CN114229442B - Intelligent positioning equipment and positioning method for automatic automobile production line - Google Patents

Intelligent positioning equipment and positioning method for automatic automobile production line Download PDF

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CN114229442B
CN114229442B CN202111340047.9A CN202111340047A CN114229442B CN 114229442 B CN114229442 B CN 114229442B CN 202111340047 A CN202111340047 A CN 202111340047A CN 114229442 B CN114229442 B CN 114229442B
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positioning
displacement value
probe
intelligent
sliding plate
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CN114229442A (en
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马翼
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention relates to the technical field of automobile automation production lines, in particular to intelligent positioning equipment and a positioning method for an automatic automobile production line. The device comprises an intelligent positioning system, a clamp for clamping a vehicle body component, a positioning device and a moving device. The positioning device respectively acquires a first displacement value of the first sliding plate moving along the extending direction of the first sliding rail and a second displacement value of the second sliding plate moving along the extending direction of the second sliding rail through a first ranging structure and a second ranging structure which are arranged on the bottom plate. And a third distance measuring structure arranged on the bracket acquires a third displacement value of the probe along the axial direction. And the intelligent positioning system obtains the offset value of the positioning hole according to the displacement value and the initial position. The intelligent positioning system drives the execution equipment on the station to recalibrate the position coordinates of the vehicle body component according to the offset value. The equipment optimizes the existing mechanical contact type positioning device, further improves the positioning precision of the vehicle body component, accelerates the production beat and further improves the production efficiency.

Description

Intelligent positioning equipment and positioning method for automatic automobile production line
Technical Field
The invention relates to the technical field of automobile automation production lines, in particular to intelligent positioning equipment for an automatic automobile production line and a positioning method of the intelligent positioning equipment for a vehicle body component.
Background
Currently, skid conveyor systems are one of the most widely used conveyor devices in automated automotive production lines. The skid conveying system bears the white car body and conveys the white car body among the stations according to a given technological process until the white car body is processed and assembled. Wherein, the integrated car body positioning system in the skid conveying system is generally composed of a flexible clamp and a lifting platform. When the skid conveyor carries the white car body to the working area, the lifting platform lowers the skid conveyor to the guide pin, so that the white car body is positioned, and meanwhile, the flexible clamp clamps and fixes the skid conveyor. Therefore, the automation degree of the automobile production line is high, intermittent and continuous conveying can be realized on one production line, and the on-line conveying of the production line is easy to realize; the lower automobile body assembly line and the main automobile body line of various automobile types can be independently arranged, and the repair welding line and the adjustment line are commonly established, so that the production line stage investment is easy to realize.
For example, chinese patent document CN107792224a discloses a main assembly unit for a vehicle body assembly system and a control method thereof. In the vehicle body assembly system formed with the pre-assembly section and the main assembly section provided along the transfer path of the floor assembly, the main assembly unit for the vehicle body assembly system may be provided in the main assembly section, and may be provided at both sides of the transfer path at the main assembly section, respectively, and the upper part of the side wall assembly may be adjusted in a state where the lower part of the side wall assembly is pre-assembled to the floor assembly through the pre-assembly unit at the pre-assembly section, and the upper part of the side wall assembly and the vehicle body part may be post-assembled through the second welding robot.
However, the method of positioning the body-in-white using the guide pin in the above-described embodiments belongs to mechanical contact positioning. On the one hand, after the car body is conveyed to a working position, the skids need to be vertically dropped onto the guide pins by virtue of the lifting table, so that the vertical conveying time of about 5 seconds is increased, the pitch is required to be fixed, the beat of automatic production is further influenced, and the production efficiency is reduced; on the other hand, mechanical contact type location is in the in-process of implementing the location to thinner sheet metal component, and the extrusion of guide pin to the locating hole leads to the fact the deformation of automobile body sheet metal component easily, and then influences the quality of product. After searching, the Germany Sick company is found to push out a set of vehicle body positioning systems. The vehicle body positioning system adopts a non-contact measurement mode, integrates machine vision and deep learning technology, and aims to improve production flexibility, shorten production period, maintain preventive and realize 4.0 industry. The vehicle body positioning system is provided with a vision system consisting of a plurality of camera modules, the position coordinates of the RPS reference point on the white vehicle body are obtained through vision detection and compared with the expected position of the white vehicle body, so that the position deviation is obtained, and the robot is guided to finish accurate positioning by utilizing the position deviation.
