Assembly positioning robot and back door assembly system

Abstract

The utility model relates to an assembly positioning robot which comprises a first robot unit, an assembly vision device, a quick change device and an assembly clamp, the assembly vision device is fixedly installed at the tail end of the first robot unit, and the assembly clamp is detachably connected to the assembly vision device through the quick change device. The assembling visual device is used for shooting the back door, the tail of the vehicle body and a matching area between the back door and the vehicle body, and the assembling clamp is used for grabbing the back door. The utility model further provides a back door assembling system which is used for assembling the back door to the vehicle body. The assembling and positioning robot comprises the assembling visual device and the assembling clamp capable of being replaced quickly, the consistency of the clearance surface difference between a back door and a vehicle body is improved, and the switching difficulty of tail end tools of the assembling and positioning robot can be lowered under the condition that the integration degree of the tail end tools of the assembling and positioning robot is improved. The vehicle body assembly line has the advantages of being reasonable in arrangement and high in flexibility level.

Description

Technical Field

[0001] The utility model relates to the field of vehicle assembly, in particular to an assembly positioning robot and a back door assembly system. Background Art

[0002] Currently, most automobile manufacturers assemble the car's tailgate manually. Manual assembly of tailgates has the following problems: the labor intensity is high, and there are safety risks such as bumps and scratches; the gap difference between the tailgate and the car body is less consistent, which will cause a lot of additional manual adjustment work, thereby increasing the extra workload.

[0003] In order to reduce or eliminate the technical problems existing in manual assembly, some automobile manufacturers use automatic assembly systems to assemble the back doors of automobiles. The robots in the automatic assembly system can automatically carry and assemble the back doors of automobiles. However, the existing automatic assembly systems have the following technical problems:

[0004] There are many matching features between the back door and the body, and it is difficult to control the gap between the back door and the body. The existing automatic assembly system still has the problem of poor consistency of the gap surface difference between the back door and the body.

[0005] The robot system needs to be equipped with corresponding end tools, including grippers, assembly positioning devices, tightening devices and other tools for assembling tailgates. The tailgates of different models have different sizes, so different end tools need to be configured for different models. On the one hand, it is necessary to configure special containers for storing end tools near the robot system. It is difficult to arrange more containers near the robot system. On the other hand, frequent replacement of different end tools by the robot system will have an adverse effect on the production rhythm. Utility Model Content

[0006] The purpose of the utility model is to provide an assembly positioning robot and a back door assembly system to alleviate or eliminate at least one of the above-mentioned technical problems.

[0007] An assembly positioning robot described in the utility model includes a first robot unit, an assembly vision device, a quick-change device and an assembly fixture. The assembly vision device is fixedly installed at the end of the first robot unit, and the assembly fixture is detachably connected to the assembly vision device through the quick-change device. The assembly vision device is used to shoot a tailgate, a rear part of a vehicle body and a matching area between the tailgate and the vehicle body, and the assembly fixture is used to grab the tailgate.

[0008] Optionally, the assembly vision device includes a first bracket and a plurality of cameras mounted on the first bracket, and at least one of the cameras is mounted on the upper side, the left side, and the right side of the first bracket, respectively.

[0009] Optionally, the assembly fixture includes a second bracket and a plurality of first tailgate clamping units mounted on the second bracket.

[0010] The present application also proposes a tailgate assembly system for assembling the tailgate to a vehicle body, the tailgate assembly system comprising a vehicle body assembly line, a tailgate storage device, a centering platform, a transfer robot, a tightening robot and any one of the assembly positioning robots described above, the tailgate storage device, the centering platform, the transfer robot and the assembly positioning robot being arranged on one side of the vehicle body assembly line, and the tightening robot being arranged on the other side of the vehicle body assembly line; the vehicle body assembly line is used for carrying and conveying the vehicle body, the tailgate storage device is used for storing the tailgate, the centering platform is used for fixing the placement position of the tailgate, the transfer robot is used for transferring the tailgate stored in the tailgate storage device to the centering platform, the assembly positioning robot is used for matching the tailgate on the centering platform to the vehicle body, and the tightening robot is used for tightening the tailgate matched to the vehicle body.

[0011] Optionally, the centering platform includes a turntable and a plurality of centering clamps respectively used to fix the placement positions of different back doors, and the plurality of centering clamps are all installed on the turntable, and the plurality of centering clamps are arranged sequentially in the circumferential direction of the rotation axis of the turntable.

