CN106275133A - A kind of automobile wind shield glass installation method - Google Patents
A kind of automobile wind shield glass installation method Download PDFInfo
- Publication number
- CN106275133A CN106275133A CN201610638686.6A CN201610638686A CN106275133A CN 106275133 A CN106275133 A CN 106275133A CN 201610638686 A CN201610638686 A CN 201610638686A CN 106275133 A CN106275133 A CN 106275133A
- Authority
- CN
- China
- Prior art keywords
- vehicle body
- robot
- glass
- wind shield
- gluing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/06—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being doors, windows, openable roofs, lids, bonnets, or weather strips or seals therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
- B60J1/00—Windows; Windscreens; Accessories therefor
- B60J1/004—Mounting of windows
- B60J1/006—Mounting of windows characterised by fixation means such as clips, adhesive, etc.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
One automobile wind shield glass installation method of the present invention, comprises the steps: to capture gluing: robot captures glass and moves to gluing tower gluing；Vehicle body enters installation site；Vehicle body positions: detecting system detection vehicle body position；Glass is installed: robot drives gluing glass to install to vehicle body windshield by vehicle body location paths；Robot retracts, vehicle body removal installation site, and next vehicle body to be installed simultaneously enters installation site, and next circulation starts.The present invention uses robot to be coated with glass cement, vehicle body position, location, automatically by precise path, glass is loaded vehicle body, this mounting process method by robot again, be greatly improved productive temp and assembly technology level, it is time saving and energy saving to install, efficiency is high, is easily controlled glass pre-pressing power, and after assembling, quality is preferable, do not have leak, the quality such as empty glue lacks, and has preferable application prospect.
Description
Technical field
The invention belongs to automobile assembling technical field, more particularly, it relates to a kind of automobile wind shield glass installation method.
Background technology
Major part auto vendor vehicle glass assembles and all uses semiautomatic equipment to carry out gluing installation, semiautomatic equipment at present
Needing personnel more, equipment beat is slow, and efficiency is low, and it is low to install degree of accuracy.
Summary of the invention
Present invention aim to address the problem that prior art exists, it is provided that a kind of installation is time saving and energy saving, and efficiency is high, installs
Accurate automobile wind shield glass installation method.
To achieve these goals, the technical scheme that the present invention takes by: this automobile wind shield glass that provided is installed
Method, comprises the steps:
1) gluing is captured: robot captures glass and moves to gluing tower gluing；
2) vehicle body enters installation site；
3) vehicle body location: detecting system detection vehicle body position；
4) glass is installed: robot drives gluing glass to install to vehicle body windshield by vehicle body location paths.
5) robot retracts, and vehicle body removal installation site, next vehicle body to be installed simultaneously enters installation site, next
Circulation starts.
For making technique scheme more detailed and concrete, the present invention also provides for optimization technique side further below
Case, to obtain satisfied practical function:
Step 1) and step 2) synchronize to carry out.
Step 2) in vehicle body be moved into installation site by slide rail.
Step 3) in vehicle body location first use collected by camera vehicle body location drawing picture, position at the beginning of vehicle body, then use laser wheel
Wide sensor is accurately positioned vehicle body windscreen frame position.
The two dimensional image coordinate of labelling point with searching vehicle from vehicle body location drawing picture, and according to the X-Y scheme of labelling point
As coordinate calculates the vehicle body position offset between present orientation and theoretical orientation.
Four cameras arranged along vehicle body surrounding it are provided with in vehicle body installation site.
Described laser profile sensor is arranged on robot clamp, laser sensor detection vehicle body windscreen frame margin location
Put, obtain vehicle body windscreen frame position under laser head coordinate system, i.e. may know that the real 3D of windscreen frame in conjunction with robot coordinate
Position.
Robot clamp is provided with three laser profile sensors.
Step 4) in glass when installing, controller control vehicle body position offset that robot view-based access control model system is given from
Dynamic compensation installation path.
The present invention compared with prior art, has the advantage that automobile wind shield glass installation method of the present invention uses machine
People is coated with glass cement, positions vehicle body position, more automatically by precise path, glass is loaded vehicle body, this mounting process side by robot
Method, is greatly improved productive temp and assembly technology level, and it is time saving and energy saving to install, and efficiency is high, is easily controlled glass pre-pressing power,
After assembling, quality is preferable, do not have leak, the mass defect such as empty glue, there is preferable application prospect.
Detailed description of the invention
Below by the description to embodiment, the detailed description of the invention of the present invention is described in further detail.