The RPS reference point system is applied to a reference point system of a single piece or an assembly piece in all stages of product design, manufacturing, detection and batch loading, and can unify a part design reference point, a process positioning reference point and a measurement reference point, so that accurate positioning of the part is realized, deviation caused by non-unification of the reference is reduced, and the dimensional accuracy of an automobile is improved.
However, the above-mentioned noncontact car body positioning system relies on technologies such as image processing and photogrammetry, and the detection accuracy is affected by various factors, which is not as high as that of the conventional mechanical contact positioning. Meanwhile, the vehicle body positioning system is often applied to online detection, and a non-contact vehicle body positioning scheme adopting visual detection as a technical core needs longer time in the positioning process, so that the online detection requirement on a high-speed assembly line is difficult to meet.
In summary, how to design a positioning device for optimizing the existing mechanical contact positioning device in an automatic automobile production line, to speed up the production process and further improve the efficiency is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a positioning device for an automatic automobile production line, which is used for optimizing the existing mechanical contact type positioning device, further improving the assembly precision or welding precision, accelerating the production beat and further improving the efficiency.
In order to achieve the above purpose, the present invention adopts the following scheme: the intelligent positioning equipment comprises an intelligent positioning system, a clamp for clamping a vehicle body component, a positioning device and a moving device which moves between stations on the automatic vehicle production line according to a specified track;
the top of the moving device is provided with a bearing platform, the clamp is fixedly arranged on the bearing platform, and the positioning devices are arranged according to the positions of positioning holes on the vehicle body component;
the positioning device comprises a bottom plate, a first sliding plate, a second sliding plate and a probe matched with a positioning hole, wherein the probe is connected with the head end of the first sliding plate, the tail end of the first sliding plate is connected with the head end of the second sliding plate through a first sliding rail, the tail end of the second sliding plate is connected with the head end of the bottom plate through a second sliding rail, the axis of the first sliding rail is provided with an intersection point with the axis of the second sliding rail, the tail end of the bottom plate is connected with a telescopic device for providing power for axial displacement of the probe, and the telescopic device is fixedly arranged on a bearing platform through a bracket;
the base plate is provided with a first ranging structure and a second ranging structure, the first ranging structure is used for acquiring a first displacement value of the first sliding plate moving along the extending direction of the first sliding rail and transmitting the first displacement value to the intelligent positioning system, and the second ranging structure is used for acquiring a second displacement value of the second sliding plate moving along the extending direction of the second sliding rail and transmitting the second displacement value to the intelligent positioning system;
the support is provided with a third distance measurement structure, and the third distance measurement structure is used for acquiring a third displacement value of the probe along the axial movement and transmitting the third displacement value to the intelligent positioning system;
the intelligent positioning system obtains the offset value of the positioning hole according to the first displacement value, the second displacement value and the third displacement value, and the intelligent positioning system drives the execution equipment on the station to recalibrate the position coordinates of the vehicle body component according to the offset value.
Preferably, the moving device is an AGV carrying trolley, the station is a vehicle door welding station, the vehicle door welding station comprises a six-axis robot and a moving guide rail for the six-axis robot to slide, a base of the six-axis robot is fixedly arranged on the moving guide rail, a pair of moving guide rails are arranged in parallel, a transport channel for the passing of the AGV carrying trolley is arranged between the pair of moving guide rails, and a marker body for positioning the AGV carrying trolley is arranged in the transport channel. So set up, combine together intelligent positioning equipment and current door welding production line, utilize the flexible probe in the positioner, optimized the step of the repeated positioning clamping of door, further improved welding efficiency, through AGV carrier trolley's positioning accuracy in the transportation passageway and the position accuracy of door for AGV carrier trolley, guaranteed the position accuracy between door and the welding equipment, be favorable to further promoting the welding quality of door.
Preferably, the positioning device comprises a housing, a bottom plate, a first sliding plate, a second sliding plate, a first ranging structure and a second ranging structure are all located in the housing, and a detection opening for the probe to extend out is formed in the end face of the head end of the housing. The setting of housing is favorable to protecting first range finding structure and second range finding structure, when preventing that equipment maloperation from bumping, can play the effect of protecting positioner's core component. Especially, when intelligent positioning equipment is applied to welding production line, the interference of the strong light that the welding machine sent on the adjacent station in the workshop produced to first range finding structure and second range finding structure has greatly reduced, and then has improved the stability of equipment operation.
