A high-precision automatic installation equipment for a window lifter

Abstract

The utility model discloses a kind of high-precision automatic installation equipment of window regulator, including first six-axis mechanical arm and support table, first main frame is installed on the first six-axis mechanical arm, first clamping cylinder is installed on the first main frame, first 3D vision camera, hook pin cylinder, vacuum chuck and first proximity switch are installed on the first main frame, frame carrying gripper is installed on the first main frame, the utility model relates to window regulator technical field. By integrating the first 3D vision camera and second 3D vision camera, and combining high-precision positioning pin, profiling block and proximity switch, the system realizes accurate perception and positioning to installation environment and work target.

Description

Technical Field

[0001] This utility model relates to the field of window regulator technology, specifically a high-precision automatic installation device for window regulators. Background Technology

[0002] Traditional car window regulator installation mainly relies on the following two methods:

[0003] 1. Manual and semi-automatic assembly: The operator holds an electric gun and aligns the lifting assembly (including motor, guide rail, and slider) with the sheet metal hole of the car door. After positioning with the help of guide pins, the bolts are tightened.

[0004] 2. Simple robotic arm assistance: Two-dimensional vision is used to locate the bolt holes, and a pneumatic gripper is used to grasp the lifting device, which is then fixed by a pre-programmed robotic arm.

[0005] II. Existing Problems and Defects

[0006] 1. Insufficient positioning accuracy: Two-dimensional vision cannot identify the angular deviation of curved doors, resulting in the parallelism between the guide rail and the window guide groove exceeding the tolerance (>0.5mm), causing lifting and lowering to jam (failure rate 18%).

[0007] 2. Low yield rate due to manual operation: Manual assembly relies on experience, and the bolt omission rate reaches 5% (according to quality inspection report statistics). The proportion of defective products with guide rail parallelism deviation >0.5mm is 18%, which may lead to abnormal noise, jamming or even motor burnout when raising and lowering windows. Utility Model Content

[0008] To address the shortcomings of existing technologies, this utility model provides a high-precision automatic installation device for car window regulators, which solves the problem that existing vision systems cannot recognize the angular deviation of curved car doors, resulting in excessive parallelism between the guide rail and the window guide groove, causing the window regulator to jam.

[0009] To achieve the above objectives, this utility model is implemented through the following technical solution: it includes a first six-axis robotic arm and a support platform. A first main frame is installed on the first six-axis robotic arm. A first clamping cylinder is installed on the first main frame. A first 3D vision camera, a hook pin cylinder, a vacuum suction cup, and a first proximity switch are installed on the first main frame. A frame handling gripper is installed on the first main frame.

[0010] A clamping cylinder unit and a floating mechanism are installed on the support. The floating mechanism is equipped with a first adjustable high-precision positioning pin and a contour block. A second proximity switch and a clamp are installed on the support.

[0011] Preferably, it also includes a second six-axis robotic arm, on which a gripper, photoelectric switch, servo electric screwdriver, and controllable adjustable electric screwdriver connecting block are installed. A second main frame is installed on the drive end of the servo electric screwdriver. A third proximity switch, a second 3D vision camera, an adjustable positioning block, a second clamping cylinder, a tightening gripper, and a second adjustable high-precision positioning pin of the lifting and transporting gripper are installed on the second main frame.

[0012] This invention provides a high-precision automatic installation device for vehicle window regulators. Compared with the prior art, this invention has the following significant advantages:

[0013] Extremely high installation accuracy and quality are achieved: By integrating the first and second 3D vision cameras, and combining them with high-precision positioning pins, contour blocks, and proximity switches, the system achieves precise perception and positioning of the installation environment and working target. This multi-sensor fusion positioning scheme effectively overcomes manufacturing tolerances and cumulative positioning errors of components and the door itself, ensuring that the lift can be accurately placed and fixed in the theoretically designed position every time, thereby increasing the installation qualification rate to over 99.8% and fundamentally guaranteeing product quality.

[0014] Significantly improves installation efficiency: This invention achieves parallel and seamless integration of multiple processes such as gripping, handling, positioning, and tightening through the collaborative operation of dual six-axis robotic arms, reducing the average installation time of a single window regulator to 30 seconds. This greatly breaks through the efficiency bottleneck of traditional manual or semi-automatic installation and significantly improves the production cycle.