The present invention provides a kind of automobile wind shield glass installation method, comprises the steps:
1) gluing is captured: robot captures glass and moves to gluing tower gluing；
2) vehicle body enters installation site；
3) vehicle body location: detecting system detection vehicle body position；
4) glass is installed: robot drives gluing glass to install to vehicle body windshield by vehicle body location paths.
5) robot retracts, and vehicle body removal installation site, next vehicle body to be installed simultaneously enters installation site, next
Circulation starts.
The present invention uses robot to be automatically finished the installation of windshield, and controller controls robot and captures and vehicle
The glass joined moves to gluing tower position and carries out gluing, and vehicle body enters position to be installed, detects vehicle body position by detecting system,
Positional information is reflected into controller, and controller controls robot and drives gluing glass to install to vehicle body by vehicle body location paths
On windshield, complete the autoinstall procedure of windshield.
In the present invention, it is preferred that step 1) in glass capture gluing and step 2) in vehicle body move to installation site Tong Bu
Carry out, to save the set-up time.
In the present invention, it is preferred that step 2) in vehicle body be moved into installation site by slide rail, and use braked wheel to limit
Position, releases braked wheel braking after glass installation again, and braked wheel rotates vehicle body removal and enters inner trimming line normal running speed
Station, conveniently moving is quick, easy to control.
Step 3 of the present invention) in vehicle body location first use camera to carry out just to position, the available camera photographic head demarcated is adopted
Collection vehicle body location drawing picture, positions at the beginning of vehicle body；Carry out fine positioning in conjunction with laser profile sensor, use laser profile sensor
It is accurately positioned vehicle body windscreen frame position.
Visual system uses and positions at the beginning of camera, the image of the available camera collection vehicle body demarcated of visual system, from
The two dimensional image coordinate of labelling point with searching vehicle in vehicle body location drawing picture, and calculate according to the two dimensional image coordinate of labelling point
Go out the vehicle body position offset between present orientation and theoretical orientation.According to the position relation between each photographic head and labelling
Point coordinate under vehicle body coordinate system, determines an optimal vehicle body orientation, and calculates between present orientation and theoretical orientation
Rectification vector (X, Y, Z, RX, RY, RZ), rectification Vector Message is fed back to controller, view-based access control model system of controller robot
The vehicle body position offset that system is given compensates installation path automatically by correcting vector, it is ensured that the accuracy that windshield is installed.
Preferably, the present invention is provided with, in vehicle body installation site, four cameras arranged along vehicle body surrounding.
The position location error obtained due to general camera is relatively big, so it is fixed to carry out essence in conjunction with laser profile sensor
Position.In the present invention, laser profile sensor is arranged on robot clamp, laser sensor detection vehicle body windscreen frame marginal position
Information, obtains vehicle body windscreen frame position under laser head coordinate system, i.e. may know that in conjunction with robot coordinate windscreen frame is real
3D position.
Preferably, robot clamp is provided with three laser profile sensors.
Located vehicle body windscreen frame position, control robot and carry out glass installation, step 4) in glass when installing, controller
The vehicle body position offset that control robot view-based access control model system is given compensates installation path automatically.
Being installed to vehicle body windscreen frame by the glass of gluing by the pressure set, after installation, robot moves back to peace
All positon, the vehicle body slide plate installing windshield the most quickly moves away installation station, enters the properly functioning speed of inner trimming line
Degree station, next vehicle body to be installed is the most quickly drawn into installation station with slide plate and stops location, and next circulation starts.
Auto assembly robot coating glass also installs glass, due on glass two fixed installation pin with body cutout it
Gap is less than 2mm, and the glazing precision of robot must control within ± 0.75mm；Require that vehicle body must on the big plate of inner trimming line
Must be static, the three-dimensional localization precision ± 0.3mm of the glazing visual system of robot, the repetition of glass location centering clamp
Positioning precision ± 0.2mm, the repeatable position precision ± 0.05mm of robot motion, fixture crawl glass repeatable accuracy ±
0.15mm.Only meeting conditions above, glass is loaded vehicle body after grabbing glass glue-spreading and realizes smoothly by guarantee robot.