Preferably, the probe is provided with a contact section and a connecting section, a transition section is arranged between the contact section and the connecting section, the head end of the contact section is conical or spherical, the tail end of the connecting section is fixedly arranged at the head end of the first sliding plate, and the transition section is provided with an elastic device for buffering the probe. The head end of the contact section is conical or spherical, so that the telescoping device is beneficial to driving the probe to be better matched with the positioning hole in the moving process of the probe. The elastic device is favorable for buffering the axial force transmitted by the telescopic device and avoiding the impact on the vehicle body component.
Preferably, the first ranging structure comprises a first ranging sensor and a first baffle, the first ranging sensor is fixedly mounted on the side wall of the bottom plate, the first baffle is fixedly mounted on the side wall of the first sliding plate, the reflecting surface of the first baffle is opposite to the detecting end of the first ranging sensor, the second ranging structure comprises a second ranging sensor and a second baffle, the second ranging sensor is fixedly mounted on the side wall of the bottom plate, the second baffle is fixedly mounted on the side wall of the second sliding plate, and the reflecting surface of the second baffle is opposite to the detecting end of the second ranging sensor. So set up, through the relative position change between range sensor and the separation blade, acquire first displacement value and the second displacement value that first sliding plate and second sliding plate produced respectively, and then obtain the locating hole on the automobile body component and for the change that initial position takes place, the work origin of the last executive equipment of station of being convenient for has further improved the takt, is favorable to further improving the positioning accuracy of automobile body component.
Preferably, a backing plate is arranged between the telescopic device and the bracket, and a limiting mechanism for limiting the probe to move along the axial direction is arranged on the bracket. The setting of backing plate is convenient for leveling between telescoping device and the support on the one hand, is favorable to guaranteeing that telescoping device's power take off direction coincides mutually with the axis of probe, and on the other hand increases the interval between telescoping device and the support, prevents that telescoping device from driving bottom plate and support under operating condition and taking place to interfere, is favorable to further improving reliability and the stability of equipment operation.
Preferably, the telescopic device is a telescopic cylinder, a connecting plate is arranged at the piston rod end of the telescopic cylinder, and the bottom plate is fixedly arranged on the connecting plate. So set up, select the power supply device of this kind of pneumatic type of flexible cylinder as the probe, on the one hand consider that pneumatic transmission is faster for hydraulic drive's response speed, be favorable to further promoting the efficiency that the automobile body component was fixed a position, on the other hand can directly use the current air supply of other equipment on the station, be convenient for to the transformation of current automated production line, reduce transformation cost.
Preferably, the axis of the first sliding rail is perpendicular to the axis of the second sliding rail. The setting is convenient for establish the orthogonal coordinate system, and the first displacement value of the first sliding plate and the second displacement value of the second sliding plate are respectively equivalent to the coordinate value on the X, Y coordinate in the orthogonal coordinate system, thereby being beneficial to improving the rate of calculating the offset value by the intelligent positioning system.
The invention also provides a positioning method using the intelligent positioning equipment for the automatic automobile production line, which comprises the following steps:
step one, a moving device loads a vehicle body component to move to a working position of a station along a designated track;
step two, the telescopic device drives the probe to move from an initial position to a positioning hole on the vehicle body component, the side wall of the probe contacts the inner wall of the positioning hole and slides along the inner wall of the positioning hole, and the first distance measuring structure, the second distance measuring structure and the third distance measuring structure respectively obtain a first displacement value, a second displacement value and a third displacement value;
thirdly, the axis of the probe moves to coincide with the axis of the positioning hole, the intelligent positioning system obtains a fixed first displacement value, a fixed second displacement value and a fixed third displacement value, and an offset value of the actual position of the positioning hole relative to the calibration position of the positioning hole is obtained according to the first displacement value, the second displacement value and the fixed third displacement value;
and fourthly, the intelligent positioning system drives the execution equipment on the station to recalibrate the position coordinates of the vehicle body component according to the offset value.
Preferably, the positioning method for the intelligent positioning device of the automatic automobile production line further comprises a probe calibration step:
the method comprises the steps of clamping and fixing a vehicle body component at a working position, driving a probe to move towards a positioning hole on the vehicle body component by a telescopic device, enabling the side wall of the probe to contact the inner wall of the positioning hole and slide along the inner wall of the positioning hole until the axis of the probe coincides with the axis of the positioning hole, and clearing the first displacement value, the second displacement value and the third displacement value to obtain the initial position of the probe.
