Back door assembly gripper with visual guidance

Abstract

The utility model relates to the technical field of automobile assembly, disclose a back door assembly gripper with visual guidance, including base frame, be equipped with vision mechanism and be used for fixed back door's clamping mechanism on the base frame, the vision mechanism includes two groups and installs respectively at the both sides of base frame, each group vision mechanism includes a plurality of vision modules, and arranges according to the profile of back door both sides, the vision module includes two cameras for detecting the body and back door surface difference, the clamping mechanism includes a plurality of outer clamping modules and a plurality of inner clamping modules of same structure, the outer clamping module still is equipped with clamping limit block, the both sides of base frame still are equipped with the positioning module of the positioning of supplementary clamping mechanism, the utility model can detect the clearance surface difference of back door and the body in real time, and realize the full automatic assembly of automobile back door.

Description

Technical Field

[0001] This utility model relates to the field of automotive assembly technology, specifically to a tailgate assembly gripper with visual guidance. Background Technology

[0002] In the automotive assembly process, the tailgate, as a large external body panel, directly affects the vehicle's aesthetics, sealing, and closing feel due to its assembly quality. Tailgate assembly typically involves a gripper picking up the tailgate, a robotic arm transporting it to the appropriate position on the vehicle body, and then operator installation and securing it. Due to the tailgate's large size, complex curves, and thin sheet metal, sufficient clamping rigidity must be ensured during gripping and movement while preventing sheet metal deformation. Simultaneously, the surface difference and gaps between the tailgate and surrounding external body panels must be controlled within a certain range. Therefore, the gripper must be able to make fine adjustments and provide real-time feedback on the tailgate's position during placement to ensure precise assembly.

[0003] Currently, common tailgate assembly grippers primarily rely on mechanical positioning and clamping mechanisms for grasping. A typical design includes a rigid frame with an interface for connecting to a robotic arm, and multiple cylinder-driven grippers. These grippers are usually positioned on the bottom and inner edges of the tailgate, securing it through clamping action. After grasping, the robotic arm transports the tailgate to the vehicle body along a pre-set trajectory for assembly. The final assembly accuracy largely depends on the accuracy of the robot's trajectory, the gripper, and the manufacturing precision of the tailgate itself.

[0004] The existing tailgate assembly grippers lack real-time detection and compensation functions, making it impossible to detect the relative position of the tailgate and the vehicle body in real time during the assembly process. When there are material deviations, robot repetitive positioning errors, or vehicle body positioning errors, it is easy to cause unqualified gaps and surface differences after assembly, requiring manual secondary adjustments, which seriously affects the production cycle and the degree of automation of assembly. Utility Model Content

[0005] The present invention aims to provide a tailgate assembly gripper with visual guidance, which can detect the gap and surface difference between the tailgate and the vehicle body in real time and realize the fully automatic assembly of the car tailgate.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A visually guided tailgate assembly gripper includes a base frame. The base frame is equipped with a vision mechanism and a clamping mechanism for fixing the tailgate. There are two sets of vision mechanisms, which are respectively installed on both sides of the base frame. Each set of vision mechanisms includes multiple vision modules, which are arranged according to the contours of both sides of the tailgate. Each vision module includes two cameras for detecting the surface difference between the vehicle body and the tailgate. The clamping mechanism includes multiple outer clamping modules and multiple inner clamping modules with the same structure. The outer clamping modules are also equipped with clamping limit blocks. The base frame is also equipped with positioning modules on both sides to assist the clamping mechanism in positioning.

[0007] The principles and advantages of this scheme are: 1. The vehicle tailgate is gripped and matched to the liquid inlet installation position on the vehicle body. Each functional module operates according to the predetermined procedure. The positioning module inserts its positioning pin into the positioning hole of the tailgate. The clamping auxiliary component detects the gripping position. Then, the outer and inner clamping modules work to clamp the tailgate from the bottom end and the trunk glass installation opening. The tailgate is then moved to the installation position on the vehicle body. The vision mechanism monitors the gap and surface difference between the tailgate and the vehicle body in real time. At the same time, the assembly gripper moves the door for fine adjustment until the tailgate is in the precise installation position. Then, the clamping module presses down on the hinge to prevent the hinge from tilting upwards when tightening the installation screws. Finally, the suction cup of the limiting module moves to hold the tailgate in place, and the auxiliary limiting block also fits the tailgate to prevent the tailgate from shifting down when installing limiting components, plastic parts, and rubber strips.

