CN219565312U - Automatic assembly system for automobile - Google Patents

Abstract

The utility model provides an automatic assembly system of an automobile, which comprises: the camera unit is used for collecting window frame point clouds on the frame; the processor module is used for acquiring window frame point clouds and determining the position of the window frame according to the window frame point clouds; a robot unit including an end effector for sucking the target part by the end effector and moving the target part to an upper side of the window frame; the end effector is provided with a plurality of line scanning cameras distributed along the circumferential direction, and the line scanning cameras are used for acquiring line scanning point clouds between a plurality of sides of the target part and sides of the corresponding window frame, so that the processor module determines the distance between the target part and the window frame according to the line scanning point clouds, and the operation of the end effector is adjusted according to the distance so as to mount the target part. The utility model can not only avoid the problem of inclination of the installation of the target component, but also can improve the installation efficiency.

Description

Automatic assembly system for automobile

Technical Field

The utility model relates to an industrial robot, in particular to an automatic automobile assembly system.

Background

The robot is intelligent equipment with a sensor, an objective lens and an electronic optical system, and can be used for rapidly sorting cargoes, carrying, loading and unloading parts and installing the parts.

More and more 3D vision sensors and force sensors are used on the robot, and the robot becomes more and more intelligent. With the technical progress of sensing and recognition systems, artificial intelligence and the like, robots are gradually informationized from unidirectional control to self-storage and self-application data development.

The windshield of an automobile can not only provide a front view but also protect occupants from intrusion. Modern windshields generally employ laminated safety glass, a treated glass, laminated with two layers of bent sheet glass and plastic to ensure safety.

In the prior art, when a core target component such as a windshield or a sunroof is mounted on a window frame by bonding, the mounting is often performed manually, which is time-consuming and labor-consuming, and the problem of mounting inclination is often caused, so that a robot capable of automatically mounting an automobile target component is required to solve the problems.

Disclosure of Invention

In view of the defects in the prior art, the utility model aims to provide an automatic automobile assembly system.

The automatic automobile assembly system provided by the utility model comprises:

the camera unit is used for collecting window frame point clouds on the frame;

the processor module is used for acquiring the window frame point cloud and determining the position of the window frame according to the window frame point cloud;

a robot unit including an end effector for sucking a target part by the end effector and moving the target part to an upper side of the window frame; the end effector is provided with a plurality of line scanning cameras distributed along the circumferential direction, and the line scanning cameras are used for collecting line scanning point clouds between a plurality of sides of the target part and the corresponding window frame sides, so that the processor module determines the distance between the target part and the window frame according to the line scanning point clouds, and the operation of the end effector is adjusted according to the distance so as to install the target part.

Preferably, the end effector comprises a clamp mount;

the clamp bracket is provided with a plurality of suckers, and the suckers are used for sucking automobile target components;

each corner end of the fixture support is at least provided with a line scanning camera, and the line scanning camera acquires line scanning point clouds between a plurality of sides of the target component and the corresponding window frame sides.

Preferably, the plurality of suction cups form a first suction cup set and a second suction cup set;

the first sucker group is positioned on a side frame of the clamp bracket; the second sucking disc group is positioned on the frame at the other side of the clamp bracket;

the first suction cup group and the second suction cup group form a suction cup matrix.

Preferably, the first sucker group and the second sucker group each comprise four suckers arranged in a straight line.

Preferably, two line scanning cameras are arranged at each corner end close to one side of the clamp bracket, and one line scanning camera is arranged at each corner end close to the other side of the clamp bracket.

Preferably, the clamp bracket has a rectangular structure;

the first sucking disc group is arranged on one side edge of the clamp bracket, and the second sucking disc group is arranged on the other side edge of the clamp bracket.

Preferably, the suction cup is connected with the clamp bracket through a first mounting bracket;

the line scanning camera is connected with the clamp bracket through a second mounting bracket.