[0015] It possesses excellent flexibility and adaptability: The equipment adopts a modular design with adjustable high-precision positioning pins, adjustable positioning blocks, controllable adjustable electric screwdriver connecting blocks, and contour blocks, which allows the same equipment to be adapted to window lifter installation tasks of various car models and batches by quickly adjusting or replacing a few parts. This reduces the cost and cycle of production line transformation and enhances the flexibility of the production system.

[0016] Effectively reduces overall costs: Fully automated operations replace intensive manual labor, directly reducing labor and management costs. At the same time, a high pass rate reduces rework and component loss due to installation errors, further reducing production errors and quality costs, bringing significant economic benefits to the enterprise. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram of a high-precision automatic installation device for a car window regulator as described in this utility model.

[0018] Figure 2 This is a top view of the bracket for a high-precision automatic installation device for a car window regulator as described in this utility model.

[0019] In the diagram: 1-First six-axis robotic arm; 2-Support; 3-First main frame; 4-First clamping cylinder; 5-First 3D vision camera; 6-Hook pin cylinder; 7-Vacuum suction cup; 8-First proximity switch; 9-Clamping cylinder unit; 10-Floating mechanism; 11-First adjustable high-precision positioning pin; 12-Following block; 13-Second proximity switch; 14-Second six-axis robotic arm; 15-Gripper; 16-Photoelectric switch; 17-Servo electric screwdriver; 18-Controllable adjustable electric screwdriver connecting block; 19-Second main frame; 20-Third proximity switch; 21-Second 3D vision camera; 22-Adjustable positioning block; 23-Second clamping cylinder; 24-Second adjustable high-precision positioning pin; 25-Frame handling gripper; 26-Clamping fixture; 27-Tightening gripper; 28-Lifting device handling gripper. Detailed Implementation

[0020] 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.

[0021] Please see Figure 1-2 This utility model provides a technical solution: a high-precision automatic installation device for a car window regulator, including a first six-axis robotic arm 1 and a support 2. A first main frame 3 is installed on the first six-axis robotic arm 1. A first clamping cylinder 4 is installed on the first main frame 3. A first 3D vision camera 5, a hook pin cylinder 6, a vacuum suction cup 7 and a first proximity switch 8 are installed on the first main frame 3. A frame handling gripper 25 is installed on the first main frame 3.

[0022] The support 2 is equipped with a clamping cylinder unit 9 and a floating mechanism 10. The floating mechanism 10 is equipped with a first adjustable high-precision positioning pin 11 and a contour block 12. The support 2 is equipped with a second proximity switch 13 and a clamp 26.

[0023] As an alternative technical solution, it further includes a second six-axis robotic arm 14, which is equipped with a gripping gripper 15, a photoelectric switch 16, a servo electric screwdriver 17, and a controllable adjustable electric screwdriver connecting block 18. A second main frame 19 is installed on the drive end of the servo electric screwdriver 17. A third proximity switch 20, a second 3D vision camera 21, an adjustable positioning block 22, a second clamping cylinder 23, a tightening gripper 27, a lifting and transporting gripper 28, and a second adjustable high-precision positioning pin 24 are installed on the second main frame 19.

[0024] It should be noted that the equipment mainly includes a 3D vision inspection module, a motion control module, a high-precision positioning module, and a tightening system.

[0025] 1.3D Vision Inspection Module: Utilizing structured light scanning technology, this module is equipped with an industrial camera with a resolution of 2560×1920 pixels. It achieves a scanning frame rate of up to 30fps and an inspection accuracy of ±0.05mm. Within 0.5 seconds, it can quickly acquire information such as the spatial dimensions and shape of the installation location, as well as the outline of the window regulator and key mounting holes. It generates high-precision 3D point cloud data with a point spacing of less than 0.1mm and transmits the data to the control system.