[0008] 2. The vision system comprises 12 vision modules arranged symmetrically in two groups, covering the contours of both sides of the tailgate. This enables real-time, multi-point detection of the gap and surface difference between the tailgate and the vehicle body. The vision modules employ a dual-camera simultaneous detection mode, monitoring the same area from different angles. This avoids blind spots that can easily occur with single-camera detection, improving the accuracy and reliability of the detection data. Based on the real-time detection results of the vision modules, the assembly gripper actively fine-tunes under the drive of the robotic arm, ensuring that the tailgate is ultimately placed in the precise assembly position, significantly improving the assembly quality and consistency of the vehicle.

[0009] 3. The clamping mechanism includes multiple external clamping modules and multiple internal clamping modules. The design of combining internal and external clamping modules clamps from multiple points, such as the bottom of the tailgate and the edge of the trunk glass mounting opening. This ensures the stability of the clamping and also reasonably avoids the matching points between the tailgate side edges and the vehicle body and the hinge mounting points at the top of the tailgate, so as not to conflict with the hinge installation work and the gap and surface difference detection work of the vision module.

[0010] 4. The positioning pin of the positioning module is inserted into the positioning hole of the back door before the clamping mechanism clamps the back door. This achieves self-centering and pre-positioning before gripping, ensuring that the clamping mechanism can perform the clamping action in the accurate position every time, thus improving the repeatability and reliability of the operation.

[0011] Preferably, as an improvement, the vision module further includes a camera bracket, through which the camera is fixedly connected to the base frame.

[0012] Technical effect: The above settings ensure that the detection points of the vision module cover the key areas where the tailgate and the body fit together, adapt to the complex shape of the tailgate, have no blind spots, and ensure the overall uniformity of the assembly gap surface difference.

[0013] Preferably, as an improvement, the two cameras of the vision module are positioned at the same location.

[0014] Technical benefits: This solution, using the above setup, employs two cameras working together to detect a location from two different angles. This allows for the acquisition of more comprehensive information, improving the accuracy and reliability of the detection, and effectively avoiding blind spots and errors that may occur with single-angle detection.

[0015] Preferably, as an improvement, both the outer clamping module and the inner clamping module include a clamping module base, a clamping module rotating arm, a clamping support arm, a clamping pressure block, and a clamping block. The clamping module base is fixedly connected to the base frame. One end of the clamping module rotating arm is connected to the clamping module base. One end of the clamping support arm is connected to the other end of the clamping module rotating arm. The clamping pressure block is connected to the other end of the clamping support arm. The clamping block is connected to the clamping module base. The clamping block is located above the clamping pressure block and cooperates with the clamping pressure block.

[0016] Technical effect: This solution adopts the above settings and uses a rotating arm to drive the action of the clamping block. Through the cooperation of the clamping block and the clamping block, the back door is effectively fitted from the inside or outside, providing a stable and reliable clamping force to ensure that the back door will not loosen or shift during assembly, thus improving the stability of assembly.

[0017] Preferably, as an improvement, the positioning module includes a positioning module bracket and a positioning pin. The positioning module bracket is fixedly connected to the base frame, the positioning pin is connected to the positioning module bracket, and the positioning pin is engaged with a positioning hole on the back door.

[0018] Technical benefits: This solution, using the above-mentioned setup, achieves pre-positioning before gripping through the mechanical positioning method of the positioning pin and positioning hole. This ensures that the clamping mechanism can quickly and accurately find the correct position each time it grips the back door, significantly reducing the overall adjustment time and improving efficiency.