Preferably, the first mounting bracket includes a first connection plate, a first post-fixing clip, a second post-fixing clip, a first post, and a second post;

one side surface of the first connecting disc is connected with the clamp bracket, and the other side surface of the first connecting disc is connected with the first support fixing clamp through the first support;

the first pillar fixing clamp is connected with the second pillar fixing clamp through the second pillar;

the sucking disc is installed in the clamping hole of the second pillar fixing clamp.

Preferably, the second mounting bracket includes a second connection pad, a third pillar fixing clip, a fourth pillar fixing clip, a fifth pillar fixing clip, a third pillar, a fourth pillar, a fifth pillar, and a sixth pillar;

one side surface of the second connecting disc is connected with the clamp bracket, and the other side surface of the second connecting disc is connected with the third support fixing clamp through the third support;

the third pillar fixing clamp is connected with the fourth pillar fixing clamp through the fourth pillar; the fourth pillar fixing clamp is connected with the fifth pillar fixing clamp through the fifth pillar;

the line scanning camera is installed in the clamping hole of the fifth support fixing clamp through the sixth support.

Preferably, the target component includes any one of the following components:

-a windscreen;

-a radar fascia;

-a skylight.

Compared with the prior art, the utility model has the following beneficial effects:

according to the utility model, the camera unit is controlled to collect the window frame point cloud on the frame, the position of the window frame is determined according to the window frame point cloud, then the target part is sucked through the end effector, the target part is moved to the upper side of the window frame, and then the line scanning point cloud between a plurality of sides of the target part and the corresponding window frame sides is obtained through the line scanning camera, so that the processor module determines the distance between the target part and the window frame according to the line scanning point cloud, and the operation of the end effector is adjusted according to the distance to mount the target part, thereby not only avoiding the problem of installation inclination of the target part, but also improving the installation efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art. Other features, objects and advantages of the present utility model will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a schematic view of a first module of an automotive auto-assembly system according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a second module of the automotive auto-assembly system according to an embodiment of the present utility model;

FIG. 3 is a schematic view of an automatic automobile assembly system according to an embodiment of the present utility model;

FIG. 4 is a schematic view of an initial state of a windshield relative to a window frame in an embodiment of the present utility model;

FIG. 5 is a schematic view of the final state of the windshield relative to the window frame in an embodiment of the utility model;

FIG. 6 is a schematic diagram of an end effector according to an embodiment of the present utility model;

FIG. 7 is a schematic view of a third module of the automotive auto-assembly system according to an embodiment of the present utility model;

FIG. 8 is a schematic diagram of a fourth module of an automotive auto-assembly system according to an embodiment of the present utility model;

FIG. 9 is a schematic view of a fifth module of an automotive auto-assembly system according to an embodiment of the present utility model;

FIG. 10 is a flowchart illustrating steps of a method for assembling a target part of an automobile in accordance with an embodiment of the present utility model;

FIG. 11 is a schematic view of a construction of an automobile target component mounting apparatus according to an embodiment of the present utility model; and

fig. 12 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present utility model.

In the figure:

101 is a robot unit; 1011 is the end effector; 10111 is a clamp bracket; 10112 is a suction cup; 102 is a processor module; 103 is a camera unit.

Detailed Description

The present utility model will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present utility model.

The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the utility model described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The technical scheme of the utility model is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.

The following describes the technical scheme of the present utility model and how the technical scheme of the present utility model solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present utility model will be described below with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of a first module of an automatic automobile assembly system according to an embodiment of the present utility model, and fig. 3 is a schematic diagram of a structure of an automatic automobile assembly system according to an embodiment of the present utility model, where, as shown in fig. 1 and fig. 3, the automatic automobile assembly system provided by the present utility model includes:

a camera unit 103 for capturing a window frame point cloud on the carriage;

the processor module 102 is configured to obtain the window frame point cloud, and determine a position of the window frame according to the window frame point cloud;

a robot unit 101 including an end effector 1011 for sucking a target member by the end effector 1011 and moving the target member to the upper side of the window frame; the end effector 1011 is provided with a plurality of line scan cameras distributed along the circumferential direction, and the line scan cameras are configured to obtain line scan point clouds between a plurality of sides of the target component and sides of the window frame, so that the processor module determines a distance between the target component and the window frame according to the line scan point clouds, and adjusts the operation of the end effector 1011 according to the distance to mount the target component.

