assembly operation from being halted due to waiting for materials, ensuring the continuity of assembly production. The conveyor 103 is within the monitoring range of the camera 106, allowing the camera 106 to collect real-time position information of the parts to be assembled on the conveyor 103. This provides precise visual guidance for the gripping action of the assembly mechanism 2, ensuring that the assembly mechanism 2 can accurately align the parts to be assembled. The conveyor 103 directly transports the parts to be assembled to the lower end of the assembly mechanism 2, shortening the moving distance of the assembly mechanism 2 in gripping the parts, improving the gripping efficiency of the assembly mechanism 2, and making the overall rhythm of the assembly operation more compact.

[0030] Specifically, in this embodiment, the assembly mechanism 2 includes a first ring frame 201. First connecting plates 203 are fixedly installed at the four corners of the bent portion within the first ring frame 201. The first ring frame 201 is fixedly connected to the upper surfaces of four sets of support columns 104 via four sets of first connecting plates 203. A sliding ring groove 212 is provided on the outer surface of the first ring frame 201. A chain 207 is slidably disposed within the sliding ring groove 212. A sprocket 204 is rotatably installed on the upper surfaces of the four sets of first connecting plates 203. A long opening is provided on the first ring frame 201 corresponding to the position of the sprocket 204. The long opening communicates with the sliding ring groove 212. The inner ring portion of the chain 207 meshes with the four sets of sprockets 204 through the long opening.

[0031] The first ring frame 201 is securely connected to the support column 104 via the first connecting plates 203 at the four corners of the bent portion, ensuring that the first ring frame 201 remains in a horizontal installation state and providing a stable installation foundation for subsequent transmission components. The slip ring groove 212 on the outer surface of the first ring frame 201 provides an annular sliding space for the chain 207, restricting the sliding trajectory of the chain 207 and allowing the chain 207 to slide smoothly along the annular trajectory, preventing the chain 207 from falling off or deviating during transmission. The sprocket 204 on the first connecting plate 203 engages with the chain 207 through an elongated opening. This elongated opening allows the inner ring of the chain 207 to smoothly cooperate with the sprocket 204, ensuring smooth engagement of the transmission structure and preventing jamming. The rotation of the sprocket 204 drives the chain 207 to slide synchronously within the slip ring groove 212, achieving a rotational transmission effect. The annular slip ring groove 212 allows the chain 207 to move in a ring, providing a transmission basis for the ring scheduling of subsequent execution components, expanding the working coverage of the assembly mechanism 2, and adapting to the assembly needs of multiple positions.

[0032] Specifically, in this embodiment, two sets of first motors 205 and two sets of second motors 206 are fixedly installed on the upper surfaces of the four sets of first connecting plates 203, respectively. The output shafts of the two sets of first motors 205 rotate through to the lower surface of the corresponding first connecting plate 203 and are fixedly connected to two sets of sprockets 204. The upper surfaces of the two sets of first motors 205 and the two sets of second motors 206 are fixedly connected to second connecting plates 213. The outer surfaces of the four sets of second connecting plates 213 are jointly fixedly installed with second ring frames 202. The outer surface of the second ring frame 202 is provided with a sliding ring groove 212, and a chain 207 is also slidably arranged in the sliding ring groove 212. The upper surfaces of the four sets of second connecting plates 213 are rotatably installed with sprockets 204. The chain 207 on the second ring frame 202 meshes with the sprocket 204 on the second connecting plate 213. The output shafts of the two sets of second motors 206 rotate through to the upper surface of the corresponding second connecting plate 213 and are fixedly connected to two sets of sprockets 204.

[0033] In this assembly mechanism 2, the first motor 205 on the first connecting plate 203 powers the sprocket 204 on the first ring frame 201, and the second motor 206 powers the sprocket 204 on the second ring frame 202. The two motors drive the transmission structures on the two ring frames respectively, allowing the chains 207 on the first and second ring frames 201 and 202 to achieve independent transmission control or synchronous transmission, thus improving the flexibility of the transmission control. The motor output shaft is directly and fixedly connected to the sprocket 204, reducing intermediate transmission components, lowering power transmission losses, making power transmission more direct and efficient, and ensuring the dynamic stability of the sliding chain 207. The second connecting plate 213 securely connects the second ring frame 202 to the motor, allowing the second ring frame 202 to maintain a matching installation state with the first ring frame 201. The dual-ring frame design further expands the transmission coverage of the assembly mechanism 2, enabling it to adapt to the assembly needs of more workstations and various specifications of automotive parts. The coordinated control of the two sets of motors allows for precise control of the sliding speed and moving position of the chain 207, improving the accuracy of the transmission process and ensuring the precise movement of subsequent actuators.