[0019] Preferably, as an improvement, a clamping module for pressing the hinge is provided on one side of the base frame. The clamping module and the hinge have a one-to-one correspondence. The clamping module includes a clamping module bracket, a clamping cylinder and a pressure rod. The clamping module bracket is connected to the base frame, the clamping cylinder is connected to the clamping module bracket, and the pressure rod is connected to the working end of the clamping cylinder.

[0020] Technical effect: The above-mentioned settings in this solution prevent the hinge from tilting upwards during tightening, which could lead to hinge damage. The cylinder-driven pressure rod directly presses down on the hinge, providing a strong holding force at the moment of tightening the screws. This ensures that the hinge is always in the optimal installation position determined by the vision system, guaranteeing the firmness and accuracy of the rear door assembly.

[0021] Preferably, as an improvement, the clamping module further includes a clamping limiting component, which includes two limiting blocks that are connected in a mating manner. One limiting block is connected to the working end of the clamping cylinder, and the other limiting block is connected to the clamping module bracket through a connecting rod.

[0022] Technical effect: The above-mentioned configuration provides a limiting structure for the pressure rod. When the pressure cylinder pushes the pressure rod to move, the limiting block connected to the pressure cylinder moves accordingly. When it contacts and presses against another limiting block, the pressure cylinder cannot continue to push the pressure rod forward, thereby avoiding overpressure that could damage the hinge and back door, and protecting the safety of the components.

[0023] Preferably, as an improvement, a limiting module is also provided on the opposite side of the pressing module on the base frame. The limiting module includes a limiting module base, a suction cup and an auxiliary limiting block. One end of the limiting module base is connected to the base frame, the suction cup is connected to the other end of the limiting module base, and the auxiliary limiting block is connected to the limiting module base and is located next to the suction cup.

[0024] Technical effect: This solution, using the above-mentioned setup, solves the problem of the back door sagging when the hinges are fixed but other limiting components are not installed. By using a combination of suction cups to provide adsorption force and auxiliary limiting blocks to provide mechanical support, the downward movement caused by the weight of the back door is offset, ensuring that the back door remains highly stable throughout the subsequent installation process and is always in the optimal installation position determined by the vision system, preventing a decline in assembly quality due to gravity.

[0025] Preferably, as an improvement, the clamping mechanism further includes a plurality of clamping auxiliary components, which are disposed on the outer clamping module and the inner clamping module.

[0026] Technical benefits: With the above settings, this solution generates a signal when the clamping auxiliary part is in contact with the back door, which can accurately detect whether the clamping module has reached the appropriate clamping position, improve the accuracy and efficiency of clamping, and reduce the risk of manual intervention and collision.

[0027] Preferably, as an improvement, the base frame is composed of several crisscrossing steel structures, and the base frame is provided with connecting flanges for connecting the robotic arm.

[0028] Technical benefits: The above-mentioned setup provides suitable installation positions for each functional module through a crisscrossing steel structure; the connecting flanges provide an interface with the robotic arm, enabling the assembly gripper to be integrated into an automated assembly line. Attached Figure Description

[0029] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model.

[0030] Figure 2 This is a structural schematic diagram from another perspective of an embodiment of the present utility model.

[0031] Figure 3 This is a side view of an embodiment of the present utility model.

[0032] Figure 4 This is a schematic diagram of the external clamping module of this utility model.

[0033] Figure 5 This is a structural schematic diagram of the external clamping module of this utility model from another perspective.

[0034] Figure 6 This is a side view of the internal clamping module of this utility model.

[0035] Figure 7 This is a schematic diagram of the internal clamping module of this utility model.

[0036] Figure 8 This is a schematic diagram of the pressing module of this utility model.

[0037] Figure 9 This is a front view of the limiting module of this utility model.

[0038] Figure 10 This is a schematic diagram of the limiting module of this utility model.