Compared with the prior art, the intelligent positioning equipment and the positioning method for the automatic automobile production line have the following outstanding substantial characteristics and remarkable progress:
1. according to the intelligent positioning equipment for the automatic automobile production line, the automobile body components are loaded through the moving device and move to the working position of the station along the appointed track, and the step that the skids vertically fall onto the guide pins by means of the lifting table is not needed, so that the vertical conveying time of the automobile body components is shortened, the beat of automatic production is accelerated, and the production efficiency is further improved;
2. the telescopic device of the intelligent positioning equipment for the automatic automobile production line drives the probe to move from the initial position to the positioning hole on the automobile body component, the side wall of the probe contacts the inner wall of the positioning hole and slides along the inner wall of the positioning hole, the extrusion force formed by the probe on the automobile body component is rapidly decomposed towards the directions of the first sliding rail and the second sliding rail through the first sliding plate and the second sliding plate respectively, the situation that the automobile body sheet metal component is deformed due to extrusion of the probe on the positioning hole in the process of positioning the thinner sheet metal component is avoided, and the quality of products is greatly improved;
3. this an intelligent positioning equipment for automizing car production line moves to the axis coincidence with the locating hole through the axis of probe, and intelligent positioning system acquires fixed first displacement value, second displacement value and third displacement value to obtain the offset value of the actual position of locating hole for the calibration position of locating hole according to first displacement value, second displacement value and third displacement value, optimized current mechanical contact positioner, and then further improved assembly precision or welding precision, accelerated production beat, further improved production efficiency.
Drawings
FIG. 1 is a schematic illustration of the use of an intelligent positioning apparatus for an automated automotive production line on a door welding production line in accordance with an embodiment of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a left side view of the drawing;
FIG. 4 is a schematic perspective view of an intelligent positioning device for an automated automobile production line according to an embodiment of the present invention;
FIG. 5 is an assembled schematic view of FIG. 4;
fig. 6 is a front view of fig. 4;
FIG. 7 is a left side view of the intelligent positioner for the automated automotive production line of FIG. 4 with the housing removed;
fig. 8 is a top view of the intelligent positioner of fig. 4 for an automated vehicle manufacturing line with the housing removed.
Reference numerals: AGV carrier vehicle 1, load-carrying platform 2, body member 3, jig 4, positioning device 5, six-axis robot 6, moving rail 7, positioning hole 8, bracket 501, telescopic cylinder 502, housing 503, probe 504, bottom plate 505, second slide plate 506, first slide plate 507, second distance measuring sensor 508, first distance measuring sensor 509, first shutter 510, second shutter 511, first slide rail 512, second slide rail 513, and pad 514.
Detailed Description
The following detailed description of specific embodiments of the invention refers to the accompanying drawings.
An intelligent positioning apparatus for an automated manufacturing line as shown in figures 4-8 is provided for optimizing existing mechanical touch positioning devices on the manufacturing line. According to the intelligent positioning equipment, the vehicle body component is loaded through the moving device and moves to the working position of the station along the specified track, the step that the skid vertically falls onto the guide pin by means of the lifting table is not needed, and the time for vertically conveying the vehicle body component is shortened. Meanwhile, the intelligent positioning system obtains a fixed first displacement value and a fixed second displacement value through the axis of the probe moving to coincide with the axis of the positioning hole, and obtains an offset value of the actual position of the positioning hole relative to the calibration position of the positioning hole according to the first displacement value and the second displacement value. The existing mechanical contact type positioning device is optimized, so that the assembly precision or the welding precision is further improved, the production beat is accelerated, and the production efficiency is further improved.
As shown in fig. 1 in combination with fig. 2, an intelligent positioning apparatus for an automated automobile production line includes an intelligent positioning system, a jig 4 for clamping a body member 3, a positioning device 5, and a moving device for moving between stations on the automated automobile production line in a specified trajectory. The top of the mobile device is provided with a carrying platform 2. The clamp 4 is fixedly arranged on the bearing platform 2. The positioning means 5 are arranged in accordance with the positions of the positioning holes 8 on the vehicle body member 3.