In an embodiment of the utility model, the point cloud is a data set, each point in the data set representing a set of X, Y, Z geometric coordinates and an intensity value that records the intensity of the return signal based on the reflectivity of the object surface. When these points are combined together, a point cloud is formed, i.e., a collection of data points representing a 3D shape or object in space. The point cloud may also be automatically colored to achieve a more realistic visualization.

In the embodiment of the present utility model, the camera unit 103 is a 3D camera module, and includes a projector, a light receiving sensor, and a processor; the projector is used for projecting the structure light to the window frame; a light receiving sensor receives the structured light reflected by the window frame to generate a structured light pattern; the processor module 102 reconstructs the window frame point cloud from the structured light pattern.

The line scanning camera is also one type of 3D camera module, and the light receiving sensors in the line scanning camera are arranged linearly and only have one row of pixel units.

In the embodiment of the present utility model, the robot unit 101 may be a six-axis robot. It should be noted that, in an actual application scenario, any automation device capable of realizing the grabbing and transporting functions can be applied to the technical scheme of the present utility model.

Fig. 2 is a schematic diagram of a second module of the automatic assembly system of the automobile according to the embodiment of the utility model, as shown in fig. 2, the processor module 102 includes:

the window frame positioning unit is used for acquiring the window frame point cloud and determining the position of the window frame according to the window frame point cloud;

the glass positioning unit is used for acquiring line scanning point clouds between a plurality of sides of the target component and the corresponding window frame sides, and determining the distance between the target component and the window frame according to the line scanning point clouds;

and an installation control unit for controlling the robot unit 101 to adjust the operation of the end effector 1011 to perform the installation of the target component according to the distance.

Fig. 4 is a schematic diagram of an initial state of a windshield relative to a window frame in an embodiment of the present utility model, and fig. 5 is a schematic diagram of a final state of the windshield relative to the window frame in an embodiment of the present utility model, as shown in fig. 4 and 5, after controlling the robot unit to adjust the operation of the end effector according to any one or more of the face difference value, the on-side gap value, and the on-side gap value, the windshield is located at the center of the window frame, and distances between opposite sides of the windshield and opposite sides of the window frame are equal.

FIG. 6 is a schematic view of an end effector, as shown in FIG. 6, wherein the end effector 1011 includes a clamp bracket 10111;

the clamp bracket 10111 is provided with a plurality of suckers 10112, and the suckers 10112 are used for sucking target components of the automobile;

each corner end of the clamp bracket 10111 is provided with at least one line scan camera, which acquires a line scan point cloud between a plurality of sides of the target component and a corresponding window frame side.

In an embodiment of the present utility model, the plurality of suction cups 10112 forms a first suction cup set and a second suction cup set;

the first sucking disc group is positioned on a side frame of the clamp bracket 10111; the second sucking disc group is positioned on the other side frame of the clamp bracket 10111;

the first suction cup group and the second suction cup group form a suction cup matrix.

In the embodiment of the utility model, the first sucker group and the second sucker group comprise four suckers which are arranged in a straight line.

The number of the line scanning cameras is six, in fig. 3, two line scanning cameras are arranged at each corner end near the corner end of the upper side of the clamp bracket 10111, and one line scanning camera is arranged at each corner end near the corner end of the lower side of the clamp bracket 10111.

In the embodiment of the present utility model, the clamp bracket 10111 has a rectangular structure;

the first suction cup group is arranged on one side edge of the clamp bracket 10111, and the second suction cup group is arranged on the other side edge of the clamp bracket 10111.

The sucker 10112 is connected with the clamp bracket 10111 through a first mounting bracket; the line scan camera is connected to the clamp bracket 10111 by a second mounting bracket.