[0039] The reference numerals in the accompanying drawings include: base frame 1, connecting flange 2, vision module 3, camera 31, camera bracket 32, outer clamping module 4, clamping module base 41, clamping module rotating arm 42, clamping support arm 43, clamping pressure block 44, clamping block 45, clamping limit block 46, inner clamping module 5, pressing module 6, pressing module bracket 61, pressing cylinder 62, pressure rod 63, pressing limit component 64, limit module 7, limit module base 71, suction cup 72, auxiliary limit block 73, positioning module 8, positioning module bracket 81, positioning pin 82, clamping auxiliary component 9. Detailed Implementation

[0040] The following detailed description illustrates the specific implementation method: Example The basics are as follows: Figure 1-10 As shown: A visually guided tailgate assembly gripper is used on the automotive assembly line to pick up the tailgate and position it precisely on the car body, facilitating tailgate installation by equipment at other workstations. Figure 1 As shown, the system includes a base frame 1, which is a frame structure composed of several intersecting steel structures, providing suitable installation positions for each functional module. The base frame 1 is equipped with a connecting flange 2 for connecting the robotic arm, facilitating the connection between the robotic arm and the assembly gripper and enabling the assembly gripper to move. The base frame 1 is also equipped with a vision mechanism and a clamping mechanism for fixing the back door.

[0041] like Figure 1-2 As shown, there are two sets of vision mechanisms, each mounted on both sides of the base frame. Each set of vision mechanisms includes multiple vision modules 3. In this embodiment, there are 12 vision modules 3, used to detect the gap surface difference between the two sides of the tailgate and the vehicle body in real time, ensuring the assembly accuracy of the tailgate. Each set of vision mechanisms is arranged according to the contour of the two sides of the tailgate, realizing the detection of gap surface difference at different points and parts. The vision module 3 includes two cameras 31 and a camera bracket 32. The cameras 31 are fixedly connected to the base frame 1 through the camera bracket 32. The two cameras 31 are in the same shooting position, that is, the two cameras 31 of each vision module 3 jointly detect the gap surface difference of the same part from different angles.

[0042] The clamping mechanism includes multiple outer clamping modules 4 and multiple inner clamping modules 5 with identical structures. In this embodiment, there are two outer clamping modules 4 and four inner clamping modules 5. Figure 1 As shown, the outer clamping module 4 clamps the bottom end of the tailgate, and the inner clamping module 5 clamps the edge of the mounting opening of the trunk glass in the middle of the tailgate. The four inner clamping modules 5 are divided into two groups, and each group of inner clamping modules 5 is arranged back to back, clamping the tailgate from both sides through the mounting opening of the trunk glass. Figure 4 , 6 As shown, both the outer clamping module 4 and the inner clamping module 5 include a clamping module base 41, a clamping module rotating arm 42, a clamping support arm 43, a clamping pressure block 44, and a clamping block 45. The clamping module base 41 is fixedly connected to the base frame 1. A cylinder is provided on the clamping module base 41 to drive the clamping module rotating arm 42 to rotate. One end of the clamping module rotating arm 42 is connected to the clamping module base 41, one end of the clamping support arm 43 is connected to the other end of the clamping module rotating arm 42, the clamping pressure block 44 is connected to the other end of the clamping support arm 43, and the clamping block 45 is connected to the clamping module base 41. The clamping block 45 is located above the clamping pressure block 44 and cooperates with the clamping pressure block 44. Figure 5As shown, the outer clamping module 4 is also provided with a clamping limit block 46. Before the outer clamping module 4 clamps, the clamping limit block 46 first fits against the back door. At this time, the clamping module rotating arm 42 drives the clamping pressure block 44 to rotate, and the clamping block 45 fits against the back door from both sides to achieve clamping of the back door.

[0043] like Figure 3 As shown, the base frame 1 is also provided with positioning modules 8 for auxiliary clamping mechanisms on both sides. The positioning module 8 includes a positioning module bracket 81 and a positioning pin 82. The positioning module bracket 81 is fixedly connected to the base frame 1, and the positioning pin 82 is connected to the positioning module bracket 81. The positioning pin 82 is engaged with the positioning hole on the back door. The positioning pin 82 is first inserted into the positioning hole of the back door to achieve pre-positioning, and then the clamping mechanism works to clamp and fix the back door.