[0034] Specifically, in this embodiment, on the chain 207 in the slip ring groove 212 of the first ring frame 201 and the second ring frame 202, a set of connecting posts 208 are fixedly installed on the outer surface of each set of chain links. A set of mounting plates 210 are rotatably installed between the other ends of the two sets of connecting posts 208. A gripper robotic arm 211 is fixedly installed on the lower surface of the two sets of mounting plates 210. The two sets of gripper robotic arms 211 are respectively distributed on the left side of the first ring frame 201 and the right side of the second ring frame 202, and are both arranged perpendicularly to the conveyor 103.

[0035] In this system, the chains 207 on the first ring frame 201 and the second ring frame 202 are securely connected to the mounting plate 210 via connecting posts 208. This allows the sliding of the chains 207 to synchronously drive the mounting plate 210 and the gripper robotic arm 211 to move in a ring, achieving circular movement of the gripper robotic arm 211. The two sets of gripper robotic arms 211 are respectively distributed on the left side of the first ring frame 201 and the right side of the second ring frame 202. They can independently grip the components to be assembled on both sides of the conveyor 103, or move collaboratively to the same position to grip heavy and large parts, improving the stability of the gripping process and preventing heavy parts from falling or tilting during gripping. The gripper robotic arms 211 maintain a perpendicular relative position to the conveyor 103, ensuring that the gripping direction of the gripper robotic arms 211 matches the feeding direction of the conveyor 103. This ensures that the gripper robotic arms 211 can accurately align with the gripping position of the components to be assembled, improving gripping accuracy. The ring drive of chain 207 enables the gripper robot arm 211 to achieve 360-degree position adjustment, greatly expanding the working range of the gripper robot arm 211, meeting the assembly action requirements of different positions and angles, and adapting to the assembly requirements of various specifications of automotive parts.

[0036] Specifically, in this embodiment, guide wheels 209 are rotatably mounted on the upper and lower surfaces of each set of connecting columns 208, and guide ring grooves 214 are opened at the upper and lower ends of the outer surfaces of the first ring frame 201 and the second ring frame 202, and the guide wheels 209 roll in the guide ring grooves 214.

[0037] The guide wheels 209 on the upper and lower surfaces of the connecting column 208 roll within the guide grooves 214 of the first and second ring frames 201 and 202, providing vertical support and guidance for the movement of the connecting column 208. This restricts the vertical offset and swaying of the connecting column 208 during movement, ensuring that the connecting column 208 maintains a stable movement. This, in turn, drives the gripper robot arm 211 to move smoothly, improving the stability and accuracy of the gripper robot arm 211's movement and preventing positional deviations during gripping and assembly. The rolling cooperation between the guide wheels 209 and the guide grooves 214 replaces the sliding contact between the connecting column 208 and the ring frame, reducing frictional loss between the connecting column 208 and the ring frame, extending the service life of both the connecting column 208 and the ring frame, and making the movement of the connecting column 208 smoother, reducing resistance during transmission and improving overall transmission efficiency. The guide rail groove 214 provides a circular rolling trajectory for the guide rail wheel 209, which matches the circular sliding trajectory of the chain 207, ensuring that the moving trajectory of the connecting column 208 is consistent with that of the chain 207, making the movement of the gripper robot arm 211 more precise.

[0038] Specifically, in this embodiment, the lifting mechanism 3 includes a chassis 301 and an assembly plate 302. A first X-frame 303 and a second X-frame 304 are respectively hinged on both sides between the chassis 301 and the assembly plate 302. The right end of the first X-frame 303 is rotatably connected to the upper surface of the chassis 301, and the right end of the second X-frame 304 is rotatably connected to the lower surface of the assembly plate 302. Guide wheels 308 are rotatably mounted on the left ends of both the first X-frame 303 and the second X-frame 304. The guide wheel 308 on the left end of the first X-frame 303 rolls against the upper surface of the chassis 301, and the guide wheel 308 on the left end of the second X-frame 304 rolls against the lower surface of the assembly plate 302.

