Automobile door assembly follow-up tightening device

Abstract

The utility model discloses a kind of automobile door assembly follow-up tightening devices, it is related to automobile assembly technical field, including follow-up vehicle body, for with door synchronous motion, binocular camera module is equipped on follow-up vehicle body;Collaborative arm, be set to follow-up vehicle body front and back two sides, end is equipped with mounting plate;Tightening gun, is installed on mounting plate;Visual module, is installed on mounting plate, for identifying door to be installed hole site;Screw sleeve lifting device, is installed on mounting plate, for driving screw sleeve lifting movement;Put nail mechanical arm, be set to follow-up vehicle body other side, for placing screw in screw sleeve;Screw detection module, for detecting the presence or absence of screw.The above-mentioned automobile door assembly follow-up tightening device, solve the technical problem of low efficiency of existing tightening device, realize the technical effect of effectively improving the quality and production efficiency of automobile door assembly.

Description

Technical Field

[0001] This utility model relates to the field of automotive assembly technology, and in particular to an automotive door assembly follow-up tightening device. Background Technology

[0002] Automation and intelligentization have become key trends in modern automobile production, especially in automobile assembly processes, where the shift from traditional manual assembly to automated machine assembly is particularly significant. As a crucial step in the automobile assembly process, the level of automation in door assembly directly impacts the overall vehicle quality and production efficiency.

[0003] However, collaborative robots have limited load-bearing capacity in car door assembly. Typically, the tools used for tightening operations include tightening guns, vision systems, sockets, and lifting mechanisms. The combined weight of these components is too large, exceeding the minimum load range that collaborative robots can withstand. Furthermore, most existing robots support fixed-position installation, lacking flexibility and thus resulting in low assembly efficiency.

[0004] Therefore, how to provide a car door assembly follow-up tightening device to improve assembly efficiency and enhance response speed is a technical problem that needs to be solved by those skilled in the art. Utility Model Content

[0005] The purpose of this invention is to provide a car door assembly tightening device that solves the technical problem of slow assembly efficiency in existing car door systems.

[0006] To achieve the above objectives, this utility model provides a car door assembly follow-up tightening device, including...

[0007] The accompanying vehicle body is used to move synchronously with the vehicle door, and the accompanying vehicle body is equipped with a binocular camera module;

[0008] The collaborative arm is located on the front and rear sides of the accompanying vehicle body, and has a mounting plate at its end;

[0009] Tighten the gun and install it onto the mounting plate;

[0010] A vision module, mounted on the mounting plate, is used to identify the mounting holes on the car door;

[0011] A screw sleeve lifting device is mounted on the mounting plate and is used to drive the screw sleeve to move up and down.

[0012] A screw-placement robotic arm is located on the other side of the accompanying vehicle body and is used to place screws into the screw sleeve;

[0013] The screw detection module is used to detect the presence or absence of screws.

[0014] Preferably, the screw sleeve lifting device includes a lifting motor and a linear slide rail mounted on the mounting plate, and the screw sleeve achieves lifting movement through a slider cooperating with the linear slide rail.

[0015] Preferably, the vision module includes two binocular cameras and a strip light.

[0016] Preferably, the screw sleeve includes a screw profile sleeve, a magnet, and a pre-compression buffer mechanism.

[0017] Preferably, the mounting plate is connected to the end of the cooperating arm via a flange plate.

[0018] Preferably, the tightening shaft of the tightening gun is coaxially arranged with the screw sleeve.

[0019] Preferably, the screw detection module includes a miniature vision camera.

[0020] Preferably, the system also includes a PLC, and the accompanying vehicle body, the cooperating arm, the tightening gun and vision module, the screw sleeve lifting device, the nail-laying robotic arm and the screw detection module are all connected to the PLC via signal connections.

[0021] Preferably, the accompanying vehicle body is provided with wheels at the bottom, and the wheels are connected to a drive motor.

[0022] Preferably, the drive motor is a servo motor, the servo motor is equipped with an encoder, and the encoder establishes a signal connection with the PLC.

