CN115741050B

CN115741050B - Door plant assembly system

Info

Publication number: CN115741050B
Application number: CN202211480996.1A
Authority: CN
Inventors: 仲华; 唐良昭; 王帅
Original assignee: Cenwoy Automation Technology Shanghai Co Ltd
Current assignee: Cenwoy Automation Technology Shanghai Co Ltd
Priority date: 2022-11-24
Filing date: 2022-11-24
Publication date: 2024-03-19
Anticipated expiration: 2042-11-24
Also published as: CN115741050A

Abstract

The invention provides a door plate assembly system, which comprises a processing and conveying device, a door plate placing device, a screw driving device, a riveting device, a buckle mounting device, a door plate taking-out device, a processing and conveying device, a reflux conveying device, a die temporary storage device and a door plate assembly control device for controlling the operation of the devices, wherein under the control of the door plate assembly control device, the die device carrying a door plate to be assembled can be sequentially conveyed to the lower part of each assembly device to carry out each process, and after one door plate is assembled, the used die device can automatically reflux to a first station for reuse; or the condition that corresponds to the assembly product and switches, this mould device can be stored in mould temporary storage to can take out from mould temporary storage and carry to first station with next door plant assorted mould device of waiting to assemble and use, degree of automation is high, also need not the manual intervention when switching the assembly product, can improve production efficiency, saves a large amount of manpowers.

Description

Door plant assembly system

Technical Field

The invention belongs to the technical field of automobile part manufacturing, and particularly relates to a door plate assembly system.

Background

The assembly of automobile door panels generally comprises a plurality of procedures such as screwing, riveting, mounting buckles, quality inspection and the like. At present, in the assembly process, an operator generally carries and places a door plate workpiece on a corresponding workbench, after fixing, each assembly process is manually carried out, and a plurality of problems exist in the assembly mode: firstly, the automobile door panel workpiece has large volume and heavy mass, so that the labor intensity of operators is high, and the production efficiency is low; secondly, the automobile door panel workpiece has large volume, is easy to collide and the like in the carrying process, and affects the quality or the yield of finished products; thirdly, the operator needs to switch a plurality of processing tools to sequentially carry out a plurality of different procedures, the production efficiency is low, and the manual operation is easy to produce errors in the screwing and riveting processes, so that the quality of finished products is affected.

In order to solve the above-mentioned problems and improve the production efficiency of automobile door panels, there is a need for a door panel assembly system capable of realizing automatic assembly, in which there is a corresponding need for a mold device for placing an automobile door panel to be assembled so that the automobile door panel can be circulated between different stations. Because the automobile door plate piece is large in size, correspondingly the die device is large in size and heavy in weight, and the die device is also provided with various types (for fixing automobile door plates of different types), the die device is required to be subjected to backflow and switching structural design, and the problem that the labor intensity of assembly workers is high and efficiency bottleneck in a system is caused by manual carrying and transferring of the die is avoided.

Disclosure of Invention

The present invention has been made to solve the above problems, and an object of the present invention is to provide a door panel assembling system capable of assembling each process for an automobile door panel at different stations, ensuring the assembling quality, and storing and transporting a mold device for mounting the automobile door panel, the door panel assembling system adopting the following technical scheme:

the invention provides a door plate assembly system, which is characterized by comprising: the mold device for door panel assembly is used for carrying automobile door panel workpieces to be assembled, and is provided with an electronic tag and a mold identification number; the door plate placing device, the screw driving device, the riveting device, the buckle mounting device and the door plate taking-out device are sequentially arranged and are respectively used for placing the door plate assembling die device, driving screws on the automobile door plate workpiece of the door plate assembling die device, riveting, buckle mounting and taking out the assembled automobile door plate workpiece; a processing and conveying device for conveying the mold device for assembling the door plate along a preset processing and conveying direction; a reflow conveying device for conveying the mold device for door panel assembly along a predetermined reflow conveying direction; the die temporary storage device is used for storing and conveying the die device for assembling the door plate; and a door panel assembly control device for controlling the assembly process of the automobile door panel workpiece, which at least comprises: a die information storage unit which stores a die identification number of each of the die devices for assembling the door panel and a corresponding workpiece identification number of the automobile door panel workpiece; a die information acquisition part for acquiring a corresponding die identification number according to the input workpiece identification number of the next automobile door panel workpiece to be assembled; a mold switching determination unit configured to determine whether to switch the mold device for door panel assembly of different types based on the current mold identification number and the mold identification number acquired by the mold information acquisition unit; and a die switching control part for controlling the door plate taking device and the die temporary storage device to work cooperatively when the die switching judging part judges that the die is yes, and storing the die device for assembling the door plate at the door plate taking device into the die temporary storage device.