[0039] The chassis 301 of the lifting mechanism 3 provides basic installation support for all components of the entire lifting mechanism, ensuring the installation stability of each component. The assembly tray 302 provides a flat placement platform for the parts to be assembled, preventing the parts from tipping over during assembly. The first X-frame 303 and the second X-frame 304 between the chassis 301 and the assembly tray 302 form a scissor-like support structure, which can provide stable vertical support for the assembly tray 302, improve the load-bearing capacity of the lifting mechanism 3, and stably support heavy and large automotive parts, adapting to the assembly needs of parts of different weights. The guide wheels 308 at the left ends of the first X-frame 303 and the second X-frame 304 roll and abut against the upper surface of the chassis 301 and the lower surface of the assembly tray 302, respectively, allowing the left end of the X-frame to move smoothly on the surfaces of the chassis 301 and the assembly tray 302 when the X-frame is opening and closing, reducing friction between the X-frame and the chassis 301 and the assembly tray 302, making the opening and closing action of the X-frame smoother and avoiding jamming. The scissor-type structural design allows the assembly tray 302 to be raised and lowered vertically, making the assembly height of the parts adjustable to meet the height requirements of different assembly actions and improving the assembly adaptability of the lifting mechanism 3.

[0040] Specifically, in this embodiment, a first crossbar 306 is fixedly installed between the lower ends of the first X-frame 303 and the second X-frame 304, and a second crossbar 305 is fixedly installed between the upper ends of the first X-frame 303 and the second X-frame 304. A hydraulic rod 307 is rotatably installed on the upper surface of the first crossbar 306, and the piston rod of the hydraulic rod 307 is rotatably connected to one end of the outer surface of the second crossbar 305.

[0041] The first crossbar 306 at the lower end and the second crossbar 305 at the upper end of the first X-frame 303 and the second X-frame 304 connect the lower and upper ends of the two sets of X-frames, respectively, forming a coordinated whole. This prevents independent displacement of a single X-frame during operation and improves the overall integrity and stability of the X-frame structure. The hydraulic rod 307 on the first crossbar 306 provides power for the opening and closing of the X-frames. The extension and retraction of the piston rod of the hydraulic rod 307 drives the second crossbar 305 to move vertically, thereby causing the two sets of X-frames to open and close synchronously, achieving smooth lifting and lowering of the assembly tray 302. The hydraulic drive provides stable and high power output, enabling the lifting and lowering of the relatively heavy assembly tray 302 and the components above it, ensuring the stability of the lifting and lowering action. Simultaneously, the extension and retraction stroke of the hydraulic rod 307 can be precisely controlled, allowing for precise control of the lifting and lowering height of the assembly tray 302, improving the accuracy of height adjustment and meeting the height requirements of different assembly operations. The rotatable connection between the hydraulic rod 307 and the first crossbar 306 and the second crossbar 305 can adapt to the angle changes during the opening and closing of the X-frame, ensure the smooth transmission of power, and avoid component deformation or damage caused by hard connection.

[0042] Specifically, in this embodiment, the chassis 301 is the roller mounting base of the lifting mechanism 3. Rollers are embedded and rotatably mounted on both sides of the outer surface of the chassis 301. Limiting grooves 309 are opened in the middle of both sides of the chassis 301. Shrinkage grooves 107 are opened on both sides of the inner side of the U-shaped frame 1. Conical protrusions 105 are slidably installed in the shrinkage grooves 107. A spring 108 is fixedly connected to one end of the shrinkage groove 107 away from the groove opening. The other end of the spring 108 is fixedly connected to one end of the conical protrusion 105. The spring 108 applies an outward elastic thrust to the conical protrusion 105. The conical protrusion 105 can fit and engage with the limiting grooves 309.