In an embodiment of the present utility model, the first mounting bracket includes a first connection plate, a first post-fixing clip, a second post-fixing clip, a first post, and a second post;

one side surface of the first connecting disc is connected with the clamp bracket 10111, and the other side surface of the first connecting disc is connected with the first support fixing clamp through the first support;

the first pillar fixing clamp is connected with the second pillar fixing clamp through the second pillar;

the suction cup 10112 is mounted in the clamping hole of the second post fixing clamp.

The first and second struts are rotatable within the clamp holes of the strut clamps to adjust the position of the suction cup 10112 prior to the strut clamps being fixedly locked.

In the embodiment of the utility model, the second mounting bracket comprises a second connecting disc, a third pillar fixing clamp, a fourth pillar fixing clamp, a fifth pillar fixing clamp, a third pillar, a fourth pillar, a fifth pillar and a sixth pillar;

one side surface of the second connecting disc is connected with the clamp bracket 10111, and the other side surface of the second connecting disc is connected with the third support fixing clamp through the third support;

the third pillar fixing clamp is connected with the fourth pillar fixing clamp through the fourth pillar; the fourth pillar fixing clamp is connected with the fifth pillar fixing clamp through the fifth pillar;

the line scanning camera is installed in the clamping hole of the fifth support fixing clamp through the sixth support.

The third, fourth, fifth and sixth struts are rotatable within the clamp holes of the strut clamps to adjust the position of the line scan camera prior to fixedly locking the strut clamps.

Fig. 7 is a schematic view of a third module of the automatic assembly system of the automobile according to the embodiment of the utility model, as shown in fig. 7, the window frame positioning unit includes the following parts:

a model obtaining part, configured to obtain a preset window frame model, where the window frame includes preset point pair features and corresponding gesture points;

a point pair matching part for acquiring the window frame point cloud, generating point pair characteristics of the window frame point cloud, registering the point pair characteristics of the window frame point cloud with the point pair characteristics of the window frame model to determine corresponding pose points, and registering the pose points into the window frame point cloud;

and the position determining part is used for determining the position of the window frame according to the position point in the point cloud of the window frame.

Fig. 8 is a schematic diagram of a fourth module of the automatic assembly system of the automobile according to the embodiment of the utility model, and as shown in fig. 8, the glass positioning unit includes the following parts:

an image acquisition section for acquiring a line scanning point cloud between a plurality of sides of the target member and the corresponding window frame sides,

a face difference determining part for determining a face difference value between each side edge of the target component and a corresponding window frame side edge according to the line scanning point cloud;

in the embodiment of the utility model, when the control point position difference value is consistent and minimum, the method specifically comprises the following steps:

e _flush ＝∑n ^T (RP _i +t-c)

wherein e _flush Optimizing term for point area difference value, n is the plane normal direction of the window frame, c is the plane center of the window frame, R is the rotation matrix of the target component to be optimized, t is the translation amount of the target component, and P _i The area difference point on the target component side of the i-th camera unit 103 is represented.

The plane parameters (n, c) are obtained by fitting a plurality of line scan point clouds on the window frame.

For safety reasons, the face difference value to be optimized should not be equal to the actual expected value, but should be greater than the actual expected value, equal to a certain preset fixed value, while considering consistency, all the point-to-plane distances can be considered as the same number for easy solution.

Wherein r= -VU ^T Let W be ₁ ＝∑P _i n ^T Wherein V is W ₁ Right singular matrix, U is W ₁ Is a left singular matrix of (c).

In the modification of the utility model, R can be solved in another way, a rotation axis is obtained according to the plane normal of the window frame and the plane normal of the target component, the rotation quantity is obtained by the included angle, and the offset in the Z-axis direction is obtained along the normal.