[0023] Compared with the above-mentioned background technology, the present invention provides a car door assembly follow-up tightening device, in which the following vehicle body obtains the position and movement information of the door in real time through a binocular camera module, and adjusts its own movement speed to maintain synchronous movement with the door;

[0024] The collaborative arm performs precise motion control based on a preset program and trajectory, as well as positioning information provided by the vision module. The nail-laying robotic arm retrieves a screw from the screw supply and accurately places it into the screw sleeve. The screw detection module checks for the presence of a screw in the screw sleeve and ensures it is correctly placed. The vision module uses image recognition technology to identify the installation holes on the door and determine their position and orientation. The recognition results guide the collaborative arm's movement, enabling the tightening gun to accurately locate the installation holes. The screw sleeve lifting device drives the screw sleeve to move up and down, lowering the screw to the installation hole. The tightening gun begins to rotate, securing the screw to the door and feeding back the tightening result to the control system. The control system determines whether the tightening torque is within a preset tightening threshold range. If not, an alarm is generated; otherwise, the next step is performed. After tightening one hole, the collaborative arm and the accompanying vehicle adjust their position and orientation based on the location information of the next installation hole.

[0025] In summary, the automotive door assembly follow-up tightening device provided in this application realizes the automatic tightening operation of screws during the automotive door assembly process through the synchronous movement of the following vehicle body and door, the precise movement control of the cooperating arm, the automatic placement and detection of screws, and the hole position recognition of the vision module, which can effectively improve the quality and production efficiency of automotive door assembly. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0027] Figure 1 A front view of an automotive door assembly follow-up tightening device provided in an embodiment of this utility model;

[0028] Figure 2 for Figure 1 A magnified view of a portion of the image.

[0029] in:

[0030] 1-Traveling vehicle body, 2-Binocular camera module, 3-Collaborative arm, 4-Tightening gun, 5-Vision module, 6-Screw sleeve, 7-Nail placement robotic arm, 8-Screw detection module, 9-Lifting motor, 10-Linear slide rail. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] See Figures 1-2 This application provides a car door assembly accompanying tightening device, including an accompanying vehicle body 1 for synchronous movement with the car door, a binocular camera module 2 on the accompanying vehicle body 1; a cooperating arm 3, located on the front and rear sides of the accompanying vehicle body 1, with a mounting plate at the end; a tightening gun 4, mounted on the mounting plate; a vision module 5, mounted on the mounting plate, for identifying the door mounting hole positions; a screw sleeve lifting device, mounted on the mounting plate, for driving the screw sleeve 6 to move up and down; a screw placement robotic arm 7, located on the other side of the accompanying vehicle body 1, for placing screws into the screw sleeve 6; and a screw detection module 8 for detecting the presence or absence of screws.

[0034] In other words, the accompanying vehicle body 1 is a mobile platform that moves synchronously with the car door, ensuring that the installation components on the accompanying vehicle body 1 can accurately follow the position of the car door for operation, thereby ensuring the relative position stability between the tightening device and the car door. The binocular camera module 2 is set on the accompanying vehicle body 1 and uses the principle of binocular vision to obtain the QR code information of the car door, providing data support for subsequent visual positioning and operation. The collaborative arm 3 is set on the front and rear sides of the accompanying vehicle body 1 and serves as the installation and movement execution component for the tightening gun 4, vision module 5 and screw sleeve lifting device. It can move according to the preset program and trajectory to realize the accurate position adjustment of the tightening gun 4, vision module 5 and screw sleeve 6, so that the tightening gun 4 can accurately reach the installation hole position of the car door for tightening operation, the vision module 5 can accurately align with the hole position for identification, and the screw sleeve 6 can accurately cooperate with the screw for lifting and lowering movement.

[0035] The tightening gun 4 is mounted on the mounting plate at the end of the cooperating arm 3. It is used to tighten the screws at the installation holes of the car door, firmly fixing the screws to the car door, realizing a reliable connection between the car door and the car body, and ensuring the quality and safety of the car door.

[0036] The vision module 5 is installed on the mounting plate at the end of the cooperating arm 3. Using image recognition technology, it identifies the holes to be installed on the door, determines the position and posture information of the holes, and provides positioning information for the movement of the cooperating arm 3, so that the tightening gun 4 can accurately find the holes to be installed, improving the accuracy and efficiency of the tightening operation.