[0012] Optionally, each of the plurality of centering fixtures is provided with a hinge correction component for correcting the back door hinge.

[0013] Optionally, the transfer robot includes a second robot unit and a transfer gripper installed at the end of the second robot unit, and a plurality of second back door clamping units are provided on the transfer gripper, and the relative positions between the plurality of second back door clamping units are adjustable.

[0014] Optionally, the transfer gripper is also provided with a proximity switch, a photoelectric switch and a transfer vision system.

[0015] Optionally, the tightening robot includes a third robot unit and a tightening device installed at the end of the third robot unit, the tightening device includes two groups of tightening shaft groups respectively used to tighten two tailgate hinges, and the relative position between the two groups of tightening shaft groups is adjustable.

[0016] Optionally, the body assembly line includes a body conveyor line and a body positioning device, the body positioning device is used to position the body conveyed to a preset position by the body conveyor line, and the body positioning device is provided with a plurality of body positioning units, and the relative positions between the plurality of body positioning units are adjustable.

[0017] The assembly positioning robot proposed in the utility model includes an assembly visual device and a quick-change assembly fixture, which helps to improve the consistency of the gap surface difference between the back door and the body, and can reduce the difficulty of switching the end tool of the assembly positioning robot while improving the integration of the end tool of the assembly positioning robot. The body assembly line proposed in the utility model has the characteristics of reasonable layout and high flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a top view of a back door assembly system described in some embodiments;

[0019] Figure 2 is a schematic structural diagram of a back door assembly system described in some embodiments;

[0020] Figure 3 is a schematic structural diagram of a vehicle body positioning device described in some embodiments;

[0021] Figure 4 It is a structural schematic diagram of the transfer gripper described in some embodiments;

[0022] Figure 5 It is a structural schematic diagram of the centering platform described in some embodiments;

[0023] Figure 6 is a schematic structural diagram of a centering fixture described in some embodiments;

[0024] Figure 7 It is a working schematic diagram of the assembly positioning tool described in some embodiments;

[0025] Figure 8 It is a structural schematic diagram of the assembly and positioning tooling described in some embodiments;

[0026] Fig. 9 is a schematic diagram of the structure of the assembly fixture described in some embodiments;

[0027] Fig.10 It is a schematic diagram of the structure of the assembled visual device described in some embodiments;

[0028] Fig.11 It is a schematic diagram of the structure of the tightening device described in some embodiments;

[0029] Fig.12 It is a schematic diagram of the structure of the back door storage device described in some embodiments.

[0030] Among them: 1-body assembly line; 2-second robot unit; 3-first robot unit; 4-third robot unit; 5-back door storage device; 6-centering platform; 7-transport gripper; 8-assembly positioning device; 9-tightening device; 100-body; 200-back door;

[0031] 11-roller bed; 12-sled; 13-vehicle body positioning device; 131-stand; 132-first vehicle body positioning unit; 133-second vehicle body positioning unit;

[0032] 61-turntable; 62-centering fixture; 621-third bracket; 622-third back door clamping unit; 623-back door positioning unit; 624-hinge correction clamping block; 625-telescopic cylinder; 626-hinge correction positioning block;

[0033] 71-fourth bracket; 72-second back door clamping unit; 73-proximity switch; 74-photoelectric switch; 75-transportation visual system;

[0034] 81-assembly visual device; 82-assembly fixture; 83-quick change device; 811-first bracket; 812-first flange; 813-camera; 821-second bracket; 822-second flange; 823-first back door clamping unit;

[0035] 91 - the third flange; 92 - the first sub-bracket; 93 - the second sub-bracket; 94 - the servo unit; 95 - the tightening shaft. DETAILED DESCRIPTION

[0036] The following will describe the implementation of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0037] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0038] like Figure 1 , Figure 2 , Figures 7 to 10An assembly positioning robot is shown in the figure, which is applied to the tailgate assembly system. The assembly positioning robot includes a first robot unit 3, an assembly vision device 81, a quick change device 83 and an assembly fixture 82. The assembly vision device 81 is fixedly mounted at the end of the first robot unit 3, and the assembly fixture 82 is detachably fixedly connected to the assembly vision device 81 through the quick change device 83. The assembly vision device 81 is used to shoot the tailgate 200, the rear of the vehicle body 100 and the matching area between the tailgate 200 and the vehicle body 100, and the assembly fixture 82 is used to grasp the tailgate 200.