[0043] The embedded roller design on both sides of the outer surface of the chassis 301 makes the installation of the rollers on the chassis 301 more stable, preventing the rollers from falling off during rolling. At the same time, the embedded structure reduces the size of the rollers protruding from the chassis 301, making the chassis 301 more stable during placement and movement. The springs 108 in the shrinkage grooves 107 on both sides of the U-shaped frame 1 can continuously apply an outward elastic force to the conical protrusion 105, so that the conical protrusion 105 always has a tendency to extend outward. When the chassis 301 moves to the designated assembly station, the conical protrusion 105 can automatically engage with the limiting groove 309 of the chassis 301 under the push of the spring 108, realizing automatic positioning of the chassis 301 without manual operation and improving the work efficiency of the positioning process. The engaging engagement between the conical protrusion 105 and the limiting groove 309 restricts the movement and swaying of the chassis 301 during assembly, ensuring the positional stability of the lifting mechanism 3 during assembly operations, thereby improving the assembly precision of automotive parts. When the chassis 301 needs to be moved, the inclined surface of the limiting groove 309 presses against the inclined surface of the conical protrusion 105, causing the conical protrusion 105 to retract into the shrinkage groove 107 against the thrust of the spring 108, achieving automatic release of the positioning. This operation is convenient and requires no additional unlocking components. The shrinkage groove 107 provides dedicated installation space for the conical protrusion 105 and the spring 108, while restricting the direction of movement of the conical protrusion 105, allowing it to only extend and retract laterally, ensuring the precision of the engaging and retraction actions.

[0044] Specifically, in this embodiment, the control system executes the following visual guidance trajectory prediction and compensation equation to adjust the circular motion trajectory of the gripper robot arm in real time based on the target position information collected by the camera: in: This represents the angle increment (in radians) that the gripper robot arm should adjust on the circular track at the current moment. The error (in radians) between the target angle calculated by the vision system and the current angle is calculated in real time. This is a proportionality coefficient (dimensionless), which determines the system's response speed to the current error, with a value ranging from 0.5 to 2.0; The differential coefficient is used to suppress system overshoot and improve stability (unit: seconds, s), with a value range of 0.01 to 0.1. For integral control coefficients (unit: 1 / second, 1 / s); α is the oscillation suppression gain, used to suppress the periodic vibration of the robotic arm during start-up, shutdown, and turning (dimensionless), with a value of 0.01 to 0.05; T is the estimated parameter for the robotic arm's motion cycle, which is related to the circumference of the circular track and the motion speed (unit: seconds, s), and takes a value of 3 to 10. β is the error attenuation coefficient, used to reduce the influence of the oscillation term when the error is large (dimensionless), and its value ranges from 1 to 5; t is a time variable (seconds, s).

[0045] The derivation of the equation is as follows: This equation combines classical PID control with an oscillation suppression term based on adaptive motion period and error, and its derivation is as follows: 1. Basic PID section: Used to achieve closed-loop correction of visual errors.

[0046] 2. Oscillation Suppression Term: Considering that the robotic arm in the circular motion system is prone to periodic vibrations during start-up, stopping, and turning, the following term is introduced: The sin term simulates the system's natural vibration modes. Ensure that oscillations are suppressed when the error is large, and allow for minor adjustments when approaching the target to improve positioning accuracy.

[0047] 3. Synthetic control quantity: For example, suppose the system parameters are as follows: =1.2, =0.05s, =0.011 / s;α=0.02,T=5 s,β=2.0; Current state (t=1s): The current error e(t) = 0.1 rad, and the rate of change of error... =-0.02rad / s; Cumulative value of integral terms (Note: This is the accumulated points value, which needs to be multiplied by...) Only then can the radius be obtained. Calculation steps: 1. PID section: 2. Oscillation suppression section: 3. Total control quantity: 4. Convert to angle: The control system adjusts the rotation of the robotic arm by approximately 8° accordingly.

[0048] Technical effect 1. High-precision positioning: Real-time PID compensation for visual errors significantly improves the positioning accuracy of the gripper robot arm in circular motion, avoiding misassembly and omission.

[0049] 2. Vibration Suppression: The oscillation suppression term based on motion cycle and error adaptation effectively reduces the vibration of the robotic arm during start-up, stopping, and turning, improving motion smoothness.

[0050] 3. Adaptive adjustment: The error decay mechanism enables the system to quickly approach the target when it is far away from it, and to fine-tune the anti-shake mechanism when it is close to the target, balancing speed and accuracy.

[0051] 4. Dynamic response: The differential term enhances the system's ability to track moving targets and adapts to the grasping needs of moving parts on the conveyor.

[0052] 5. System robustness: The parameters in the equations can be adjusted according to actual working conditions to adapt to the requirements of different specifications of parts and different assembly speeds.