[0037] The screw sleeve lifting device is installed on the mounting plate at the end of the cooperating arm 3, driving the screw sleeve 6 to move up and down, realizing the up and down movement during the screw picking, placing and tightening process. After the screw placement robot arm 7 places the screw into the screw sleeve 6, the screw sleeve lifting device lowers the screw to the installation hole position, and works with the tightening gun 4 to complete the screw tightening operation. The screw placement robot arm 7 is used to accurately place the screw into the screw sleeve 6 to provide screws for subsequent tightening operations. The screw detection module 8 is used to detect whether there is a screw in the screw sleeve 6, ensuring that the screw has been correctly placed in the screw sleeve 6 before the tightening operation.

[0038] Working principle:

[0039] The screw-placement robotic arm retrieves a screw from the screw supply and accurately places it into the screw sleeve; the screw detection module checks whether there is a screw in the screw sleeve and ensures that the screw has been correctly placed.

[0040] The accompanying vehicle uses a binocular camera module to obtain the position and movement information of the doors in real time, and adjusts its own movement speed to maintain synchronous movement with the doors;

[0041] The collaborative arm performs precise motion control based on the preset program and trajectory, as well as the positioning information provided by the vision module;

[0042] The vision module uses image recognition technology to identify the installation holes on the door and determine the position and orientation information of the holes. The recognition results guide the movement of the cooperating arm, enabling the tightening gun to accurately locate the installation holes. The screw sleeve lifting device drives the screw sleeve to move up and down, lowering the screw to the installation hole. The tightening gun starts to rotate, locking the screw onto the door and feeding back the tightening result to the control system.

[0043] The control system determines whether the tightening torque is within the preset tightening threshold range based on the tightening result. If it is not, an alarm message is generated; otherwise, the next step is performed.

[0044] After tightening one hole, the cooperating arm and the accompanying vehicle adjust their position and attitude according to the location information of the next hole to be installed.

[0045] In summary, the automotive door assembly follow-up tightening device provided in this application realizes the automatic tightening operation of screws during the automotive door assembly process through the synchronous movement of the following vehicle body and door, the precise movement control of the cooperating arm, the automatic placement and detection of screws, and the hole position recognition of the vision module, which can effectively improve the quality and production efficiency of automotive door assembly.

[0046] Based on the above embodiments, the screw sleeve lifting device includes a lifting motor 9 and a linear slide rail 10 mounted on a mounting plate. The screw sleeve 6 achieves lifting and lowering movement through the cooperation of a slider and the linear slide rail 10. That is, the lifting motor 9 serves as a power source, providing the driving force required for the lifting and lowering of the screw sleeve. Through electrical control, the motor can be rotated in both directions, thereby driving the screw sleeve connected to the slider to perform lifting and lowering movements. The screw sleeve cooperates with the linear slide rail through the slider, and the slider slides on the linear slide rail to achieve the lifting and lowering movement of the screw sleeve. The screw sleeve 6 is used to place and fix screws, and the screw is lifted and lowered under the drive of the lifting motor.

[0047] Working principle: Driven by the lifting motor, the screw sleeve moves up and down through the cooperation of the slider and the linear guide rail. When the screw sleeve reaches the hole to be installed, the tightening gun starts to rotate and locks the screw onto the door.

[0048] Based on the above embodiments, the vision module 5 includes two binocular cameras and a strip fill light, and the screw sleeve includes a screw conformal sleeve, a magnet, and a pre-compression buffer mechanism. The two binocular cameras are:

[0049] Two binocular cameras utilize the principle of binocular vision to acquire three-dimensional information about the car door and its surrounding environment, enabling accurate identification of the hole positions. A strip light provides illumination for the binocular cameras, improving image clarity and recognition accuracy.

[0050] The screw sleeve 6 is used to place and fix the screw, enabling the screw lifting and tightening operations. It mainly includes a screw guide sleeve, a magnet, and a pre-pressure buffer mechanism. The screw guide sleeve matches the screw, firmly fixing it and preventing it from falling off or loosening during lifting and tightening. The magnet attracts the screw, further ensuring its stability within the sleeve. The pre-pressure buffer mechanism provides pre-pressure and cushioning during screw tightening, protecting the tightening gun and screw from damage. When the tightening gun begins to rotate and tighten the screw, the pre-pressure buffer mechanism is subjected to pressure and undergoes a certain elastic deformation, thereby absorbing the impact and vibration during tightening, protecting the tightening gun and screw.