The door panel assembly system provided by the invention may further have a technical feature that the door panel take-out device has a die-receiving unit for receiving the die device for door panel assembly from a processing and conveying device, the die temporary storage device includes: the device comprises a storage conveying track, a transfer conveying track and a taking-out conveying track which are sequentially connected and used for carrying and conveying the die device for assembling the door plate; the third reversing conveying unit is arranged at one end of the storing conveying track and is used for abutting and connecting the die device for assembling the door plate with the die collecting unit, and placing the die device on the storing conveying track for temporary storage, and the die switching control part comprises: and the die storing control unit is used for controlling the die receiving unit and the third reversing conveying unit to work cooperatively, and transferring the die device for assembling the door plate on the die receiving unit onto the storing conveying track for temporary storage.

The door panel assembly system provided by the invention can be further characterized in that the mold receiving unit comprises two parallel chain type conveying tracks, the door panel withdrawing device is further provided with a lifting mechanism for withdrawing the door panel, the door panel withdrawing device is used for driving the mold receiving unit to lift, the storing conveying track comprises two parallel conveying synchronous belt tracks, the third reversing conveying unit is arranged between the two conveying synchronous belt tracks and comprises two parallel reversing synchronous belt tracks and a reversing lifting cylinder arranged below the reversing synchronous belt tracks, the reversing synchronous belt tracks are respectively higher than and lower than the chain type conveying tracks in a jacking state and a non-jacking state, the mold storing control unit firstly controls the reversing lifting cylinder to jack the reversing synchronous belt tracks, and controls the door panel withdrawing lifting mechanism to lift the chain type conveying tracks to be flush with the reversing synchronous belt tracks, then controls the reversing synchronous belt tracks and the chain type conveying tracks to synchronously convey the door panel, and stores the door panel conveying device on the reversing synchronous belt lifting device to the reversing synchronous belt tracks, and the door panel lifting device is placed on the reversing synchronous belt lifting device.

The door panel assembly system provided by the invention can also have the technical characteristics that the transfer conveying track and the taking-out conveying track also comprise two conveying synchronous belt tracks which are arranged in parallel, the conveying direction of the transfer conveying track is perpendicular to the storing conveying track and the taking-out conveying track, and the die temporary storage device further comprises: a first reversing and conveying unit, which is arranged at one end of the storing and conveying track connected with the transferring and conveying track and is positioned between the two conveying synchronous belt tracks, and is used for reversing and conveying the die device for assembling the door plate on the storing and conveying track onto the transferring and conveying track; and a second reversing and conveying unit, which is disposed at one end of the transfer conveying rail, connected to the take-out conveying rail, and is located between the two conveying synchronous belt rails, and is configured to reverse and convey the door panel assembling die device on the transfer conveying rail onto the take-out conveying rail, and when the door panel assembling die device is stored, the die storing unit further controls the storing conveying rail, the transfer conveying rail, the take-out conveying rail, the first reversing and conveying unit, and the second reversing and conveying unit to cooperate to convey the stored door panel assembling die device to a position adjacent to the last stored door panel assembling die device for temporary storage.