[0053] Working principle and process: 1. Visual Acquisition: Four sets of cameras capture images of components on the conveyor and lifting mechanism in real time; 2. Image Processing: The vision system extracts the angle of the target in the circular coordinate system. ; 3. Error Calculation: Read the current angle of the gripper robotic arm. Calculation error ; 4. Control Calculation: Using the control equations described above, calculate the angle adjustment amount. ; 5. Motor drive: The control system drives the first or second motor, and achieves precise rotation of the robotic arm through sprocket and chain transmission; 6. Closed-loop feedback: Steps 1-5 are executed in real time until the error e(t) is less than the set value, thus completing the visual-guided positioning.

[0054] The working principle of this invention is as follows: The system uses the U-shaped frame 1 as the overall installation and operation base. The support columns 104 at the four corners of the upper surface of the U-shaped frame 1 provide stable vertical installation support for the assembly mechanism 2. At the same time, the support columns 104 provide fixed installation points for the camera 106, so that the monitoring end of the camera 106 can be accurately aligned with the lifting mechanism 3 inside the U-shaped frame 1, realizing the acquisition of visual information of the lifting mechanism 3 and the components above it.

[0055] The guide groove 101 on the inner lower surface of the U-shaped frame 1 provides a rolling track for the rollers of the lifting mechanism 3, which plays a precise guiding role in the movement of the lifting mechanism 3. The conveyor 103 on the support plates 102 on both sides of the U-shaped frame 1 can transport the parts to be assembled to the lower end of the assembly mechanism 2, and the conveyor 103 is within the monitoring range of the camera 106, so that the camera 106 can simultaneously collect the position information of the parts to be assembled on the conveyor 103.

[0056] The first ring frame 201 of the assembly mechanism 2 is fixed to the support column 104 by the first connecting plate 203. The first motor 205 can drive the sprocket 204 at the first ring frame 201 to rotate, and the second motor 206 can drive the sprocket 204 at the second ring frame 202 to rotate. The rotation of the sprocket 204 can drive the chain 207 in the slip ring groove 212 to slide in a ring. The sliding of the chain 207 will drive the mounting plate 210 and the gripper robot arm 211 to move in a ring synchronously through the connecting column 208. The guide wheels 209 above and below the connecting column 208 roll in the guide ring groove 214 to guide and limit the movement of the connecting column 208, ensuring the smooth and precise movement of the gripper robot arm 211.

[0057] The chassis 301 of the lifting mechanism 3 and the assembly plate 302 form a scissor-type support structure through the first X-frame 303 and the second X-frame 304. When the hydraulic rod 307 on the first crossbar 306 extends or retracts, it can push the second crossbar 305 to drive the first X-frame 303 and the second X-frame 304 to perform opening, closing, and rotating actions. The guide wheels 308 at the left ends of the first X-frame 303 and the second X-frame 304 roll on the upper surface of the chassis 301 and the lower surface of the assembly plate 302, respectively, to achieve smooth lifting and lowering of the assembly plate 302. Under the elastic thrust of the spring 108, the conical protrusion 105 in the U-shaped frame 1 can fit into the limiting groove 309 of the chassis 301 to achieve precise positioning of the lifting mechanism 3. When the chassis 301 is pushed by an external force, the inclined surface of the limiting groove 309 can press against the inclined surface of the conical protrusion 105 to retract it into the contraction groove 107, releasing the positioning of the lifting mechanism 3.

[0058] After receiving the visual data collected by the camera 106, the system's control system can precisely control the movements of the first motor 205, the second motor 206, the hydraulic rod 307, and the conveyor 103, so that the components work together to complete a series of operations such as conveying, positioning, gripping, and assembling parts, thus realizing automated assembly under vision guidance.

[0059] How to use: 1. First, place the basic components to be assembled on the assembly plate 302 of the lifting mechanism 3. Then, push the chassis 301 of the lifting mechanism 3 so that the rollers on both sides of the chassis 301 enter the guide rail groove 101 in the U-shaped frame 1 and roll along it. During the pushing process, the two sides of the chassis 301 will press against the conical protrusions 105, so that they overcome the elastic thrust of the spring 108 and retract into the shrinkage groove 107 until the chassis 301 moves to the designated assembly position. The limiting groove 309 is horizontally opposite to the shrinkage groove 107. The conical protrusions 105 pop out under the thrust of the spring 108 and fit into the limiting groove 309, thus completing the precise positioning of the lifting mechanism 3.