[0051] Based on the above embodiments, the mounting plate is connected to the end of the cooperating arm 3 via a flange plate, and the tightening shaft of the tightening gun 4 is coaxially arranged with the screw sleeve 6; the screw detection module 8 includes a miniature vision camera, meaning that the mounting plate is rigidly connected to the end of the cooperating arm 3 via the flange plate. The flange plate adopts a standard bolt fastening structure to ensure connection strength;

[0052] The tightening shaft of the tightening gun 4 is strictly coaxial with the central axis of the screw sleeve 6 to ensure that the tightening torque is transmitted along the screw axis and to avoid screw damage or tightening failure due to eccentricity; the screw detection module 8 integrates a miniature vision camera, LED light source and image processing unit.

[0053] Based on the above embodiments, a PLC (Programmable Logic Controller) is also included. The following vehicle body 1, the cooperating arm 3, the tightening gun 4, the vision module 5, the screw sleeve lifting device, the nail-laying robotic arm 7, and the screw detection module 8 are all connected to the PLC by signal, thereby realizing the full automation control and signal interaction of the following vehicle body 1, the cooperating arm 3, the tightening gun 4, the vision module 5, the screw sleeve lifting device, the nail-laying robotic arm 7, and the screw detection module 8.

[0054] Based on the above embodiments, the following vehicle body 1 is provided with a walking wheel at the bottom. The walking wheel is connected to a drive motor. The drive motor is a servo motor. The servo motor is equipped with an encoder. The encoder establishes a signal connection with the PLC. According to the preset following speed and position information, the PLC adjusts the walking speed and direction of the following vehicle body 1 by controlling the speed and direction of the servo motor to ensure that it moves synchronously with the door and the synchronization error is controlled within a very small range.

[0055] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0056] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A vehicle door assembly power driver characterized by, include The accompanying vehicle body (1) is used to move synchronously with the door, and the accompanying vehicle body (1) is equipped with a binocular camera module (2). The collaborative arm (3) is located on the front and rear sides of the accompanying vehicle body (1), and has a mounting plate at its end; Tighten the gun (4) and install it on the mounting plate; The vision module (5) is installed on the mounting plate and is used to identify the door mounting hole positions; A screw sleeve lifting device is installed on the mounting plate and is used to drive the screw sleeve (6) to move up and down. A nail-laying robotic arm (7) is located on the other side of the accompanying vehicle body (1) and is used to place screws into the screw sleeve (6); The screw detection module (8) is used to detect the presence or absence of screws.

2. The automotive door assembly power driver of claim 1, wherein, The screw sleeve lifting device includes a lifting motor (9) and a linear slide rail (10) mounted on the mounting plate. The screw sleeve (6) achieves lifting movement by cooperating with the linear slide rail (10) through a slider.

3. The automotive door assembly power driver of claim 2, wherein, The vision module (5) includes two binocular cameras and a strip light.

4. The automotive door assembly power driver of claim 3, wherein, The screw sleeve (6) includes a screw profile sleeve, a magnet, and a pre-compression buffer mechanism.

5. The automotive door assembly power driver of claim 4, wherein, The mounting plate is connected to the end of the cooperating arm (3) via a flange plate.

6. The automotive door assembly power driver of claim 1, wherein, The tightening shaft of the tightening gun (4) is coaxially arranged with the screw sleeve (6).

7. The automotive door assembly power driver of claim 1, wherein, The screw detection module (8) includes a miniature vision camera.

8. The automotive door assembly power driver of claim 1, wherein, It also includes a PLC, and the accompanying vehicle body (1), the cooperating arm (3), the tightening gun (4), the vision module (5), the screw sleeve lifting device, the nail-laying robotic arm (7), and the screw detection module (8) are all connected to the PLC by signal.

9. The automotive door assembly power driver of claim 8, wherein, The accompanying vehicle body (1) is provided with a walking wheel at the bottom, and the walking wheel is connected to the drive motor.

10. The automotive door assembly power driver of claim 9, wherein, The drive motor is a servo motor, and the servo motor is equipped with an encoder, which establishes a signal connection with the PLC.

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