[0039] By adopting the above-mentioned technical scheme, the end tool of the assembly positioning robot includes an assembly vision device 81 and an assembly fixture 82. During the assembly process of the tailgate 200, the assembly vision device 81 can be used to photograph the tailgate 200, the rear of the vehicle body 100, and the matching area between the tailgate 200 and the vehicle body 100. The control system of the tailgate assembly system can more accurately determine the assembly position of the tailgate 200 and the matching gap surface difference between the tailgate 200 and the vehicle body 100 based on the information photographed by the assembly vision device 81, thereby more accurately guiding the assembly positioning robot to assemble and adjust the tailgate, thereby improving the assembly accuracy of the tailgate 200, and helping to improve the consistency of the matching gap surface difference between the tailgate 200 and the vehicle body 100.

[0040] In the above technical solution, the assembly visual device 81 is fixedly installed at the end of the first robot unit 3, the assembly fixture 82 is detachably connected to the assembly visual device 81 through the quick change device 83, and the assembly visual device 81 is connected to the assembly positioning device 8 through the quick change device 83. The assembly positioning device 8 has the characteristics of high integration. According to the characteristics of the wide shooting range of the camera 813, the same assembly visual device 81 can usually shoot the back door 200 and the body 100 of multiple models. With the above assembly positioning device 8, the back door 200 of different models can be assembled by quickly switching the assembly fixture 82 through the quick change device 83. When the assembly positioning robot switches the back door 200 of different models, it is not necessary to switch the assembly visual device 81 and the switching speed of the assembly fixture 82 is fast. With the above technical solution, the difficulty of switching the end tool of the assembly positioning robot can be reduced while improving the integration of the end tool of the assembly positioning robot.

[0041] In specific implementation, the assembly vision device 81 interacts with the control system of the back door assembly system, and the control system of the back door assembly system determines the assembly path of the back door 200, the precise assembly position of the back door 200, and the gap surface difference between the back door 200 and the vehicle body 100 based on the information captured by the assembly vision device 81. When the assembly vision device 81 obtains information about the back door 200, the rear of the vehicle body 100, and the matching area between the back door 200 and the vehicle body 100, the information can be transmitted to the control system of the back door assembly system, and the control system of the back door assembly system processes the information (matching, comparing, and analyzing with the standard information in the database), and then obtains the assembly path of the back door 200, the precise assembly position of the back door 200, and the gap surface difference between the back door 200 and the vehicle body 100. The control system of the back door assembly system transmits the assembly path of the back door 200 to the assembly positioning robot for execution, so that the back door 200 can be assembled on the vehicle body 100 more accurately.

[0042] In some embodiments, Fig.10 As shown, the assembly vision device 81 includes a first bracket 811 and a plurality of cameras 813 mounted on the first bracket 811. At least one camera 813 is mounted on the upper side, left side and right side of the first bracket 811, respectively. The camera 813 on the upper side of the first bracket 811 can capture information about the matching area between the upper edge of the back door 200 and the vehicle body 100, the camera 813 on the left side of the first bracket 811 can capture information about the matching area between the left edge of the back door 200 and the vehicle body 100, and the camera 813 on the right side of the first bracket 811 can capture information about the matching area between the right edge of the back door 200 and the vehicle body 100. By adopting the above technical solution and by reasonably arranging the cameras 813, the back door 200, the rear of the vehicle body 100 and the matching area between the back door 200 and the vehicle body 100 can be captured better and more fully. Specifically, a plurality of cameras 813 are installed on the upper side, left side and right side of the first bracket 811, respectively. These cameras 813 are arranged along the matching area between the back door 200 and the vehicle body 100, and can better photograph the matching area between the back door 200 and the vehicle body 100. In a specific implementation, a camera 813 for photographing the back door hinge area can also be installed on the upper part of the first bracket 811.

[0043] In some embodiments, Fig. 9 As shown, the assembly fixture 82 includes a second bracket 821 and a plurality of first back door clamping units 823 mounted on the second bracket 821. The plurality of first back door clamping units 823 may be automatic clamping units, and the plurality of first back door clamping units 823 may controllably clamp and release the back door 200. In a specific implementation, the automatic clamping unit may be implemented with reference to an existing automatic clamping unit, such as a pneumatic clamper and an electric clamper.