Robot mates qualified glass from the crawl of glass centering platform with vehicle and moves to gluing tower gluing；Meanwhile car
Body enters installation site, and slide plate stops location, and visual system uses the side of location+laser profile sensor fine positioning at the beginning of camera
Formula detects vehicle body position and identifies vehicle body.The image of the available camera collection vehicle body demarcated of 3D visual system, and from
The two dimensional image coordinate of inherent feature labelling point with searching vehicle in these images；Simultaneously according to the side between each photographic head
Position relation and labelling point coordinate under vehicle body coordinate system, determine an optimal vehicle body orientation, and calculate present orientation
And the rectification vector (X, Y, Z, RX, RY, RZ) between theory orientation；Fine positioning is carried out, at machine in conjunction with laser profile sensor
3 laser profile sensors, i.e. windscreen frame position under laser head coordinate system are installed, in conjunction with robot coordinate i.e. on people's fixture
May know that windscreen frame real 3D position.
Automobile wind shield glass installation method of the present invention uses robot to be coated with glass cement, positions vehicle body position, then by robot
Automatically by precise path, glass is loaded vehicle body, this mounting process method, be greatly improved productive temp and assembly technology water
Flat, it is time saving and energy saving to install, and efficiency is high, is easily controlled glass pre-pressing power, and after assembling, quality is preferable, do not have leak, empty glue
Lack danger etc. quality, there is preferable application prospect.
Above-mentioned the present invention is exemplarily described, but the present invention is not limited to aforesaid way, as long as using this
Improving or directly applying to other occasion of the various unsubstantialities that the method design of invention and technical scheme are carried out, all falls within
In protection scope of the present invention.
Claims (9)
1. an automobile wind shield glass installation method, it is characterised in that comprise the steps:
1) gluing is captured: robot captures glass and moves to gluing tower gluing；
2) vehicle body enters installation site；
3) vehicle body location: detecting system detection vehicle body position；
4) glass is installed: robot drives gluing glass to install to vehicle body windshield by vehicle body location paths.
5) robot retracts, vehicle body removal installation site, and next vehicle body to be installed simultaneously enters installation site, next circulation
Start.
2. according to the automobile wind shield glass installation method described in claim 1, it is characterised in that: step 1) and step 2) same to stepping
OK.
3. according to the automobile wind shield glass installation method described in claim 1, it is characterised in that: step 2) in vehicle body pass through slide rail
It is moved into installation site.
4. according to the automobile wind shield glass installation method described in claim 1, it is characterised in that: step 3) in vehicle body location first adopt
With collected by camera vehicle body location drawing picture, position at the beginning of vehicle body, then use laser profile sensor to be accurately positioned vehicle body windscreen frame position
Put.
5. according to the automobile wind shield glass installation method described in claim 4, it is characterised in that: search for from vehicle body location drawing picture
The two dimensional image coordinate of the labelling point on vehicle body, and calculate present orientation and theory side according to the two dimensional image coordinate of labelling point
Vehicle body position offset between Wei.
6. according to the automobile wind shield glass installation method described in claim 5, it is characterised in that: it is provided with edge in vehicle body installation site
Four cameras that vehicle body surrounding is arranged.
7. according to the automobile wind shield glass installation method described in claim 4, it is characterised in that: described laser profile sensor is pacified
It is contained on robot clamp, laser sensor detection vehicle body windscreen frame marginal position, obtains vehicle body windscreen frame at laser head coordinate
Position under Xi, i.e. may know that windscreen frame real 3D position in conjunction with robot coordinate.
8. according to the automobile wind shield glass installation method described in claim 7, it is characterised in that: it is provided with on robot clamp
Three laser profile sensors.