As shown in fig. 4 in combination with fig. 5, the positioning device 5 includes a base plate 505, a first sliding plate 507, a second sliding plate 506, and a probe 504 that mates with the positioning hole 8. The probe 504 is connected to the head end of the first sliding plate 507. The tail end of the first sliding plate 507 is connected to the head end of the second sliding plate 506 through a first sliding rail 512. The trailing end of the second slide plate 506 is coupled to the leading end of the bottom plate 505 by a second slide rail 513. The axis of the first rail 512 has an intersection with the axis of the second rail 513. The rear end of the base plate 505 is connected with a telescopic device for powering the axial displacement of the probe 504. The telescopic device is fixedly mounted on the carrying platform 2 by means of a bracket 501.
The base plate 505 is provided with a first ranging structure and a second ranging structure. The first distance measuring structure is used for acquiring a first displacement value of the first sliding plate 507 along the extending direction of the first sliding rail 512, and transmitting the first displacement value to the intelligent positioning system. The second distance measuring structure is used for acquiring a second displacement value of the second sliding plate 506 moving along the extending direction of the second sliding rail 513, and transmitting the second displacement value to the intelligent positioning system.
A third ranging structure is provided on the support 501, and the third ranging structure is configured to obtain a third displacement value of the probe 504 along the axial direction, and transmit the third displacement value to the intelligent positioning system.
The intelligent positioning system obtains the offset value of the positioning hole 8 according to the first displacement value, the second displacement value and the third displacement value, and the intelligent positioning system drives the execution equipment on the station to recalibrate the position coordinates of the vehicle body component 3 according to the offset value.
As shown in fig. 4, the positioning device 5 includes a housing 503. The bottom plate 505, the first sliding plate 507, the second sliding plate 506, the first ranging structure, and the second ranging structure are all located inside the housing 503. The end face of the head end of the housing 503 is provided with a detection port through which the probe 504 extends. The housing 503 is beneficial to protecting the first ranging structure and the second ranging structure, and can play a role in protecting the core component of the positioning device 5 when the equipment is prevented from being collided by misoperation.
Particularly, when the intelligent positioning equipment is applied to a welding production line, the arrangement of the housing 503 greatly reduces the interference of strong light emitted by a welding machine on adjacent stations in a workshop on the first ranging structure and the second ranging structure, so that the running stability of the equipment is improved; on the other hand, welding slag generated in the welding process of the welding robot is prevented from falling on the core component of the positioning device 5, and meanwhile, the welding slag is convenient to clean.
As shown in fig. 5, the axis of the first rail 512 is perpendicular to the axis of the second rail 513. The arrangement is convenient for establishing an orthogonal coordinate system, the first displacement value of the first sliding plate 507 and the second displacement value of the second sliding plate 506 are respectively equivalent to coordinate values on X, Y coordinates in the orthogonal coordinate system, and the speed of calculating the offset value by the intelligent positioning system is improved. Wherein, the first sliding rail 512 and the second sliding rail 513 may be micro linear guide rails.
A three-dimensional cartesian coordinate system is shown in fig. 5, wherein the X-axis is parallel to the axis of the first rail 512, the Y-axis is parallel to the axis of the second rail 513, and the Z-axis is parallel to the axis of the probe 504. In this way, the coordinates of the points may be used to represent the position coordinates of the center point of the probe 504 in a spatial coordinate system as shown. Before the probe 504 detects the position coordinates of the positioning hole 8 on the vehicle body member 3, it is necessary to perform calibration of the spatial position of the probe 504.
When the probe position is calibrated, the telescopic device drives the probe 504 to move towards the positioning hole 8 on the vehicle body component 3, the side wall of the probe 504 contacts the inner wall of the positioning hole 8 and slides along the inner wall of the positioning hole 8, and the displacement value generated by sliding is decomposed towards the extending directions of the first sliding rail 512 and the second sliding rail 513 respectively. That is, the first displacement value and the second displacement value are formed on the X axis and the Y axis, respectively. Until the axis of the probe 504 coincides with the axis of the positioning hole 8, the position of the probe 504 at this time is defined as the origin, that is, the initial position of the probe 504. The initial position X, Y, Z coordinates of the probe 504 are zero.