The door panel assembly system provided by the invention can be further characterized in that the door panel placing device is provided with a mold pushing unit which can be lifted and can switch the conveying direction, the mold pushing unit is used for placing and conveying the mold device for door panel assembly, a mold detection sensor is arranged at the mold pushing unit and is used for reading the electronic tag so as to obtain the mold identification number, and the mold temporary storage device further comprises: the conveying unit for transplanting is arranged in the reflux conveying device and is close to one end of the conveying track for taking out, and is used for transplanting the die device for door plate assembly temporarily stored on one end of the conveying track for taking out to the reflux conveying device, and the door plate assembly control device further comprises: and a mold storage information storage unit which stores the mold identification number of each of the door panel assembling mold devices stored in the mold temporary storage unit, wherein the mold extraction control unit further includes: a mold extraction judgment unit that judges whether or not the mold identification number acquired by the mold information acquisition unit is present in the mold identification numbers stored by the mold storage information storage unit; a mold extraction control unit configured to control the extraction conveyor rail and the transplanting conveyor unit to cooperate when the mold extraction determination unit determines yes, and sequentially extract and place the temporarily stored mold device for door panel assembly onto the reflow conveyor; a mold transfer control unit for controlling the reflow conveyor and the door panel pushing unit to convey the door panel assembling mold device to the door panel placing device after the mold taking out control unit takes out one door panel assembling mold device; and a die taking-out judging unit for judging whether the die device for assembling the door plate is matched with the next automobile door plate workpiece to be assembled or not according to the die identification number read by the die detection sensor and the die identification number acquired by the die identification number acquiring part.

The door panel assembly system provided by the invention can also have the technical characteristics that the reflow conveying device comprises three reflow conveying units which are respectively arranged below the screw driving device, the riveting device and the buckle mounting device, the three reflow conveying units are arranged at the same height and in the same conveying direction, each reflow conveying unit comprises two chain conveying rails which are arranged in parallel, and the conveying unit for transplanting comprises: two synchronous belt tracks for transplanting, which are arranged in parallel, are arranged between the two chain type conveying tracks of one of the reflux conveying units, and the conveying direction is the same as that of the conveying track for taking out; the lifting cylinder is arranged below the synchronous belt track for transplanting and is used for lifting the synchronous belt track for transplanting, the synchronous belt track for transplanting is respectively higher than and lower than two chain type conveying tracks in a lifting state and a non-lifting state, when the mould device for door plate assembly is taken out, the mould taking-out control unit firstly controls the lifting cylinder for transplanting to lift the synchronous belt track for transplanting, then controls the conveying track for taking out and the synchronous conveying of the synchronous belt track for transplanting, conveys the mould device for door plate assembly to the synchronous belt track for transplanting, and then controls the lifting cylinder for transplanting to put down the synchronous belt track for transplanting and place the mould device for door plate assembly on the chain type conveying track.

The door panel assembly system provided by the invention may further have the technical feature that the mold extraction control part further includes: and the mold taking-out backflow control unit is used for controlling the door plate placing device, the processing conveying device and the door plate taking-out device to convey the unmatched mold device for assembling the door plate to the door plate taking-out device when the mold taking-out judging unit judges that the mold taking-out judging unit is negative, and controlling the door plate taking-out device and the mold temporary storage device to work in a matched mode after the mold device for assembling the door plate flows back to the door plate taking-out device, so that the mold device for assembling the door plate is stored in the mold temporary storage device again.

The door panel assembly system provided by the invention can also have the technical characteristics that the processing and conveying device comprises: three processing conveying unit sets up respectively beat screw device riveting set buckle installation device below, and be located three respectively reflux conveying unit top, three processing conveying unit sets up at same height and direction of delivery is the same, all includes two parallel arrangement's chain conveyor track, door plant assembly control device still includes: a processing conveyance control unit for controlling a processing conveyance process, comprising: the processing lifting control unit is used for controlling the die pushing unit and the die receiving part to lift to be flush with the processing conveying unit; the first processing and conveying control unit is used for controlling the die pushing unit and the processing and conveying unit below the screw driving device to convey the die device for assembling the door plate to the position below the screw driving device; the second processing and conveying control unit is used for controlling the screw driving device and the two processing and conveying units below the riveting device to convey the die device for assembling the door plate to the position below the riveting device; the third processing and conveying control unit is used for controlling the riveting device and the two processing and conveying units below the buckle installation device to convey and convey the die device for assembling the door plate to the position below the buckle installation device; and a fourth processing and conveying control unit for controlling the processing and conveying unit and the die receiving part below the buckle installation device to convey the die device for assembling the door plate to the door plate taking-out device.

