Glass accessory bonding positioning device and manipulator

Abstract

The utility model relates to the technical field of glass accessory bonding, in particular to a glass accessory bonding positioning device and a manipulator, which comprise a manipulator body, a visual component and a grabbing component, the visual assembly comprises a mounting plate, a line laser and an industrial camera, the side, in the thickness direction of the mounting plate, of the mounting plate is an assembling end, the line laser and the industrial camera are arranged at the assembling end of the mounting plate, and the end, away from the assembling end, of the mounting plate is connected with an end executor of the manipulator body; the grabbing assembly comprises a connecting block and a clamp, the connecting block is arranged at the assembling end of the mounting plate, and the clamp is arranged on the connecting block. According to the utility model, errors generated by a positioning tool can be eliminated, so that the bonding precision between the accessory and the automobile glass is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of glass accessory bonding, in particular to a glass accessory bonding and positioning device and a manipulator. Background Technique

[0002] In the process of automobile glass production, corresponding accessories will be installed according to the functions of the glass on the automobile. Most of the accessory installations are carried out by bonding. At present, the manipulator or manual labor places the automobile glass on the cylinder tooling and clamps it in the middle, then coats the activation and primer liquid and applies glue on the surface of the accessory to be bonded and the automobile glass. Then, the manipulator grabs the accessory to be bonded and places the accessory on the glass surface and presses it according to the taught motion trajectory. However, the positioning tooling used for centering and clamping the automobile glass will have slight deformation and displacement after long-term use, resulting in a deviation between the position of the automobile glass during positioning and the position of the automobile glass during teaching. Coupled with the errors of the manipulator itself, the above errors will lead to a decrease in bonding accuracy and stability. Content of the Utility Model

[0003] The technical problem to be solved by the utility model is to provide a glass accessory bonding and positioning device and a manipulator, which can eliminate the errors generated by the positioning tooling, thereby improving the bonding accuracy between the accessory and the automobile glass.

[0004] To solve the above technical problem, the technical solution adopted by the utility model is: a glass accessory bonding and positioning device, including a vision component and a grasping component; the vision component includes a mounting plate, a line laser and an industrial camera. One side of the mounting plate along its thickness direction is an assembly end, and the line laser and the industrial camera are arranged on the assembly end of the mounting plate;

[0005] The grasping component includes a connecting block and a fixture, the connecting block is arranged on the assembly end of the mounting plate, and the fixture is arranged on the connecting block.

[0006] Further, the above glass accessory bonding and positioning device further includes a pressing-down component, the pressing-down component includes a linear reciprocating device and a profiling pressing block; the linear reciprocating device is arranged on the connecting block, and the profiling pressing block is connected to the moving end of the linear reciprocating device.

[0007] Further, the profiling pressing block includes a steel plate and a profiling rubber block, the steel plate is connected to the moving end of the linear reciprocating device, and the profiling rubber block is connected to the steel plate.

[0008] Further, the linear reciprocating device is a cylinder.

[0009] Further, the mounting plate is provided with assembly long holes, and the vision component is assembled on the mounting plate through screws passing through the assembly long holes.

[0010] Further, the visual component is hinged to the mounting plate.

[0011] Further, the mounting plate is provided with weight-reducing holes.

[0012] Further, the fixture is a vacuum chuck.

[0013] To solve the above technical problems, another technical solution adopted by the present utility model is:

[0014] A manipulator includes a manipulator body and the glass accessory bonding and positioning device in the above solution, and one end of the mounting plate away from the assembly end is connected to the end effector of the manipulator body.

[0015] Further, a gun-changing disc is provided on one end of the mounting plate away from the assembly end, and a quick-change disc adapted to the gun-changing disc is provided on the end effector of the manipulator body.

[0016] The beneficial effects of the present utility model are as follows: Different from the prior art, a visual component and a grasping component are added at the end of the actuator of the manipulator body. Before grasping the accessory, since the surface of the automotive glass is relatively smooth and lacks clear features, a line laser is used to illuminate the surface of the automotive glass, so that the industrial camera can effectively obtain the actual position of the automotive glass in the clamping tooling. During the process of bonding the accessory, the manipulator body grasps the accessory with the fixture according to the taught motion trajectory and moves it above the automotive glass. Then, the manipulator body performs position compensation according to the obtained actual position information of the automotive glass, thereby eliminating the error of the positioning tooling. Finally, the manipulator body moves to bond the accessory to the automotive glass. Description of the Drawings

[0017] Figure 1 is a schematic structural diagram of a glass accessory bonding and positioning device proposed by the present utility model;

[0018] Figure 2 is a schematic structural diagram of the visual component of a glass accessory bonding and positioning device proposed by the present utility model;

[0019] Label Description:

[0020] 1. Visual component; 11. Mounting plate; 111. Assembly long hole; 112. Weight-reducing hole;

[0021] 12. Line laser; 13. Industrial camera;

[0022] 2. Grasping component; 21. Connecting block; 22. Fixture;

[0023] 3. Pressing-down component; 31. Linear reciprocating device; 32. Profiled pressing block; 321. Steel plate; 322. Profiled rubber block;

[0024] 4. Gun-changing disc; 5. Quick-change disc. Detailed implementation mode

[0025] To describe in detail the technical content, achieved purpose and effects of the present invention, the following is described in conjunction with the implementation mode and with reference to the drawings.