[0060] 2. Place the parts to be assembled sequentially on the conveyor 103 on the support plates 102 on both sides of the U-shaped frame 1. Start the conveyor 103, and the conveyor 103 will smoothly transport the parts to be assembled to the lower end of the assembly mechanism 2 for gripper robotic arm 211 to grasp. During this process, four sets of cameras 106 continuously collect the position information of the parts to be assembled on the conveyor 103 and the basic parts on the lifting mechanism 3, and transmit the visual data to the system control system.

[0061] 3. The control system starts the two sets of first motors 205 and two sets of second motors 206 of the assembly mechanism 2 according to the visual data. The motors drive the corresponding sprockets 204 to rotate. The sprockets 204 drive the chain 207 to slide in a ring in the slip ring groove 212. The chain 207 drives the mounting plate 210 and the gripper robot arm 211 to move through the connecting column 208. The guide wheel 209 on the connecting column 208 rolls and limits in the guide ring groove 214, so that the gripper robot arm 211 moves accurately to the part to be assembled at the upper end of the conveyor 103 to complete the gripping of the part. If the part to be assembled is heavy or large, the two sets of gripper robot arms 211 can be controlled to move synchronously to the same position to complete the gripping of the part.

[0062] 4. If the assembly height of the basic components on the assembly plate 302 is not suitable, the control system can adjust the extension and retraction of the hydraulic rod 307. The hydraulic rod 307 pushes the second crossbar 305 to drive the first X-frame 303 and the second X-frame 304 to open and close. The guide wheel 308 rolls on the surface of the chassis 301 and the assembly plate 302, so that the assembly plate 302 can be smoothly raised and lowered to a suitable assembly height. The hydraulic rod 307 maintains its extension and retraction length to achieve stable support for the assembly plate 302.

[0063] 5. The control system continues to regulate the actions of the first motor 205 and the second motor 206, so that the chain 207 drives the gripper robotic arm 211 to move above the assembly plate 302 of the lifting mechanism 3. The gripper robotic arm 211 accurately places the gripped parts to be assembled at the assembly position of the basic components to complete a single assembly operation. If there are multiple parts to be assembled, the above gripping and assembly steps can be repeated.

[0064] 6. After all the components on the lifting mechanism 3 have been assembled, an external force pulls the chassis 301. The inclined surface of the upper limit groove 309 of the chassis 301 presses against the inclined surface of the conical protrusion 105. The conical protrusion 105 overcomes the thrust of the spring 108 and retracts into the shrinkage groove 107, releasing the positioning of the lifting mechanism 3. Then, the chassis 301 is pulled to make the rollers roll along the guide rail groove 101, moving the lifting mechanism 3 out of the assembly station of the U-shaped frame 1 and transferring it to the subsequent processing area.

[0065] 7. Subsequently, the new lifting mechanism 3 is continuously pushed to the assembly station to complete the positioning, while the conveyor 103 continuously transports the parts to be assembled. The camera 106 and the assembly mechanism 2 work together to complete the assembly operation, realizing continuous production assembly.

[0066] Overall technical effect: 1. The system is equipped with four sets of cameras 106 to collect full-domain visual information from the conveyor 103 and the lifting mechanism 3. The visual data directly guides the actions of the assembly mechanism 2, realizing real-time visual guidance and precise positioning of the robot's movement. Combined with the precise transmission of the motor, sprocket 204 and chain 207 in the assembly mechanism 2, the gripper robot arm 211 can accurately grasp the parts to be assembled and complete the assembly, effectively improving the assembly accuracy of the parts and avoiding misassembly or omission. At the same time, the visual guidance of the cameras 106 replaces manual alignment, reducing the errors caused by manual operation.

[0067] 2. The assembly mechanism 2 adopts a double-ring frame structure of first ring frame 201 and second ring frame 202, and is equipped with two sets of first motors 205 and two sets of second motors 206 with independent drive design. This enables the two sets of gripper robotic arms 211 to move independently or synchronously in a ring, giving the gripper robotic arms 211 multi-degree-of-freedom scheduling capabilities, greatly expanding the coverage of assembly operations, and adapting to multi-station and multi-angle assembly needs. At the same time, the dual gripper robotic arms 211 can work together to grasp heavy and large parts, improving the system's adaptability to assembling parts of different specifications.