The door panel assembly system provided by the invention can also have the technical characteristics that the door panel placement device is also provided with an operation terminal, an assembly starting signal is generated after the operation of an assembly worker is confirmed, and the door panel assembly control device further comprises: the screw driving control part is used for controlling the screw driving device and generating a screw driving completion signal when the screw driving operation is completed; a caulking control section for controlling the caulking apparatus and generating a caulking completion signal when the caulking operation is completed; and a buckle installation control part for controlling the buckle installation device and generating a buckle installation completion signal when the buckle installation operation is completed, wherein the first processing and conveying control unit controls the die pushing unit and the processing and conveying unit below the screw installation device to convey when the assembly start signal is received, the second processing and conveying control unit controls the screw installation device and two processing and conveying units below the riveting device to convey when the screw installation completion signal is received, the third processing and conveying control unit controls the riveting device and two processing and conveying units below the buckle installation device to convey when the riveting completion signal is received, and the fourth processing and conveying control unit controls the processing and conveying unit below the buckle installation device and the die receiving part to convey when the buckle installation completion signal is received.

The door panel assembly system provided by the invention may further have the technical characteristics that the die pushing unit and the three processing and conveying units are respectively provided with a die detection sensor for reading the electronic tag, the first processing and conveying control unit controls the die pushing unit and the processing and conveying unit below the screw device to stop conveying when the die detection sensors of the processing and conveying units below the screw device read the electronic tag, and the second processing and conveying control unit controls the two processing and conveying units below the screw device and below the screw device to stop conveying when the die detection sensors of the processing and conveying units below the screw device read the electronic tag, and the third processing and conveying control unit controls the two processing and conveying units below the screw device and below the screw device to stop conveying when the die detection sensors of the processing and conveying units below the screw device read the electronic tag.

The actions and effects of the invention

The door plate assembly system comprises a processing and conveying device, a door plate placing device, a screw driving device, a riveting device, a buckle mounting device and a door plate taking-out device which are sequentially arranged, wherein an automobile door plate workpiece to be assembled is placed in a door plate assembly mold device to be circulated, and the processing and conveying device is used for sequentially conveying the automobile door plate workpiece to the various devices to perform screw driving, riveting, buckle mounting and taking-out operations, so that the system can automatically complete various procedures of door plate assembly and conveying work among various procedures. Further, the system also comprises a die temporary storage device, a reflux conveying device and a door plate assembly control device, so that the switching situation of assembled products can be automatically dealt with. Specifically, the door panel assembly control device comprises a mold information storage part, a mold information acquisition part, a mold switching judgment part and a mold switching control part, wherein the mold information storage part, the mold information acquisition part, the mold switching judgment part and the mold switching control part are used for correspondingly storing a mold identification number and a workpiece identification number of an automobile door panel workpiece, and the mold information acquisition part can acquire the corresponding mold identification number according to the input workpiece identification number of the next automobile door panel workpiece to be assembled; the mold reflow determination unit can determine whether or not to switch the mold device based on the mold identification number to be used next and the current mold identification number; the mold switching control part can store the currently used mold device into the mold temporary storage device when the mold switching control part needs to be switched, so that the assembly line is free so as to be convenient for placing another mold device. As described above, the door plate assembly system not only can automatically complete each procedure of door plate assembly, but also can temporarily store the used die device, so that the system can well cope with the switching of products to be assembled, saves a great deal of manpower and time, and improves the production efficiency of automobile door plate products and the consistency of final products.