[0044] like Figure 2 As shown, a clamping module 6 for pressing down on the hinge is provided on one side of the base frame 1. The clamping module 6 and the hinge have a one-to-one correspondence, that is, one clamping module 6 clamps down on one hinge. The rear door wing panel has two hinges, so this embodiment has two clamping modules 6 that match the positions of the hinges. Figure 8 As shown, the clamping module 6 includes a clamping module bracket 61, a clamping cylinder 62, and a pressure rod 63. The clamping module bracket 61 is connected to the base frame 1, the clamping cylinder 62 is connected to the clamping module bracket 61, and the pressure rod 63 is connected to the working end of the clamping cylinder 62. The clamping cylinder 62 pushes the pressure rod 63 to move linearly to contact and clamp the hinge before installation. This prevents the hinge from tilting upwards and deviating from the accurate installation position when tightening the screws. The clamping module 6 also includes a clamping limiting component 64, which includes two limiting blocks that are connected in a mating manner. One limiting block is connected to the working end of the clamping cylinder 62, and the other limiting block is connected to the clamping module bracket 61 through a connecting rod. The limiting block connected to the clamping cylinder 62 moves along with the pressure rod 63 when the clamping cylinder 62 pushes it. When it contacts and clamps the other limiting block, the clamping cylinder 62 cannot continue to push the pressure rod 63 forward, thus avoiding overpressure.

[0045] like Figure 1 As shown, a limiting module 7 is also provided on the base frame 1 on the opposite side of the clamping module 6, and the limiting module 7 is located between the two outer clamping modules 4. After the tailgate hinge is installed with the body, and before the limiting parts, plastic parts, and rubber strips are installed on the tailgate and body, the tailgate, with the hinge as the support point, has room to move downwards due to gravity. At this time, the limiting module 7 limits the tailgate to prevent it from moving downwards, keeping the tailgate in the assembled position. Figure 9-10As shown, the limiting module 7 includes a limiting module base 71, a suction cup 72, and an auxiliary limiting block 73. One end of the limiting module base 71 is connected to the base frame 1. The limiting module 7 is equipped with a cylinder that drives the suction cup 72 to move. The suction cup 72 is connected to the other end of the limiting module base 71. The auxiliary limiting block 73 is connected to the base of the limiting module 7 and is located next to the suction cup 72, fitting snugly against the back door.

[0046] like Figure 3 As shown, the clamping mechanism also includes multiple clamping auxiliary components 9, which are disposed on the outer clamping module 4 and the inner clamping module 5. In this embodiment, the clamping auxiliary component 9 is a sensor. When it comes into contact with the back door, it generates a signal, indicating that the outer clamping module 4 and the inner clamping module 5 have reached the clamping position. In this embodiment, the sensor is a force-sensitive sensor, and a small threshold pressure is set as the "contact" signal to avoid the situation of false contact where there is contact but no tight clamping.

[0047] This embodiment pertains to a workstation on a back door assembly line. In practical use, the back door is clamped and fixed on the back door centering platform. Both the outer clamping module 4 and the inner clamping module 5 are rotating outwards, and the pressure rod 63 of the clamping module 6 is in a retracted state. In this embodiment, the robot arm moves to the top of the centering platform. The positioning pin 82 of the positioning module 8 is inserted into the positioning hole of the back door. When the clamping auxiliary component 9 generates a signal, it indicates that the assembly gripper has reached the appropriate gripping position. At this time, the clamping block 45 of the outer clamping module 4 and the clamping block 45 of the inner clamping module 5 simultaneously adhere to one side of the back door, and the clamping pressure block 44 rotates to the other side of the back door. The clamping pressure block 44 and the clamping block 45 work together to clamp and fix the back door. Then, the centering platform releases the back door, allowing the assembly gripper to move the back door. Next, the assembly gripper moves the tailgate to the installation position on the vehicle body. The 12 vision modules 3 monitor the gap and surface difference between the tailgate and the vehicle body in real time. At the same time, the assembly gripper moves the door for fine-tuning according to the monitoring situation until it is in the precise installation position. At this time, the clamping cylinder 62 of the clamping module 6 pushes the pressure rod 63 to move and press the hinge. Then, the hinge is fixed to the vehicle body by screws through the other stations. After the screws are tightened, the pressure rod 63 is withdrawn to its original position. Then, the suction cup 72 of the limiting module 7 moves to suction the tailgate. At the same time, the auxiliary limiting block 73 also fits the tailgate. Before the limiting parts, plastic parts and rubber strips are installed on the tailgate and the vehicle body, the assembly gripper is removed from the tailgate after the installation is completed, and the tailgate installation is completed.