[0044] As a preferred example, Figures 8 to 10 As shown, the quick-change device 83 is a quick-change disk connected between a first bracket 811 and a second bracket 821. A first flange 812 for connecting the quick-change disk is fixedly connected to the first bracket 811, and a second flange 822 for connecting the quick-change disk is fixedly connected to the second bracket 821. Specifically, the quick-change disk includes a first quick-change disk body connected to the first bracket 811 and a second quick-change disk body connected to the second bracket 821. The first quick-change disk body and the second quick-change disk body are both provided with a mechanical locking mechanism and an optional module. A control unit is also provided on the first quick-change disk body. When the control unit receives a control instruction from the control system, it can control the mechanical locking mechanism to lock the first quick-change disk body and the second quick-change disk body together, or control the mechanical locking mechanism to unlock so that the first quick-change disk body and the second quick-change disk body are disengaged from each other.

[0045] In some embodiments, Figure 1 , Figure 2 and Fig.12 As shown, the present application also proposes a tailgate assembly system for assembling a tailgate 200 to a vehicle body 100. The tailgate assembly system includes a vehicle body assembly line 1, a tailgate storage device 5, a centering platform 6, a transfer robot, a tightening robot and any one of the assembly positioning robots described above. The tailgate storage device 5, the centering platform 6, the transfer robot and the assembly positioning robot are arranged on one side of the vehicle body assembly line 1, and the tightening robot is arranged on the other side of the vehicle body assembly line 1; the vehicle body assembly line 1 is used to carry and transport the vehicle body 100, the tailgate storage device 5 is used to store the tailgate 200, the centering platform 6 is used to fix the placement of the tailgate 200, the transfer robot is used to transfer the tailgate 200 stored in the tailgate storage device 5 to the centering platform 6, the assembly positioning robot is used to match the tailgate 200 on the centering platform 6 to the vehicle body 100, and the tightening robot is used to tighten the tailgate 200 matched to the vehicle body 100. As a specific example, the transfer robot is arranged between the back door storage device 5 and the centering platform 6, so that the transfer robot can transfer the back door 200 stored in the back door storage device 5 to the centering platform 6, and the assembly positioning robot is arranged between the centering platform 6 and the vehicle body assembly line 1, so that the assembly positioning robot can match the back door 200 on the centering platform 6 to the vehicle body 100. With the above technical solution, the transfer robot, the assembly positioning robot and the tightening robot can be used to realize the automatic assembly of the back door 200, and the setting of the centering platform 6 can improve the assembly accuracy of the back door 200 and reduce the assembly difficulty of the back door 200.

[0046] In some embodiments, the back door assembly system further includes a control system, which can interact with the transfer robot, the assembly positioning robot, the tightening robot, and the centering platform 6 to achieve automatic assembly of the back door 200.

[0047] In some embodiments, Figure 5 As shown, the centering platform 6 includes a turntable 61 and a plurality of centering fixtures 62 respectively used to fix the placement positions of different back doors 200. The plurality of centering fixtures 62 are all installed on the turntable 61, and the plurality of centering fixtures 62 are arranged in sequence in the circumferential direction of the rotation axis of the turntable 61. With the above technical solution, on the one hand, the plurality of centering fixtures 62 can be respectively used to fix the placement positions of the back doors 200 of various vehicle models. By controlling the rotation of the turntable 61, that is, switching between the plurality of centering fixtures 62, it is helpful to improve the flexibility of the back door assembly system. On the other hand, the centering fixture can also be used as a container for the assembly fixture 82. When the centering fixture 62 is switched, the assembly fixture 82 can also be switched at the same time. The switched assembly fixture 82 can be placed on the corresponding centering fixture 62, which has the characteristic of saving layout space.

[0048] In some embodiments, Figure 6 As shown, a hinge correction assembly for correcting the back door hinge is provided on each of the plurality of centering fixtures 62. The hinge correction assembly can correct the position of the back door hinge, which helps to improve the assembly accuracy of the back door 200 and reduce the assembly difficulty of the back door 200.

[0049] As a specific example, Figure 6 As shown, the centering fixture 62 includes a third bracket 621 fixedly mounted on the turntable 61, a plurality of third back door clamping units 622 mounted on the third bracket 621, a plurality of back door positioning units 623 mounted on the third bracket 621, and two hinge correction assemblies mounted on the third bracket 621, wherein the hinge correction assembly includes a hinge correction clamping block 624, a telescopic cylinder 625, a hinge correction positioning block 626, and a clamping cylinder. The centering fixture 62 is used to fix the placement position of the back door 200 and correct the state of the back door hinge so that the back door 200 is suitable for matching with the vehicle body 100. After the plurality of back door positioning units 623 and the plurality of third back door clamping units 622 position and clamp the back door 200, the telescopic cylinder 625 extends, and the telescopic cylinder 625 drives the hinge correction positioning block 626 to extend to position and correct the hinge, and then the hinge correction positioning block 626 clamps the back door hinge under the drive of the clamping cylinder to complete the correction of the back door hinge.