Drawings

FIG. 1 is a block diagram of a door panel assembly system according to an embodiment of the present invention;

FIG. 2 is a perspective view of a door panel placement device according to an embodiment of the present invention;

FIG. 3 is a perspective view of a portion of the structure of a door panel placement device according to an embodiment of the present invention;

FIG. 4 is a perspective view of a mold apparatus in an embodiment of the invention;

FIG. 5 is a perspective view of an embodiment of the invention showing the mold apparatus in an open position;

FIG. 6 is a block diagram of the bottom guide block of the door panel assembling mold apparatus according to the embodiment of the present invention;

FIG. 7 is a schematic view of the configuration of the U-shaped opening and closing arm cooperating with the rotation driving mechanism in the embodiment of the present invention;

FIG. 8 is a perspective view of a mold pushing unit in an embodiment of the invention;

fig. 9 is a perspective view of a lifting mechanism for door panel placement in an embodiment of the present invention;

FIG. 10 is a perspective view of a door panel placement blocking mechanism according to an embodiment of the present invention;

FIG. 11 is a perspective view of a check mechanism for door panel placement in an embodiment of the present invention;

FIG. 12 is a schematic view of a positive release of a check mechanism for door panel placement in an embodiment of the present invention;

FIG. 13 is a schematic view of a reverse release of the check mechanism for door panel placement in an embodiment of the present invention;

FIG. 14 is a perspective view of a screw driving device according to an embodiment of the present invention;

FIG. 15 is a perspective view of a hold down mechanism for driving screws in an embodiment of the invention;

FIG. 16 is a schematic view showing a state of a mold device for assembling a door panel by a hold-down mechanism for screwing in an embodiment of the present invention;

FIG. 17 is a perspective view of a screw driving movement mechanism according to an embodiment of the present invention;

fig. 18 is a perspective view of a first horizontal moving unit in an embodiment of the present invention;

fig. 19 is a perspective view of a second horizontal moving unit in an embodiment of the present invention;

FIG. 20 is a perspective view of a lifting unit for driving screws in an embodiment of the present invention;

FIG. 21 is a top view of a portion of the structure of a snap-fit device in an embodiment of the invention;

FIG. 22 is an enlarged view of the inner portion of frame C of FIG. 21;

fig. 23 is a perspective view of a support portion for snap attachment in the embodiment of the present invention;

FIG. 24 is a perspective view of a snap-fit mechanism in an embodiment of the invention;

FIG. 25 is a perspective view of a snap mount in an embodiment of the invention;

FIG. 26 is a perspective view of a buckle detection unit according to an embodiment of the present invention;

FIG. 27 is a perspective view of a door panel removal device in an embodiment of the invention;

FIG. 28 is a perspective view of a door panel gripper module gripping an automotive door panel workpiece in an embodiment of the invention;

FIG. 29 is a perspective view of a mold register in an embodiment of the present invention;

FIG. 30 is a top view of a mold register in an embodiment of the present invention;

FIG. 31 is a perspective view of one end of a storage conveyor track in accordance with an embodiment of the present invention;

FIG. 32 is a perspective view of one end of a storage conveyor track at a different angle in accordance with an embodiment of the present invention;

FIG. 33 is a schematic diagram of a mold apparatus reflowing in accordance with an embodiment of the present invention;

FIG. 34 is a schematic diagram of temporary storage and reflow of a mold apparatus according to an embodiment of the present invention.

Detailed Description

In order to make the technical means, creation features, achievement of the purposes and effects of the present invention easy to understand, the door panel assembly system of the present invention is specifically described below with reference to the embodiments and the accompanying drawings.

< example >

As shown in fig. 1, the door panel assembly system 1000 includes a door panel placing device 10, a screwing device 30, a riveting device 40, a snap fitting device 50, a door panel taking-out device 60, a processing conveying device 71, a reflow conveying device 72, and a mold temporary storage device 100.

As shown in fig. 2-3, the door panel placement device 10 serves as a first station in the system for placement of the mold device 20, and its structure corresponds to the design of the mold device 20, so the structure and function of the mold device 20 will be described first.

As shown in fig. 4 to 5, the mold device 20 includes a supporting unit 21, a cover plate 22, and a connection unit 23.

The support unit 21 includes a support frame 211, a support mold (not shown in the drawings), and a plurality of mold fixtures 212. The supporting frame 211 is formed by welding square rods made of steel and steel sheets and is used for carrying and supporting the die.