[0068] 3. The lifting mechanism 3 adopts a scissor-type support structure of the first X-frame 303 and the second X-frame 304, and is driven by the hydraulic rod 307. It can not only realize the smooth lifting and lowering of the assembly plate 302, allowing the assembly height to be flexibly adjusted according to the needs, but also provide strong vertical support for the assembly plate 302. It can stably support heavy and large automotive parts, solving the problem of poor adaptability of existing systems to the assembly of heavy parts. At the same time, the guide wheel 308 makes the opening and closing of the X-frame smoother and avoids jamming that affects the lifting and adjusting.

[0069] 4. The guide rail groove 101 inside the U-shaped frame 1 serves as a guide for the movement of the lifting mechanism 3. The engaging structure between the conical protrusion 105 and the limiting groove 309 enables the automatic positioning and unlocking of the lifting mechanism 3. The rolling engagement between the guide rail wheel 209 on the connecting column 208 and the guide rail ring groove 214 serves as a movement limit for the gripper robot arm 211. The design of various guiding and positioning structures makes the movement and positioning of the lifting mechanism 3 and the movement of the gripper robot arm 211 more stable and precise, avoiding deviation and shaking during assembly, ensuring the stability of the assembly operation. At the same time, the rolling engagement replaces the sliding contact, reducing frictional wear between components and extending the service life of the components.

[0070] 5. Two sets of conveyors 103 are set on both sides of the U-shaped frame 1 to realize the continuous transport of the parts to be assembled, which can continuously supply materials for the assembly operation and avoid production stoppage due to waiting for materials. With the rapid positioning and unlocking of the lifting mechanism 3 and the rapid gripping and assembly of the gripper robotic arm 211, the entire process of parts transport, visual positioning, precise assembly and workstation switching is automated, reducing the links of manual intervention, reducing labor costs and the risk of human operation errors, while improving the overall assembly operation efficiency and production continuity.

[0071] 6. The system components are modularly installed and connected. The U-shaped frame 1 is the basic base, and the assembly mechanism 2, lifting mechanism 3, conveyor 103, etc. can be disassembled and maintained independently. At the same time, the actions of each actuator can be flexibly controlled by the control system. The movement trajectory of the gripper robotic arm 211 and the assembly height of the assembly plate 302 can be adjusted according to different automotive parts assembly requirements, so that the system can adapt to the assembly requirements of automotive parts of various specifications and improve the flexibility of the system.

[0072] All parts not described in this invention are the same as or can be implemented using existing technology. Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A vision-guided robot system for assembling automotive parts, characterized in that, The system includes a U-shaped frame (1), with support columns (104) fixedly installed at the four corners of the upper surface of the U-shaped frame (1). An assembly mechanism (2) is fixedly installed on the upper surface of the four sets of support columns (104). Cameras (106) are fixedly installed on the inner side of the outer surface of the four sets of support columns (104). A lifting mechanism (3) is provided inside the U-shaped frame (1). Rollers are rotatably installed on both sides of the lower surface of the lifting mechanism (3). The lifting mechanism (3) rolls with the U-shaped frame (1) through the rollers. The monitoring ends of the four sets of cameras (106) are all set opposite to the lifting mechanism (3).

2. The automotive parts assembly vision-guided robot system according to claim 1, characterized in that, The inner lower surface of the U-shaped frame (1) is provided with guide rail grooves (101) on both sides. The rollers of the lifting mechanism (3) roll and cooperate in the guide rail grooves (101). The guide rail grooves (101) form a precise guide and limit for the lifting mechanism (3).

3. The vision-guided robot system for assembling automotive parts according to claim 1, characterized in that, Both sides of the U-shaped frame (1) are fixedly installed with support plates (102). Conveyors (103) are fixedly installed on the upper surface of both sets of support plates (102). Both sets of conveyors (103) are within the monitoring range of the four sets of cameras (106). The two sets of conveyors (103) are used to transport the parts to be assembled to the lower end of the assembly mechanism (2) for the assembly mechanism (2) to grab.

4. The vision-guided robot system for assembling automotive parts according to claim 1, characterized in that, The assembly mechanism (2) includes a first ring frame (201). The four corners of the bent portion of the first ring frame (201) are fixedly installed with first connecting plates (203). The first ring frame (201) is fixedly connected to the upper surface of four sets of support columns (104) through four sets of first connecting plates (203). The outer surface of the first ring frame (201) is provided with a sliding ring groove (212). A chain (207) is slidably arranged in the sliding ring groove (212). A sprocket (204) is rotatably installed on the upper surface of the four sets of first connecting plates (203). The first ring frame (201) is provided with an elongated opening at the position corresponding to the sprocket (204). The elongated opening is connected to the sliding ring groove (212). The inner ring of the chain (207) meshes with the four sets of sprockets (204) through the elongated opening.