The same-side clearance determining part is used for determining the same-side clearance value of each side of the target component and the corresponding window frame side according to at least two line scanning point clouds on the same side of the target component;

in the embodiment of the utility model, when the same side clearance is controlled to be consistent, the following concrete steps are:

e _side ＝∑||RΔP-ΔP′|| ²

e _side optimization term for same-side gap agreement, where agreement refers to parallel and equal, i.e., vector equal, P ₁ ′-(RP ₁ +t)＝P ₂ ′-(RP ₂ +t), deforming to obtain Δp' =rΔp,

P ₁ representing a point on a target part acquired by a first camera on the same side, P ₁ ' represents the point on the window frame acquired by the first camera on the same side, P ₂ Representing a point on a target part acquired by a second camera on the same side, P ₂ ' represents the point on the camera window frame of the second acquisition on the same side, Δp represents the difference between the two points on the target part; ΔP' represents the difference between two points on the window frame.

Optimization of ipsilateral gap agreement is equivalent to normalized point-to-point registration, solving for r=vu ^T Let W be ₂ ＝ΣΔPΔP′ ^T Wherein V is W ₂ Right singular matrix, U is W ₂ Is a left singular matrix of (c).

And the two-side clearance determining part is used for determining two-side clearance values according to the distances between the two opposite side edges of the target component and the corresponding window frame side edges.

In the embodiment of the utility model, when the gaps at the two sides are controlled to be consistent, the method specifically comprises the following steps:

e _lr ＝∑||RP _mid +t-p′ _mid || ²

e _lr representing the optimization term with consistent gap between two sides, P _mid Representing the midpoint of two points on both sides of the target part; p's' _mid Representing the midpoint of two points on both sides of the window frame.

The agreement here is still parallel and phaseEtc., P _l ′-(RP _l +t)＝(RP _r +t)-P _r ' deforming to obtain RP _mid +t＝P′ _mid ,

P _l Representing a point on a target part acquired by the same-side left camera, P _l ' represents a point on the window frame acquired by the left camera, P _r Representing a point on a target part acquired by the right camera, P _r ' represents a point on the window frame acquired by the right camera,

the optimization of the consistent gaps at the two sides is equivalent to common point-to-point registration, namely, the middle points are overlapped, at least three point pairs are needed for solving the registration, and only two pairs of middle points are needed for solving the R by combining with the optimization term, and the R can be obtained by only expanding a W matrix and then carrying back to the formula to obtain t.

Fig. 9 is a schematic view of a fifth module of the automatic assembly system of the automobile according to the embodiment of the utility model, and as shown in fig. 9, the installation control unit includes the following parts:

a movement control part for controlling the operation of the end effector to move the target member to the upper side of the window frame and to make the maximum distance between the target member and the window frame smaller than a preset first distance threshold;

the iteration operation part is used for acquiring the face difference value, the same-side clearance value and the two-side clearance value, finely adjusting the position of the target component, and simultaneously and iteratively calculating the face difference value, the same-side clearance value and the two-side clearance value so that the face difference value is smaller than a preset face difference value threshold, the same-side clearance value is larger than a preset same-side clearance value threshold, and the two-side clearance value is smaller than a preset two-side clearance value threshold;

and a mounting control section for controlling the robot unit 101 to adjust the operation of the end effector to mount the target member on the window frame.

In the embodiment of the utility model, the gap and the face difference value can be alternately optimized to solve R until convergence. This process mainly takes into account the convergence of the rotational component, while the final translational component can be obtained by combining the gap surface difference results, a particular theoryTheoretically, the translation t calculated by the clearance ₀ Substituting the centroid value into the transformation of the face difference value, obtaining the centroid after the face difference value point is changed, projecting the centroid to the plane of the window frame, calculating the final t, is the average of all points of the target part.

Fig. 10 is a flowchart illustrating steps of an assembly method of an automobile target component according to an embodiment of the present utility model, and as shown in fig. 10, the assembly method of an automobile target component provided by the present utility model includes the following steps:

step S1: acquiring the window frame point cloud, and determining the position of the window frame according to the window frame point cloud;

step S2: acquiring line scanning point clouds between a plurality of sides of the target component and the corresponding window frame sides, and determining the distance between the target component and the window frame according to the line scanning point clouds;

step S3: the robot unit 101 is controlled to adjust the operation of the end effector according to the distance to perform the mounting of the target component.