9. according to the automobile wind shield glass installation method described in claim 1, it is characterised in that: step 4) in glass install time,
Controller controls the vehicle body position offset that robot view-based access control model system provides and automatically compensates installation path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610638686.6A CN106275133A (en) | 2016-08-05 | 2016-08-05 | A kind of automobile wind shield glass installation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610638686.6A CN106275133A (en) | 2016-08-05 | 2016-08-05 | A kind of automobile wind shield glass installation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106275133A true CN106275133A (en) | 2017-01-04 |
Family
ID=57665687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610638686.6A Pending CN106275133A (en) | 2016-08-05 | 2016-08-05 | A kind of automobile wind shield glass installation method |
Country Status (1)
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284553A (en) * | 2017-07-04 | 2017-10-24 | 西卡(中国)有限公司 | Determine method, the vehicle production method of the safe handling time of vehicle |
| CN107930996A (en) * | 2017-12-28 | 2018-04-20 | 肇庆三向教学仪器制造股份有限公司 | Automobile gluing experimental facilities |
| CN108858191A (en) * | 2018-06-29 | 2018-11-23 | 易思维（杭州）科技有限公司 | Visual guide method suitable for the automatic loading process of automobile top cover |
| CN109483539A (en) * | 2018-11-19 | 2019-03-19 | 施努卡(苏州)智能装备有限公司 | Vision positioning method |
| CN109530984A (en) * | 2018-11-19 | 2019-03-29 | 施努卡(苏州)智能装备有限公司 | Vision positioning welding and assembling method |
| CN110160446A (en) * | 2019-06-17 | 2019-08-23 | 珠海格力智能装备有限公司 | Localization method, device, storage medium and the system of material assembly |
| CN111846028A (en) * | 2020-06-17 | 2020-10-30 | 长沙长泰机器人有限公司 | Flexible assembling system and method for automobile windshield |
| CN112085796A (en) * | 2020-09-29 | 2020-12-15 | 广汽本田汽车有限公司 | Automatic coating method and device |
| CN112170124A (en) * | 2020-09-29 | 2021-01-05 | 广汽本田汽车有限公司 | Visual positioning method and device for vehicle body and vehicle frame |
| CN112193030A (en) * | 2020-10-19 | 2021-01-08 | 上海锐镁新能源科技有限公司 | Automobile rear windshield fixing auxiliary tool and rear windshield assembling method |
| CN115366114A (en) * | 2022-10-20 | 2022-11-22 | 一汽解放汽车有限公司 | Assembly system |
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| CN105364934A (en) * | 2015-11-30 | 2016-03-02 | 山东建筑大学 | Remote operation control system and method of hydraulic mechanical arm |
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| DE3539797A1 (en) * | 1985-11-09 | 1987-05-21 | Kuka Schweissanlagen & Roboter | Method and device for automatically fitting the window panes to motor vehicles |
| CN202701718U (en) * | 2012-07-23 | 2013-01-30 | 南车青岛四方机车车辆股份有限公司 | Installation device of side window glass |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284553A (en) * | 2017-07-04 | 2017-10-24 | 西卡(中国)有限公司 | Determine method, the vehicle production method of the safe handling time of vehicle |
| CN107284553B (en) * | 2017-07-04 | 2019-03-12 | 西卡(中国)有限公司 | Determine method, the vehicle production method of the safe handling time of vehicle |
| CN107930996A (en) * | 2017-12-28 | 2018-04-20 | 肇庆三向教学仪器制造股份有限公司 | Automobile gluing experimental facilities |
| CN108858191A (en) * | 2018-06-29 | 2018-11-23 | 易思维（杭州）科技有限公司 | Visual guide method suitable for the automatic loading process of automobile top cover |
| CN109483539A (en) * | 2018-11-19 | 2019-03-19 | 施努卡(苏州)智能装备有限公司 | Vision positioning method |
| CN109530984A (en) * | 2018-11-19 | 2019-03-29 | 施努卡(苏州)智能装备有限公司 | Vision positioning welding and assembling method |
| CN110160446A (en) * | 2019-06-17 | 2019-08-23 | 珠海格力智能装备有限公司 | Localization method, device, storage medium and the system of material assembly |
| CN111846028A (en) * | 2020-06-17 | 2020-10-30 | 长沙长泰机器人有限公司 | Flexible assembling system and method for automobile windshield |
| CN112085796A (en) * | 2020-09-29 | 2020-12-15 | 广汽本田汽车有限公司 | Automatic coating method and device |
| CN112170124A (en) * | 2020-09-29 | 2021-01-05 | 广汽本田汽车有限公司 | Visual positioning method and device for vehicle body and vehicle frame |
| CN112170124B (en) * | 2020-09-29 | 2021-12-14 | 广汽本田汽车有限公司 | Visual positioning method and device for vehicle body and vehicle frame |
| CN112193030A (en) * | 2020-10-19 | 2021-01-08 | 上海锐镁新能源科技有限公司 | Automobile rear windshield fixing auxiliary tool and rear windshield assembling method |
| CN112193030B (en) * | 2020-10-19 | 2023-01-06 | 浙江威格镁汽车科技有限公司 | Automobile rear windshield fixing auxiliary tool and rear windshield assembling method |
| CN115366114A (en) * | 2022-10-20 | 2022-11-22 | 一汽解放汽车有限公司 | Assembly system |
| CN115366114B (en) * | 2022-10-20 | 2023-02-17 | 一汽解放汽车有限公司 | Assembly system |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |
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| RJ01 | Rejection of invention patent application after publication |