[0026] The motion control module is driven by a servo motor with a rated power of 1.5kW and a torque of 10N·m, combined with a ball screw of P2 precision class and a lead of 10mm, and a high-precision guide rail with a straightness error of no more than 0.02mm per meter. Under the command of the control system, it can achieve a positioning accuracy of ±0.03mm in the X, Y, and Z axes, and a repeatability of ±0.01mm. It can precisely control the movement and rotation of the robotic arm in three-dimensional space to achieve precise grasping, transportation, and installation of the window regulator.

[0027] High-precision positioning module: This module consists of a positioning gripper and a clamp, and is a key component for achieving high-precision installation of the window regulator.

[0028] Positioning gripper: It adopts a modular design and includes multiple independently controllable clamping units, high-precision positioning pins, and repeatability of ±0.05mm.

[0029] Fixture: The fixture is equipped with multiple high-precision locating pins and locating blocks. The diameter tolerance of the locating pins is controlled within ±0.015mm, and the locating blocks are adjustable, with a repeatability of ±0.02mm. The fixture is also equipped with a floating compensation unit, which can compensate for errors during the assembly process, ultimately achieving high-precision installation of the window regulator with an installation position error not exceeding ±0.03mm.

[0030] Tightening System: This system is responsible for tightening the bolts of the window regulator, achieving automated and high-precision fastening operations.

[0031] Tightening Shaft Unit: Employs a servo-driven electric tightening shaft equipped with a high-precision torque sensor and angle encoder. Torque control accuracy reaches ±0.5%, and angle control accuracy is ±0.5°, enabling precise control of tightening torque and rotation angle to ensure uniform tightening force on each bolt. The maximum torque of the tightening shaft is 50 N·m, and the speed range is 0 - 1000 rpm, with parameters automatically adjusted according to different bolt specifications and tightening requirements.

[0032] Bolt supply unit: Utilizing a combination of a vibratory feeder and linear guide rails, this unit achieves automatic bolt sorting and supply. The vibratory feeder operates at a speed of 60-120 bolts / minute, accommodating bolts of various sizes and shapes. Multiple sensors on the linear guide rails monitor the bolt delivery status in real time, ensuring accurate bolt placement at the gripping position.

[0033] Multi-axis synchronous control technology: For the multiple installation points of the window regulator, the system adopts multi-axis synchronous control technology, which can simultaneously control 4-8 tightening axes to work in coordination. The synchronization accuracy between each tightening axis reaches ±0.01 seconds, ensuring that the tightening sequence and interval of each bolt meet the process requirements, improving installation efficiency and quality stability.

[0034] This equipment uses a 3D vision inspection module to accurately perceive the installation environment and components. Combined with a positioning calibration module and a motion control module, it can effectively overcome the problems of insufficient accuracy and poor adaptability of traditional installation methods. It reduces the average installation time of a single window regulator to 30 seconds and increases the installation qualification rate to 99.8%, greatly improving the installation efficiency and quality of window regulators, reducing labor costs and production errors. It is suitable for the automated installation of window regulators of various car models and different batches.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-precision automatic installation device for a car window regulator, comprising a first six-axis robotic arm (1) and a support platform (2), characterized in that, The first six-axis robotic arm (1) is equipped with a first main frame (3), the first main frame (3) is equipped with a first clamping cylinder (4), the first main frame (3) is equipped with a first 3D vision camera (5), a hook pin cylinder (6), a vacuum suction cup (7) and a first proximity switch (8), and the first main frame (3) is equipped with a frame handling gripper (25). The support (2) is equipped with a clamping cylinder unit (9) and a floating mechanism (10). The floating mechanism (10) is provided with a first adjustable high-precision positioning pin (11) and a contour block (12). The support (2) is equipped with a second proximity switch (13) and a clamp (26).

2. The high-precision automatic installation equipment for vehicle window regulators according to claim 1, characterized in that, It also includes a second six-axis robotic arm (14), on which a gripper (15), a photoelectric switch (16), a servo electric screwdriver (17), and a controllable adjustable electric screwdriver connecting block (18) are installed. A second main frame (19) is installed on the drive end of the servo electric screwdriver (17). A third proximity switch (20), a second 3D vision camera (21), an adjustable positioning block (22), a second clamping cylinder (23), a tightening gripper (27), and a lifting and transporting gripper (28) and a second adjustable high-precision positioning pin (24) are installed on the second main frame (19).

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