[0026] Please refer to Figure 1 and Figure 2 As shown, a manipulator of the present invention includes a manipulator body and a glass accessory bonding and positioning device. The glass accessory bonding and positioning device includes a vision component 1 and a grasping component 2; the vision component 1 includes a mounting plate 11, a line laser 12 and an industrial camera 13. One side of the mounting plate 11 along its thickness direction is an assembly end. The line laser 12 and the industrial camera 13 are arranged on the assembly end of the mounting plate 11. One end of the mounting plate 11 away from the assembly end is connected to the end effector of the manipulator body; the grasping component 2 includes a connecting block 21 and a fixture 22. The connecting block 21 is arranged on the assembly end of the mounting plate 11, and the fixture 22 is arranged on the connecting block 21. Among them, preferably, the fixture 22 is a vacuum chuck.

[0027] Working principle: Before grasping the accessory, since the surface of the automotive glass is relatively smooth and lacks clear features, the line laser 12 is used to illuminate the surface of the automotive glass, so that the industrial camera 13 can effectively obtain the actual position of the automotive glass in the clamping tooling. During the process of bonding the accessory, the manipulator body grasps the accessory using the fixture 22 according to the taught motion trajectory and moves it above the automotive glass. Then, the manipulator body performs position compensation according to the obtained actual position information of the automotive glass, thereby eliminating the error of the positioning tooling. Finally, the manipulator body moves to bond the accessory to the automotive glass.

[0028] Please refer to Figure 1 As shown, further, the above-mentioned glass accessory bonding and positioning device further includes a pressing-down component 3. The pressing-down component 3 includes a linear reciprocating device 31 and a profiling pressing block 32; the linear reciprocating device 31 is arranged on the connecting block 21, and the profiling pressing block 32 is connected to the movable end of the linear reciprocating device 31. Among them, preferably, the linear reciprocating device 31 is a cylinder.

[0029] As can be seen from the above description, after the manipulator body contacts the accessory with the automotive glass surface, the fixture 22 releases the accessory, and at the same time, the linear reciprocating device 31 drives the profiling pressing block 32 to push the accessory, so that the colloid between the accessory and the automotive glass can fill the gap between the two, thereby ensuring the bonding reliability between the accessory and the automotive glass.

[0030] Please refer to Figure 1As shown, further, the profiling pressing block 32 includes a steel plate 321 and a profiling rubber block 322. The steel plate 321 is connected to the movable end of the linear reciprocating device 31, and the profiling rubber block 322 is connected to the steel plate 321.

[0031] As can be seen from the above description, the use of the steel plate 321 can ensure the strength of the profiling pressing block 32, and the use of the profiling rubber block 322 can avoid damaging the surface of the accessory during the process of pressing the accessory.

[0032] Please refer to Figure 1 and Figure 2 As shown, further, an assembly long hole 111 is provided on the mounting plate 11, and the vision component 1 is assembled on the mounting plate 11 through screws passing through the assembly long hole 111.

[0033] As can be seen from the above description, by using the assembly long hole 111, the staff can appropriately adjust the position of the vision component 1 according to actual needs.

[0034] Further, the vision component 1 is hinged to the mounting plate 11.

[0035] As can be seen from the above description, the staff can appropriately adjust the angle of the vision component 1 according to actual needs.

[0036] Please refer to Figure 1 and Figure 2 As shown, further, a weight-reducing hole 112 is provided on the mounting plate 11.

[0037] As can be seen from the above description, the use of the weight-reducing hole 112 can reduce the overall mass of the glass accessory bonding and positioning device.

[0038] Please refer to Figure 1 and Figure 2 As shown, further, a gun-changing disc 4 is provided at one end of the mounting plate 11 away from the assembly end, and a quick-change disc 5 adapted to the gun-changing disc 4 is provided on the end effector of the manipulator body.

[0039] As can be seen from the above description, due to the diverse shapes of the automotive glass and its accessories, a variety of adapted glass accessory bonding and positioning devices will be equipped. For this, the cooperation of the gun-changing disc 4 and the quick-change disc 5 is utilized to achieve the rapid replacement of the manipulator body and the glass accessory bonding and positioning device. Among them, the quick connection structure of the gun-changing disc 4 and the quick-change disc 5 can be referred to the publication number CN216442576U. By pressurizing the first drive chamber with gas, the piston can be driven to move in the first direction, and through the positioning of the movable seat and the positioning hole, the installation of the movable seat and the fixed seat can be realized; by pressurizing the second drive chamber with gas, the piston can be driven to move in the second direction. At this time, the movable seat can be disengaged from the positioning hole, and at this time, the movable seat can be removed from the fixed seat. By changing the air pressure to drive the piston to move, the force on the piston can be made stable, and further the connection between the movable seat and the fixed seat can be made stable. The fixed seat in this published document is the gun-changing disc 4, and the movable seat is the quick-change disc 5, and the specific connection structure will not be elaborated further.