5. The vision-guided robot system for assembling automotive parts according to claim 4, characterized in that, Two sets of first motors (205) and two sets of second motors (206) are fixedly mounted on the upper surfaces of the four sets of first connecting plates (203). The output shafts of the two sets of first motors (205) rotate through to the lower surface of the corresponding first connecting plate (203) and are fixedly connected to two sets of sprockets (204). The upper surfaces of the two sets of first motors (205) and the two sets of second motors (206) are fixedly connected to second connecting plates (213). The outer surfaces of the four sets of second connecting plates (213) are jointly fixedly mounted with second ring frames (204). 2) A sliding ring groove (212) is provided on the outer surface of the second ring frame (202). A chain (207) is also slidably arranged in the sliding ring groove (212). A sprocket (204) is rotatably installed on the upper surface of the four sets of second connecting plates (213). The chain (207) on the second ring frame (202) meshes with the sprocket (204) on the second connecting plate (213). The output shafts of the two sets of second motors (206) rotate through to the upper surface of the corresponding second connecting plate (213) and are fixedly connected to two sets of sprockets (204).

6. The vision-guided robot system for assembling automotive parts according to claim 4, characterized in that, On the chain (207) in the slip ring groove (212) of the first ring frame (201) and the second ring frame (202), a set of connecting posts (208) are fixedly installed on the outer surface of each chain link. A set of mounting plates (210) is rotatably installed between the other ends of the two sets of connecting posts (208). A gripper robot arm (211) is fixedly installed on the lower surface of the two sets of mounting plates (210). The two sets of gripper robot arms (211) are respectively distributed on the left side of the first ring frame (201) and the right side of the second ring frame (202), and are both set perpendicular to the conveyor (103).

7. The automotive parts assembly vision-guided robot system according to claim 6, characterized in that, Each of the connecting columns (208) is rotatably mounted with guide wheels (209) on its upper and lower surfaces. The upper and lower ends of the outer surfaces of the first ring frame (201) and the second ring frame (202) are provided with guide ring grooves (214), and the guide wheels (209) are rolled in the guide ring grooves (214).

8. The vision-guided robot system for assembling automotive parts according to claim 1, characterized in that, The lifting mechanism (3) includes a chassis (301) and an assembly plate (302). A first X-frame (303) and a second X-frame (304) are respectively hinged on both sides of the chassis (301) and the assembly plate (302). The right end of the first X-frame (303) is rotatably connected to the upper surface of the chassis (301), and the right end of the second X-frame (304) is rotatably connected to the lower surface of the assembly plate (302). Guide wheels (308) are rotatably installed on the left ends of the first X-frame (303) and the second X-frame (304). The guide wheel (308) on the left end of the first X-frame (303) rolls against the upper surface of the chassis (301), and the guide wheel (308) on the left end of the second X-frame (304) rolls against the lower surface of the assembly plate (302).

9. The automotive parts assembly vision-guided robot system according to claim 8, characterized in that, A first crossbar (306) is fixedly installed between the lower ends of the first X-frame (303) and the second X-frame (304), and a second crossbar (305) is fixedly installed between the upper ends of the first X-frame (303) and the second X-frame (304). A hydraulic rod (307) is rotatably installed on the upper surface of the first crossbar (306), and the piston rod of the hydraulic rod (307) is rotatably connected to one end of the outer surface of the second crossbar (305).

10. The vision-guided robot system for assembling automotive parts according to claim 8, characterized in that, The chassis (301) is the roller mounting base of the lifting mechanism (3). The rollers are embedded and rotatably mounted on both sides of the outer surface of the chassis (301). Limiting grooves (309) are opened in the middle section of both sides of the chassis (301). Shrinkage grooves (107) are opened on both sides of the inner side of the U-shaped frame (1). A conical protrusion (105) is slidably installed in the shrinkage groove (107). A spring (108) is fixedly connected to one end of the shrinkage groove (107) away from the groove opening. The other end of the spring (108) is fixedly connected to one end of the conical protrusion (105). The spring (108) applies an outward elastic thrust to the conical protrusion (105). The conical protrusion (105) can fit and engage with the limiting groove (309).

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