As shown in fig. 6, the probe 504 has a contact section and a connection section. A transition section is arranged between the contact section and the connecting section. The head end of the contact section is conical or spherical. The tail end of the connecting section is fixedly mounted at the head end of the first sliding plate 507. The transition section has resilient means to cushion the probe 504. The conical or spherical head end of the contact section is beneficial to the telescopic device to drive the probe 504, and the side wall of the probe 504 can be better matched with the positioning hole 8 in the moving process. The elastic means are advantageous for cushioning the axial forces transmitted by the telescopic means, avoiding the impact on the body component 3.
Wherein, the changeover portion can select the shell structure. The tail end of the casing is connected with the head end of the connecting section through threads. The tail end of the contact section is embedded in the interior of the shell. The inner wall of the sleeve forms a guide for the outer wall of the contact section. The elastic device is positioned in the shell, one end of the elastic device is connected with the connecting section, and the other end of the elastic device is connected with the contact section. The elastic device can be compression spring.
As shown in fig. 7, the first ranging structure includes a first ranging sensor 509 and a first flap 510. The first ranging sensor 509 is fixedly installed on a sidewall of the bottom plate 505. The first blocking piece 510 is fixedly installed on a sidewall of the first sliding plate 507. The reflecting surface of the first baffle 510 is opposite to the detecting end of the first ranging sensor 509.
The second ranging structure includes a second ranging sensor 508 and a second blade 511. A second ranging sensor 508 is fixedly mounted on a sidewall of the bottom plate 505. The second blocking piece 511 is fixedly installed on the sidewall of the second sliding plate 506. The reflecting surface of the second baffle 511 is opposite to the detecting end of the second distance measuring sensor 508.
So set up, through the relative position change between range sensor and the separation blade, acquire first displacement value and the second displacement value that first sliding plate 507 and second sliding plate 506 produced respectively, and then obtain the change that locating hole 8 on the automobile body component 3 took place for initial position, the work origin of the execution equipment on the station of being convenient for adjusts, has further improved production beat, is favorable to further improving the positioning accuracy of automobile body component 3.
Wherein, the first ranging sensor 509 and the second ranging sensor 508 can be laser ranging sensors.
The third ranging structure may be designed similarly to the first ranging structure and the second ranging structure. For example, the third ranging structure includes a third blade and a third ranging sensor. The third flap is fixedly mounted on a side wall of the housing 503. The third ranging sensor is fixedly mounted on the bracket 501. The third distance measuring sensor can also be a laser distance measuring sensor.
As shown in fig. 7, a pad 514 is provided between the telescopic device and the bracket 501. The bracket 501 is provided with a limiting mechanism for limiting the axial movement of the probe 504. The setting of the pad 514 is convenient for leveling between the telescopic device and the bracket 501 on one hand, and is beneficial to ensuring that the power output direction of the telescopic device coincides with the axis of the probe 504; on the other hand, the distance between the telescopic device and the support 501 is increased, so that the telescopic device is prevented from driving the bottom plate 505 to interfere with the support 501 in the working state, and the reliability and stability of the operation of the equipment are further improved. The limit mechanism can be in the form of a limit baffle plate.
The telescoping device is a telescoping cylinder 502. The rod end of the telescopic cylinder 502 is provided with a connecting plate. The bottom plate 505 is fixedly mounted on the connection plate. By adopting the arrangement, the pneumatic telescopic device such as the telescopic cylinder 502 is selected as the power supply device of the probe 504, on one hand, the response speed of pneumatic transmission relative to hydraulic transmission is considered to be faster, and the positioning efficiency of the vehicle body component 3 is further improved; on the other hand, the existing air sources of other equipment can be directly used on the station, so that the improvement of the existing automatic production line is facilitated, and the improvement cost is reduced.
To further improve the positional accuracy of the movement of the telescopic device in the Z-axis direction, the telescopic cylinder 502 may preferably be a triaxial cylinder. The power output shaft of the triaxial cylinder is located between the two guide rod shafts, and the two guide rod shafts form guidance to the telescopic linear motion of the power output shaft, so that the parallelism of the axis of the probe 504 relative to the Z axis is improved.
As shown in fig. 8, the first ranging sensor 509 may be fixedly installed on a sidewall of the bottom plate 505 parallel to the Y-axis through a sensor mount. The second ranging sensor 508 may be fixedly installed on a sidewall of the bottom plate 505 parallel to the X-axis through a sensor mount.