[0050] In some embodiments, Figure 1 and Figure 2 As shown, the transfer robot includes a second robot unit 2 and a transfer gripper 7 installed at the end of the second robot unit 2, and a plurality of second back door clamping units 72 are arranged on the transfer gripper 7, and the relative positions between the plurality of second back door clamping units 72 are adjustable.

[0051] By adopting the above-mentioned technical solution, multiple second back door clamping units 72 adopt automatic clamping units, which can clamp and release the back door 200 in a controlled manner. The servo module can be used to adjust the position of the second back door clamping unit 72, and then adjust the relative position between the multiple second back door clamping units 72, so that the transfer gripper 7 can be suitable for the back doors 200 of various models, which helps to improve the flexibility of the transfer gripper 7.

[0052] As a specific example, Figure 4 As shown, the transfer gripper 7 includes a fourth bracket 71 and four second backdoor clamping units 72, two of the second backdoor clamping units 72 are respectively installed on the upper part of the fourth bracket 71 through servo modules, and the other two second backdoor clamping units 72 are respectively installed on the lower part of the fourth bracket 71 through servo modules, and the two servo modules located at the upper part of the fourth bracket 71 can respectively drive the two second backdoor clamping units 72 located at the upper part of the fourth bracket 71 to move up and down, and the two servo modules located at the lower part of the fourth bracket 71 can respectively drive the two second backdoor clamping units 72 located at the lower part of the fourth bracket 71 to move left and right, so that the transfer gripper 7 can meet the flexible sharing of the backdoors 200 of different models.

[0053] In some embodiments, Figure 4 As shown, the transfer gripper 7 is also provided with a proximity switch 73, a photoelectric switch 74 and a transfer vision system 75, and the proximity switch 73, the photoelectric switch 74 and the transfer vision system 75 are all installed on the fourth bracket 71. When working, the second robot unit 2 moves to the back door storage device 5 with the transfer gripper 7, and then the photoelectric switch 74 is turned on to calibrate the photoelectric distance, and the transfer vision system 75 takes a photo of the size of the back door 200. The control system analyzes and calculates the information taken and performs precise positioning, and guides the second robot unit 2 to grab the back door 200 from the back door storage device 5 with the transfer gripper 7. When the proximity switch 73 recognizes the back door 200, it controls the multiple second back door clamping units 72 to clamp and fix the back door 200, and then the second robot unit 2 moves to the centering platform 6 with the transfer gripper 7 and the back door 200 grabbed by the transfer gripper 7, and assembles the back door 200 on the centering fixture 62. The provision of a proximity switch 73, a photoelectric switch 74 and a transfer vision system 75 can help the transfer gripper 7 to better grasp and transfer the back door 200.

[0054] In some embodiments, Figure 1 , Figure 2 and Fig.11 As shown, the tightening robot includes a third robot unit 4 and a tightening device 9 installed at the end of the third robot unit 4. The tightening device 9 includes two sets of tightening shaft groups respectively used for tightening two back door hinges. The relative position between the two sets of tightening shaft groups is adjustable.

[0055] By adopting the above-mentioned technical solution, a separate tightening robot can better tighten the tailgate hinge, which helps to ensure the production rhythm of the vehicle; the relative position between the two sets of tightening shaft groups is adjustable, so that the tightening device 9 can meet the flexible sharing of the tailgate 200 of different models, and has the characteristics of a high level of flexibility.

[0056] In some embodiments, Fig.11 As shown, the tightening device 9 includes two sets of tightening shaft groups, a first sub-bracket 92, and a second sub-bracket 93 connected to the first sub-bracket 92 through a servo unit 94. The two sets of tightening shaft groups are respectively installed on the first sub-bracket 92 and the second sub-bracket 93. The first bracket 811 is fixedly connected with a third flange 91 for connecting with the end of the third robot unit 4. The servo unit 94 can be used to adjust the relative position of the first sub-bracket 92 and the second sub-bracket 93 in the left and right directions to adapt to the spacing between the installation points of different back doors 200 of different models, thereby meeting the automatic tightening and assembly of back doors 200 of different models. As a specific example, each set of tightening shaft groups includes two tightening shafts 95.