As shown in fig. 6, four guide blocks 2111 are provided below the support frame 211, and downward circular grooves are provided in the middle of the guide blocks 2111, so that when the mold device 20 is conveyed to the assembly station, the output ends of four lifting cylinders on the assembly station can be respectively embedded into the four circular grooves to lift the mold device 20, thereby positioning and fixing the mold device 20.

The plurality of die fixing members 212 are all L-shaped metal members and are respectively mounted on the supporting frame 211, wherein a structure for mounting and supporting the die is formed between the plurality of die fixing members 212. The support tire is snapped between the tire mounts 212.

The cover plate 22 is rotatably connected to the support unit 21 for pressing the door panel workpiece against the support unit 21. The cover 22 includes a cover frame 221 formed by welding aluminum profiles, a pair of stoppers 222, a plurality of pressing heads 223, and a U-shaped opening and closing arm 224. The pair of limiting members 222 are L-shaped metal members and are respectively mounted on two sides of the cover plate frame 221, and when the cover plate 22 rotates towards the supporting unit 21 to a proper position, the end parts extending out of the limiting members 222 are abutted against two sides of the cover plate frame 221 to perform a limiting function.

The pressing heads 223 are composed of metal round rods and elastic pieces wrapped at the ends of the metal round rods, the other ends of the metal round rods are welded on the cover plate frame 221, the metal round rods are perpendicular to the surface direction of the cover plate frame 221 and extend towards the supporting unit 21, and the arrangement of the pressing heads 223 and the extension length of each pressing head 223 are matched with the surface of an automobile door plate workpiece. The pressing heads 223 are used for respectively abutting against the surfaces of the automobile door panel workpieces when the cover plate 22 is closed, so that the automobile door panel workpieces are pressed and fixed.

As shown in fig. 7, the U-shaped opening and closing arm 224 is a metal member having a substantially U-shape, and is fixedly mounted on the cover frame 221 at a side connected to the supporting unit 21 by a connecting member such as a screw, the opening of the U-shape is outward, and an obtuse angle is formed between the U-shaped opening and closing arm 224 and the cover frame 221, and when the cover 22 is closed, that is, the plane direction of the cover frame 221 is substantially coincident with the horizontal direction, the opening of the U-shaped opening and closing arm 224 is inclined upward. The U-shaped opening and closing arm 224 is used for being inserted into a rotary driving mechanism in the assembly station, and is driven by the rotary driving mechanism to drive the cover plate frame 221 to rotate.

The connection unit 23 is used for connecting the support unit 21 and the cover plate 22, and the connection unit 23 includes a connection bracket 231, a rotation shaft 232, two pairs of bearing assemblies 233, and a damping assembly 234.

The connection bracket 231 is installed at one side of the support frame 211, and the rotation shaft 232 is installed on the connection bracket 231. The cover frame 221 is mounted on the rotation shaft 232 by means of two pairs of bearing assemblies 233, and is rotatable along the rotation shaft 232. A side middle portion of the cover frame 221 is connected to the connection bracket 231 through a damping assembly 234, and the damping assembly 234 serves to limit the rotational speed of the cover 22.

It should be noted that, since the door panel product has a plurality of types, and a plurality of different mold devices 20 are correspondingly provided, the structure of the cover frame 221, the structure and the distribution of the pressing heads 223 are different, but the overall dimensions of all the mold devices 20 are consistent, so that the same structure of the conveying mechanism can be adopted to transfer the same. In addition, in this embodiment, an electronic tag (RFID) is provided on the automobile door panel workpiece, and reading the electronic tag can identify the model of the workpiece. A product detection sensor (not shown) for reading the electronic tag is provided on the die device 20, and electric power is transmitted to the product detection sensor through a wireless energy bar. The bottom of the mold device 20 is also provided with an electronic tag, and the model of the mold device 20 can be identified by reading the electronic tag. A mold detection sensor for reading the electronic tag is provided in the door panel placement device 10.

As shown in fig. 2 to 3, the door panel placing apparatus 10 includes a door panel placing mechanism 11, a door panel placing lifting mechanism 15, and a door panel placing blocking mechanism. The door panel placing mechanism 11 is used for positioning, opening and closing and pushing the mold device 20 at the current station, and the door panel placing mechanism 11 comprises a mold pushing unit 12, a jacking positioning part 13 and a rotation driving part 14.