[0040] Embodiment 1

[0041] A manipulator, please refer to Figure 1 and Figure 2 as shown, which includes a manipulator body and a glass accessory bonding and positioning device. The glass accessory bonding and positioning device includes a vision component 1, a grasping component 2, and a pressing-down component 3. The vision component 1 includes a mounting plate 11, a line laser 12, and an industrial camera 13. One side of the mounting plate 11 along its thickness direction is the assembly end, and the line laser 12 and the industrial camera 13 are arranged on the assembly end of the mounting plate 11. One end of the mounting plate 11 away from the assembly end is connected to the end effector of the manipulator body. The grasping component 2 includes a connecting block 21 and a fixture 22. The connecting block 21 is arranged on the assembly end of the mounting plate 11, and the fixture 22 is arranged on the connecting block 21. The pressing-down component 3 includes a linear reciprocating device 31 and a profiling pressing block 32. The linear reciprocating device 31 is arranged on the connecting block 21. The profiling pressing block 32 includes a steel plate 321 and a profiling rubber block 322. The steel plate 321 is connected to the movable end of the linear reciprocating device 31, and the profiling rubber block 322 is connected to the steel plate 321. An assembly long hole 111 is arranged on the mounting plate 11, and the vision component 1 is assembled on the mounting plate 11 through screws passing through the assembly long hole 111. The vision component 1 is hinged on the mounting plate 11. A weight-reducing hole 112 is arranged on the mounting plate 11. A gun-changing disc 4 is arranged at one end of the mounting plate 11 away from the assembly end, and a quick-change disc 5 adapted to the gun-changing disc 4 is arranged on the end effector of the manipulator body.

[0042] Working principle: Before grasping the accessory, since the surface of the automotive glass is relatively smooth and lacks clear features, the line laser 12 is used to illuminate the surface of the automotive glass, enabling the industrial camera 13 to effectively obtain the actual position of the automotive glass in the clamping fixture. During the process of bonding the accessory, the manipulator body grasps the accessory using the fixture 22 according to the taught motion trajectory and moves it above the automotive glass. Then, the manipulator body performs position compensation based on the obtained actual position information of the automotive glass to eliminate the error of the positioning fixture. After the accessory contacts the surface of the automotive glass, the fixture 22 releases the accessory, and at the same time, the linear reciprocating device 31 drives the profiling pressing block 32 to push the accessory, so that the colloid between the accessory and the automotive glass can fill the gap between the two, thereby ensuring the bonding reliability between the accessory and the automotive glass.

[0043] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in the related technical fields, shall be included in the patent protection scope of the present invention by the same token.

Claims

1. A glass accessory bonding and positioning device, characterized in that: It includes a vision component and a grasping component; the vision component includes a mounting plate, a line laser, and an industrial camera. One side of the mounting plate in its own thickness direction is an assembly end, and the line laser and the industrial camera are arranged on the assembly end of the mounting plate. The grasping component includes a connecting block and a fixture. The connecting block is arranged on the assembly end of the mounting plate, and the fixture is arranged on the connecting block.

2. The glass accessory bonding and positioning device according to claim 1, wherein: It further includes a pressing-down component, and the pressing-down component includes a linear reciprocating device and a profiling pressing block; the linear reciprocating device is arranged on the connecting block, and the profiling pressing block is connected to the movable end of the linear reciprocating device.

3. The glass accessory bonding and positioning device according to claim 2, wherein: The profiling pressing block includes a steel plate and a profiling rubber block. The steel plate is connected to the movable end of the linear reciprocating device, and the profiling rubber block is connected to the steel plate.

4. The glass accessory bonding and positioning device according to claim 2 or 3, characterized in that: The linear reciprocating device is a cylinder.

5. The glass accessory bonding and positioning device according to claim 1, wherein: Assembly long holes are provided on the mounting plate, and the vision component is assembled on the mounting plate through screws passing through the assembly long holes.

6. The glass accessory bonding and positioning device according to claim 1 or 5, characterized in that: The vision component is hinged on the mounting plate.

7. The glass accessory bonding and positioning device according to claim 1, wherein: Weight-reducing holes are provided on the mounting plate.

8. The glass accessory bonding and positioning device according to claim 1, wherein: The fixture is a vacuum chuck.

9. A manipulator, characterized in that: It includes a robot body and the glass accessory bonding and positioning device according to any one of claims 1-8, and one end of the mounting plate away from the assembly end is connected to the end effector of the robot body.

10. The manipulator according to claim 9, wherein: A gun-changing disc is provided on one end of the mounting plate away from the assembly end, and a quick-change disc adapted to the gun-changing disc is provided on the end effector of the robot body.

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