The embodiment of the utility model also provides equipment for assembling the automobile target part, which comprises a processor and a memory. A memory having stored therein executable instructions of a processor. Wherein the processor is configured to perform the steps of the method of assembling a target component of a vehicle via execution of the executable instructions.

As described above, in this embodiment, the camera unit is controlled to collect the point cloud of the window frame on the frame, the position of the window frame is determined according to the point cloud of the window frame, then the target component is sucked by the end effector, and is moved to the upper side of the window frame, and then the line scanning point cloud between the plurality of sides of the target component and the side corresponding to the window frame is obtained by the line scanning camera, so that the processor module determines the distance between the target component and the window frame according to the line scanning point cloud, and the end effector is adjusted to install the target component according to the operation of the end effector, so that the problem of installation inclination of the target component can be avoided, and the installation efficiency can be improved.

Those skilled in the art will appreciate that the various aspects of the utility model may be implemented as a system, method, or program product. Accordingly, aspects of the utility model may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" platform.

Fig. 11 is a schematic structural view of an automobile target component mounting apparatus in an embodiment of the present utility model. An electronic device 600 according to this embodiment of the present utility model is described below with reference to fig. 11. The electronic device 600 shown in fig. 11 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present utility model.

As shown in fig. 11, the electronic device 600 is in the form of a general purpose computing device. Components of electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one memory unit 620, a bus 630 connecting the different platform components (including memory unit 620 and processing unit 610), a display unit 640, etc.

Wherein the storage unit stores program code that can be executed by the processing unit 610, such that the processing unit 610 performs the steps according to various exemplary embodiments of the present utility model described in the above-described automobile target component assembling method section of the present specification. For example, the processing unit 610 may perform the steps as shown in fig. 1.

The storage unit 620 may include readable media in the form of volatile storage units, such as Random Access Memory (RAM) 6201 and/or cache memory unit 6202, and may further include Read Only Memory (ROM) 6203.

The storage unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

Bus 630 may be a local bus representing one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or using any of a variety of bus architectures.

The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, camera, depth camera, etc.), one or more devices that enable a user to interact with the electronic device 600, and/or any device (e.g., router, modem, etc.) that enables the electronic device 600 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 650. Also, electronic device 600 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 over the bus 630. It should be appreciated that although not shown in fig. 11, other hardware and/or software modules may be used in connection with electronic device 600, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage platforms, and the like.

The embodiment of the utility model also provides a computer readable storage medium for storing a program, and the steps of the automobile target component assembling method are realized when the program is executed. In some possible embodiments, the various aspects of the utility model may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the utility model as described in the above-mentioned method of assembling automotive target parts of this specification, when the program product is run on the terminal device.

As described above, when the program of the computer readable storage medium of this embodiment is executed, the camera unit is controlled to collect the point cloud of the window frame on the carriage, the position of the window frame is determined according to the point cloud of the window frame, then the target component is sucked by the end effector, and is moved to the upper side of the window frame, and then the line scanning point cloud between the plurality of sides of the target component and the corresponding sides of the window frame is obtained by the line scanning camera, so that the processor module determines the distance between the target component and the window frame according to the line scanning point cloud, and the operation of the end effector is adjusted according to the distance to mount the target component, so that the problem of inclination of mounting the target component can be avoided, and the mounting efficiency can be improved.

Fig. 12 is a schematic structural view of a computer-readable storage medium in an embodiment of the present utility model. Referring to fig. 12, a program product 800 for implementing the above-described method according to an embodiment of the present utility model is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present utility model is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations of the present utility model may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).