[0048] The above descriptions are merely embodiments of this utility model. Commonly known technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solution of this utility model. These modifications and improvements should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A rear door assembly gripper with vision guidance, comprising a base frame, characterized in that: The base frame is equipped with a vision mechanism and a clamping mechanism for fixing the tailgate. There are two sets of vision mechanisms, which are respectively installed on both sides of the base frame. Each set of vision mechanisms includes multiple vision modules, which are arranged according to the contours of both sides of the tailgate. Each vision module includes two cameras for detecting the surface difference between the vehicle body and the tailgate. The clamping mechanism includes multiple outer clamping modules and multiple inner clamping modules with the same structure. The outer clamping modules are also equipped with clamping limit blocks. The base frame is also equipped with positioning modules for auxiliary clamping mechanism positioning.

2. The rear door assembly gripper with visual guidance according to claim 1, characterized in that: The vision module also includes a camera bracket, and the camera is fixedly connected to the base frame via the camera bracket.

3. The back door assembly gripper with visual guidance according to claim 2, characterized in that: The two cameras of the vision module are positioned at the same location.

4. The back door assembly gripper with visual guidance according to claim 1, characterized in that: Both the outer clamping module and the inner clamping module include a clamping module base, a clamping module rotating arm, a clamping support arm, a clamping pressure block, and a clamping block. The clamping module base is fixedly connected to the base frame. One end of the clamping module rotating arm is connected to the clamping module base. One end of the clamping support arm is connected to the other end of the clamping module rotating arm. The clamping pressure block is connected to the other end of the clamping support arm. The clamping block is connected to the clamping module base and is located above the clamping pressure block and cooperates with the clamping pressure block.

5. The rear door assembly gripper with visual guidance according to claim 1, characterized in that: The positioning module includes a positioning module bracket and a positioning pin. The positioning module bracket is fixedly connected to the base frame, the positioning pin is connected to the positioning module bracket, and the positioning pin is engaged with the positioning hole on the back door.

6. The rear door assembly gripper with visual guidance according to claim 1, characterized in that: One side of the base frame is provided with a clamping module for pressing the hinge. The clamping module and the hinge are in a one-to-one correspondence. The clamping module includes a clamping module bracket, a clamping cylinder and a pressure rod. The clamping module bracket is connected to the base frame, the clamping cylinder is connected to the clamping module bracket, and the pressure rod is connected to the working end of the clamping cylinder.

7. The rear door assembly gripper with visual guidance according to claim 6, characterized in that: The clamping module also includes a clamping limiting component, which includes two limiting blocks that are connected in a mating manner. One limiting block is connected to the working end of the clamping cylinder, and the other limiting block is connected to the clamping module bracket through a connecting rod.

8. The rear door assembly gripper with visual guidance according to claim 1, characterized in that: On the opposite side of the pressing module on the base frame, there is also a limiting module. The limiting module includes a limiting module base, a suction cup and an auxiliary limiting block. One end of the limiting module base is connected to the base frame, the suction cup is connected to the other end of the limiting module base, and the auxiliary limiting block is connected to the limiting module base and is located next to the suction cup.

9. The rear door assembly gripper with visual guidance according to claim 1, characterized in that: The clamping mechanism also includes multiple clamping auxiliary components, which are disposed on the outer clamping module and the inner clamping module.

10. The rear door assembly gripper with visual guidance according to claim 1, characterized in that: The base frame is composed of several crisscrossing steel structures, and the base frame is equipped with connecting flanges for connecting the robotic arm.

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