[0057] In some embodiments, the vehicle body assembly line 1 includes a vehicle body conveyor line and a vehicle body positioning device 13. The vehicle body positioning device 13 is used to position the vehicle body 100 conveyed to a preset position by the vehicle body conveyor line. The vehicle body positioning device 13 is provided with a plurality of vehicle body positioning units, and the relative positions between the plurality of vehicle body positioning units are adjustable. By adopting the above technical solution, the vehicle body 100 can be positioned by the vehicle body positioning device 13, thereby improving the assembly accuracy of the back door 200; the relative positions between the plurality of vehicle body positioning units are adjustable, so that the vehicle body positioning device 13 can meet the flexible sharing of the back doors 200 of different vehicle models, and has the characteristics of a high level of flexibility.

[0058] As a specific example, the body conveyor line includes a roller bed 11 and a sled 12. The main function of the body conveyor line is to automatically convey the body 100 to the next station. The body positioning device 13 is used to position the bottom of the body 100 that has been conveyed to the position. During the conveying, the roller bed 11 rises, driving the sled 12 to rise together. The sled 12 positions the body 100. The body 100 rises and detaches from the body positioning device 13. Then the roller bed 11 provides power to convey the sled 12 and the body 100 to the next station. After conveying to the position, the roller bed 11 descends, and the sled 12 and the body 100 descend together. The sled 12 detaches from the body 100, and the body 100 falls onto the body positioning device 13. Multiple body positioning units position the body 100. In a specific implementation, the plurality of vehicle body positioning units include four first vehicle body positioning units 132 and four second vehicle body positioning units 133. The four first vehicle body positioning units 132 and the four second vehicle body positioning units 133 are all installed on a stand 131 of a vehicle body positioning device 13. The first vehicle body positioning unit 132 is provided with a pin belt surface, and the second vehicle body positioning unit 133 is provided with a positioning surface. The pin belt surface and the positioning surface are used to position the bottom of the vehicle body 100.

[0059] In specific implementation, the first vehicle body positioning unit 132 may adopt an NC positioning system, and the positions of the pin belt surfaces of the NC positioning system in the front-to-back direction, the up-down direction, and the left-to-right direction may be automatically adjusted under control. When the vehicle model needs to be switched, the NC positioning system receives a signal from the control system to adjust the position of the pin belt surface, thereby meeting the flexible positioning requirements of different vehicle models.

[0060] In a specific implementation, the first robot unit 3, the second robot unit 2 and the third robot unit 4 may be automatic robot arms, and the structure of the automatic robot arms may refer to the structure of existing robot arms, which will not be elaborated herein.

[0061] The working principle of the above-mentioned back door assembly system is as follows: the body assembly line 1 transfers the body 100 to the back door 200 assembly station, the body positioning device 13 completes the positioning of the body 100, the transfer robot with the transfer gripper 7 grabs the back door 200 from the back door storage device 5 and places the back door 200 on the centering fixture 62 of the centering platform 6, the centering fixture 62 centers and positions the back door 200, and the centering fixture 62 corrects the back door hinge to make the back door 200 in a matching state with the body 100. The assembly positioning robot with the assembly positioning device 8 grabs the back door 200 from the centering platform 6 to the photo taking position, and the assembly visual device 81 obtains the matching area gap surface difference size information between the back door 200 and the body 100, and guides the assembly positioning robot to place the back door 200 at the precise assembly position on the body 100. The tightening robot with the tightening device 9 takes the nut from the nut conveying mechanism to pre-tighten the back door 200, and the assembly visual device 81 takes pictures again to obtain the gap surface difference size information between the back door 200 and the body 100, guides the assembly positioning robot to fine-tune the position of the back door 200, and the tightening robot with the tightening device 9 performs the final tightening of the back door 200. After the tightening is completed, the assembly visual device 81 takes pictures to evaluate the gap surface difference between the back door 200 and the body 100, and the assembly positioning robot resets with the assembly positioning device 8. The body assembly line 1 conveys the body 100 to the next station and enters the next cycle.