An intelligent positioning device for an automated automotive production line is shown in fig. 1-3 on a door welding production line. Wherein, mobile device is AGV travelling bogie 1. The station is a car door welding station. The door welding station comprises a six-axis robot 6 and a moving guide rail 7 for sliding the six-axis robot 6. The base of the six-axis robot 6 is fixedly arranged on the movable guide rail 7. A pair of moving rails 7 are arranged in parallel. A transport path for passing the AGV carriage 1 is provided between the pair of moving rails 7. A marker body for positioning the AGV carrying trolley 1 is arranged in the conveying passage.
So set up, combine together intelligent positioning equipment and current door welding production line, utilize flexible probe 504 in positioner 5, optimized the step of the repeated location clamping of door, further improved welding efficiency, through AGV carrier 1 in the positioning accuracy of transportation passageway and the position accuracy of door for AGV carrier 1, guaranteed the position accuracy between door and the welding equipment, be favorable to further promoting the welding quality of door.
The embodiment of the invention also provides a positioning method using the intelligent positioning equipment for the automatic automobile production line, which comprises the following steps:
step one, a moving device loads a vehicle body component 3 to move to a working position of a station along a designated track;
step two, the telescopic device drives the probe 504 to move from an initial position to a positioning hole 8 on the vehicle body component 3, the side wall of the probe 504 contacts the inner wall of the positioning hole 8 and slides along the inner wall of the positioning hole 8, and the first distance measuring structure, the second distance measuring structure and the third distance measuring structure respectively obtain a first displacement value, a second displacement value and a third displacement value;
step three, the axis of the probe 504 moves to coincide with the axis of the positioning hole 8, and the intelligent positioning system obtains a fixed first displacement value, a fixed second displacement value and a fixed third displacement value, and the intelligent positioning system obtains an offset value of the actual position of the positioning hole 8 relative to the calibration position of the positioning hole 8 according to the first displacement value, the second displacement value and the fixed third displacement value;
and fourthly, the intelligent positioning system drives the execution equipment on the station to recalibrate the position coordinates of the vehicle body component 3 according to the offset value.
The positioning method for the intelligent positioning equipment of the automatic automobile production line further comprises the steps of calibrating the probe: the body component 3 is clamped and fixed at a working position, the telescopic device drives the probe 504 to move towards the positioning hole 8 on the body component 3, the side wall of the probe 504 contacts the inner wall of the positioning hole 8 and slides along the inner wall of the positioning hole 8 until the axis of the probe 504 coincides with the axis of the positioning hole 8, and then the first displacement value, the second displacement value and the third displacement value are cleared to obtain the initial position of the probe 504.
The present invention is not limited to the specific technical solutions described in the above embodiments, and other embodiments may be provided in addition to the above embodiments. Any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art, which are within the spirit and principles of the present invention, are intended to be included within the scope of the present invention.

Claims (10)

1. The intelligent positioning equipment for the automatic automobile production line is characterized by comprising an intelligent positioning system, a clamp for clamping an automobile body component, a positioning device and a moving device which moves between stations on the automatic automobile production line according to a specified track;
the top of the moving device is provided with a bearing platform, the clamp is fixedly arranged on the bearing platform, and the positioning devices are arranged according to the positions of positioning holes on the vehicle body component;
the positioning device comprises a bottom plate, a first sliding plate, a second sliding plate and a probe matched with a positioning hole, wherein the probe is connected with the head end of the first sliding plate, the tail end of the first sliding plate is connected with the head end of the second sliding plate through a first sliding rail, the tail end of the second sliding plate is connected with the head end of the bottom plate through a second sliding rail, the axis of the first sliding rail is provided with an intersection point with the axis of the second sliding rail, the tail end of the bottom plate is connected with a telescopic device for providing power for axial displacement of the probe, and the telescopic device is fixedly arranged on a bearing platform through a bracket;
the base plate is provided with a first ranging structure and a second ranging structure, the first ranging structure is used for acquiring a first displacement value of the first sliding plate moving along the extending direction of the first sliding rail and transmitting the first displacement value to the intelligent positioning system, and the second ranging structure is used for acquiring a second displacement value of the second sliding plate moving along the extending direction of the second sliding rail and transmitting the second displacement value to the intelligent positioning system;
the support is provided with a third distance measurement structure, and the third distance measurement structure is used for acquiring a third displacement value of the probe along the axial movement and transmitting the third displacement value to the intelligent positioning system;
the intelligent positioning system obtains the offset value of the positioning hole according to the first displacement value, the second displacement value and the third displacement value, and the intelligent positioning system drives the execution equipment on the station to recalibrate the position coordinates of the vehicle body component according to the offset value.