In the embodiment of the utility model, a camera unit is controlled to collect the point cloud of a window frame on a frame, the position of the window frame is determined according to the point cloud of the window frame, then an end effector is used for sucking a target part, the target part is moved to the upper side of the window frame, and then a line scanning point cloud between a plurality of sides of the target part and the sides of the window frame is obtained through a line scanning camera, so that a processor module determines the distance between the target part and the window frame according to the line scanning point cloud, and the end effector is adjusted to mount the target part according to the operation of the end effector, thereby not only avoiding the problem of mounting inclination of the target part, but also improving the mounting efficiency

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing describes specific embodiments of the present utility model. It is to be understood that the utility model is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the utility model.

Claims (10)

1. An automotive automatic assembly system, comprising:

the camera unit is used for collecting window frame point clouds on the frame;

the processor module is used for acquiring the window frame point cloud and determining the position of the window frame according to the window frame point cloud;

a robot unit including an end effector for sucking a target part by the end effector and moving the target part to an upper side of the window frame; the end effector is provided with a plurality of line scanning cameras distributed along the circumferential direction, and the line scanning cameras are used for collecting line scanning point clouds between a plurality of sides of the target part and the corresponding window frame sides, so that the processor module determines the distance between the target part and the window frame according to the line scanning point clouds, and the operation of the end effector is adjusted according to the distance so as to install the target part.

2. The automotive automatic assembly system of claim 1, wherein the end effector comprises a clamp mount;

the clamp bracket is provided with a plurality of suckers, and the suckers are used for sucking automobile target components;

each corner end of the fixture support is at least provided with a line scanning camera, and the line scanning camera acquires line scanning point clouds between a plurality of sides of the target component and the corresponding window frame sides.

3. The automotive automatic assembly system of claim 2, wherein the plurality of suction cups form a first suction cup set and a second suction cup set;

the first sucker group is positioned on a side frame of the clamp bracket; the second sucking disc group is positioned on the frame at the other side of the clamp bracket;

the first suction cup group and the second suction cup group form a suction cup matrix.

4. The automated vehicle assembly system of claim 3, wherein the first suction cup set and the second suction cup set each comprise four suction cups arranged in a straight line.

5. The automated vehicle assembly system of claim 2, wherein two line scan cameras are provided at each of the corner ends adjacent one side of the fixture support, and one line scan camera is provided at each of the corner ends adjacent the other side of the fixture support.

6. The automated vehicle assembly system of claim 3, wherein the clamp bracket is of rectangular configuration;

the first sucking disc group is arranged on one side edge of the clamp bracket, and the second sucking disc group is arranged on the other side edge of the clamp bracket.

7. The automated vehicle assembly system of claim 2, wherein the suction cup is coupled to the clamp bracket via a first mounting bracket;

the line scanning camera is connected with the clamp bracket through a second mounting bracket.

8. The automotive auto-assembly system of claim 7, wherein the first mounting bracket comprises a first connection plate, a first post-retaining clip, a second post-retaining clip, a first post, and a second post;

one side surface of the first connecting disc is connected with the clamp bracket, and the other side surface of the first connecting disc is connected with the first support fixing clamp through the first support;

the first pillar fixing clamp is connected with the second pillar fixing clamp through the second pillar;

the sucking disc is installed in the clamping hole of the second pillar fixing clamp.

9. The automotive auto-assembly system of claim 7, wherein the second mounting bracket comprises a second connection pad, a third post retention clip, a fourth post retention clip, a fifth post retention clip, a third post, a fourth post, a fifth post, and a sixth post;

one side surface of the second connecting disc is connected with the clamp bracket, and the other side surface of the second connecting disc is connected with the third support fixing clamp through the third support;

the third pillar fixing clamp is connected with the fourth pillar fixing clamp through the fourth pillar; the fourth pillar fixing clamp is connected with the fifth pillar fixing clamp through the fifth pillar;

the line scanning camera is installed in the clamping hole of the fifth support fixing clamp through the sixth support.

10. The automotive auto-assembly system of claim 1, wherein the target component comprises any one of:

-a windscreen;

-a radar fascia;

-a skylight.