[0062] The process of flexible switching of multiple models is as follows: the control system receives the model switching information, and the control system outputs the model switching signal to each robot, each end tool and the centering station 6. The transfer robot switches to the next model trajectory program, and multiple first body positioning units 132 move and switch to the next model positioning information position. Multiple second back door clamping units 72 move to the next model grabbing position, and the transfer vision system 75 switches to the next model positioning program. The assembly positioning robot places the assembly fixture 82 of this model on the centering fixture 62, and the turntable 61 rotates to switch to the next model centering fixture 62. The assembly positioning robot switches to grab the assembly fixture 82 of the next model and switches to the next model trajectory program, and the assembly vision device 81 switches to the next model positioning program. The tightening robot switches to the next model trajectory program, and the servo unit 94 of the tightening device 9 moves, driving the tightening shaft group to switch to the tightening shaft 95 position of the next model. In this way, each robot, each end tool and the centering station 6 completes the switching of the next model program under the control of the control system. In specific implementation, the control system of the back door assembly system can be implemented by PLC.

[0063] The above embodiments are only preferred embodiments for fully illustrating the present utility model, and the protection scope of the present utility model is not limited thereto. Equivalent substitutions or changes made by technicians in the technical field on the basis of the present utility model are all within the protection scope of the present utility model. In the description of this specification, the description of reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics of the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

Claims

1. An assembly positioning robot, characterized in that: It includes a first robot unit, an assembly vision device, a quick-change device and an assembly fixture. The assembly vision device is fixedly installed at the end of the first robot unit, and the assembly fixture is detachably connected to the assembly vision device through the quick-change device. The assembly vision device is used to shoot the tailgate, the rear of the vehicle body and the matching area between the tailgate and the vehicle body, and the assembly fixture is used to grab the tailgate.

2. The assembly positioning robot according to claim 1, characterized in that: The assembly vision device comprises a first bracket and a plurality of cameras mounted on the first bracket, wherein at least one camera is mounted on the upper side, the left side and the right side of the first bracket respectively.

3. The assembly positioning robot according to claim 1, characterized in that: The assembly fixture includes a second bracket and a plurality of first tailgate clamping units mounted on the second bracket.

4. A back door assembly system, characterized in that: Used to assemble a tailgate to a vehicle body, the tailgate assembly system comprises a vehicle body assembly line, a tailgate storage device, a centering platform, a transfer robot, a tightening robot and the assembly positioning robot according to any one of claims 1 to 3, the tailgate storage device, the centering platform, the transfer robot and the assembly positioning robot are arranged on one side of the vehicle body assembly line, and the tightening robot is arranged on the other side of the vehicle body assembly line; the vehicle body assembly line is used to carry and transport the vehicle body, the tailgate storage device is used to store the tailgate, the centering platform is used to fix the placement of the tailgate, the transfer robot is used to transfer the tailgate stored in the tailgate storage device to the centering platform, the assembly positioning robot is used to match the tailgate on the centering platform to the vehicle body, and the tightening robot is used to tighten the tailgate matched to the vehicle body.

5. The back door assembly system according to claim 4, characterized in that: The centering platform includes a turntable and a plurality of centering fixtures respectively used to fix the placement positions of different back doors. The plurality of centering fixtures are all installed on the turntable, and the plurality of centering fixtures are arranged sequentially in the circumferential direction of the rotation axis of the turntable.

6. The back door assembly system according to claim 5, characterized in that: A plurality of centering fixtures are each provided with a hinge correction component for correcting the back door hinge.

7. The back door assembly system according to claim 4, characterized in that: The transfer robot includes a second robot unit and a transfer gripper installed at the end of the second robot unit, and a plurality of second back door clamping units are arranged on the transfer gripper, and the relative positions between the plurality of second back door clamping units are adjustable.

8. The back door assembly system according to claim 7, characterized in that: The transfer gripper is also provided with a proximity switch, a photoelectric switch and a transfer vision system.

9. The tailgate assembly system according to claim 4, characterized in that: The tightening robot includes a third robot unit and a tightening device installed at the end of the third robot unit. The tightening device includes two sets of tightening shaft groups respectively used for tightening two back door hinges. The relative position between the two sets of tightening shaft groups is adjustable.

10. The tailgate assembly system according to claim 4, characterized in that: The body assembly line includes a body conveyor line and a body positioning device, wherein the body positioning device is used to position the body conveyed to a preset position by the body conveyor line. The body positioning device is provided with a plurality of body positioning units, and the relative positions between the plurality of body positioning units are adjustable.

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