2. The intelligent positioning device for an automated vehicle production line according to claim 1, wherein the moving device is an AGV carrier, the station is a door welding station, the door welding station comprises a six-axis robot and a moving guide rail for sliding of the six-axis robot, a base of the six-axis robot is fixedly mounted on the moving guide rail, a pair of moving guide rails are arranged in parallel, a transportation channel for passing the AGV carrier is arranged between the pair of moving guide rails, and a marker body for positioning the AGV carrier is arranged in the transportation channel.
3. The intelligent positioning device for an automated automobile production line according to claim 1, wherein the positioning device comprises a housing, the bottom plate, the first sliding plate, the second sliding plate, the first ranging structure and the second ranging structure are all located inside the housing, and a detection opening for extending a probe is formed in an end face of a head end of the housing.
4. The intelligent positioning device for an automated automobile production line according to claim 1, wherein the probe is provided with a contact section and a connection section, a transition section is arranged between the contact section and the connection section, the head end of the contact section is conical or spherical, the tail end of the connection section is fixedly arranged at the head end of the first sliding plate, and the transition section is provided with an elastic device for buffering the probe.
5. The intelligent positioning apparatus for an automated vehicle manufacturing line of claim 1, wherein the first ranging structure comprises a first ranging sensor and a first baffle, the first ranging sensor is fixedly mounted on a side wall of the bottom plate, the first baffle is fixedly mounted on a side wall of the first sliding plate, a reflecting surface of the first baffle is opposite to a detecting end of the first ranging sensor, the second ranging structure comprises a second ranging sensor and a second baffle, the second ranging sensor is fixedly mounted on a side wall of the bottom plate, the second baffle is fixedly mounted on a side wall of the second sliding plate, and a reflecting surface of the second baffle is opposite to a detecting end of the second ranging sensor.
6. The intelligent positioning device for an automatic automobile production line according to claim 1, wherein a base plate is arranged between the telescopic device and the bracket, and a limiting mechanism for limiting the probe to move along the axial direction is arranged on the bracket.
7. The intelligent positioning apparatus for an automated vehicle manufacturing line of claim 6, wherein the telescoping device is a telescoping cylinder, the rod end of the telescoping cylinder is provided with a connecting plate, and the bottom plate is fixedly mounted on the connecting plate.
8. The intelligent positioning apparatus for an automated vehicle manufacturing line of claim 1, wherein the axis of the first slide rail is perpendicular to the axis of the second slide rail.
9. The positioning method of an intelligent positioning device for an automated automotive production line according to any one of claims 1 to 8, comprising:
step one, a moving device loads a vehicle body component to move to a working position of a station along a designated track;
step two, the telescopic device drives the probe to move from an initial position to a positioning hole on the vehicle body component, the side wall of the probe contacts the inner wall of the positioning hole and slides along the inner wall of the positioning hole, and the first distance measuring structure, the second distance measuring structure and the third distance measuring structure respectively obtain a first displacement value, a second displacement value and a third displacement value;
thirdly, the axis of the probe moves to coincide with the axis of the positioning hole, the intelligent positioning system obtains a fixed first displacement value, a fixed second displacement value and a fixed third displacement value, and an offset value of the actual position of the positioning hole relative to the calibration position of the positioning hole is obtained according to the first displacement value, the second displacement value and the fixed third displacement value;
and fourthly, the intelligent positioning system drives the execution equipment on the station to recalibrate the position coordinates of the vehicle body component according to the offset value.
10. The method for positioning intelligent positioning equipment for an automatic automobile production line according to claim 9, comprising the steps of calibrating the probe, clamping and fixing the automobile body component at a working position, driving the probe to move towards a positioning hole in the automobile body component by the telescopic device, enabling the side wall of the probe to contact the inner wall of the positioning hole and slide along the inner wall of the positioning hole until the axis of the probe coincides with the axis of the positioning hole, and clearing the first displacement value, the second displacement value and the third displacement value to obtain the initial position of the probe.
CN202111340047.9A 2021-11-12 2021-11-12 Intelligent positioning equipment and positioning method for automatic automobile production line Active CN114229442B (en)

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