As shown in fig. 8, the mold pushing unit 12 includes two parallel chain conveyor rails 121, a drive shaft 122, and a chain rail drive motor 123.

The distance between the two chain-type conveying rails 121 is adapted to the width of the mold device 20, and both sides of the mold device 20 are placed on the rails to convey. In this embodiment, the chain conveyor rail 121 employs a multiple chain, which can accelerate the conveyance tact. Two ends of the transmission shaft 122 are respectively connected to two driving gears of the two chain type conveying tracks 121 through bearing assemblies, and the two chain type conveying tracks 121 are synchronously conveyed under the driving of the chain type track driving motor 123.

The jacking positioning portion 13 includes four jacking cylinders 131, which are all disposed on the bracket in the door panel placement device 10, the four jacking cylinders 131 are distributed on four corners of the rectangle and located at a uniform vertical height, the arrangement of the four jacking cylinders 131 corresponds to the arrangement of four positioning blocks 2111 at the bottom of the mold device 20, and the output ends of the jacking cylinders 131 are matched with the circular positioning grooves of the positioning blocks 2111 and can be embedded into the circular positioning grooves. In the jacking positioning, the four jacking cylinders 131 are simultaneously jacked, and the output ends thereof are abutted against the bottom surfaces of the circular positioning grooves, so that the die device 20 is stably jacked and positioned in the current station.

As shown in fig. 6, the rotation driving part 14 is for rotating the cover plate 22 of the mold device 20 to open or close, and the rotation driving part 14 includes a rotation driving motor 141, a rotation transmitting assembly 142, and a rotation limiting assembly 143.

The rotation transmission assembly 142 includes a bearing 1421, an opening and closing lever 1422, and a circular pusher 1423. The opening and closing lever 1422 has two circular ends, one end of which is larger than the other end, a circular mounting hole is formed in the larger end, the opening and closing lever 1422 is mounted at the output end of the rotary driving motor 141 through the circular mounting hole and the bearing support 1421, and the opening and closing lever 1422 can swing in a vertical plane under the driving of the rotary driving motor 141. The circular pushing member 1423 is rotatably mounted on the smaller end of the opening and closing rod 1422 by a connecting member such as a bolt or a nut, and the diameter of the circular pushing member 1423 is matched with the opening width of the U-shaped opening and closing arm 224 of the mold device 20, so that the circular pushing member 1423 can be inserted into the U-shaped opening and push one side of the U-shaped opening, thereby driving the cover plate 22 to open and close.

When the mold device 20 is lifted in place by the lift-up positioning portion 32, the circular pushing member 1423 of the opening-closing lever 1422 is inserted into the U-shaped opening of the U-shaped opening-closing arm 224 of the mold device 20.

The rotation limiting assembly 143 includes four slotted plates 1431 and four proximity sensors 1432 for limiting the maximum travel of the open-close lever 1422. The proximity sensors 1432 are all installed in the bar-shaped holes of the bar-shaped plate 1431, two proximity sensors 1432 are installed above the output end of the rotary driving motor 141, and the other two are installed below. When the upper and lower proximity sensors 1432 sense the open-close lever 1422, it indicates that the cover 22 has been opened and closed.

As shown in fig. 2 and 9, the door panel placing lift mechanism 15 includes a bracket 151, a plurality of vertical rails 152, a bracket 153, a lift transmission assembly 154, a lift drive motor 155, and a counterweight cylinder 156.

The cradle 151 includes two shorter front support rods 1511 and two longer rear support rods 1512 to provide support for lifting. Four vertical guide rails 152 are mounted on the four support bars, respectively. The carrier 153 is a metal frame for supporting the door panel placing mechanism 11 and the mold device 20 thereon and driving them to rise and fall. The carrier 153 is L-shaped in side view, with a plurality of sliders 1531 mounted thereon, slidably engaged with the four vertical rails 152, respectively, to form a guide engagement. Further, a reader (not shown in the drawing) for reading the electronic tag placed on the mold device 20 on the carrier 153 is also provided on the carrier 153.

The elevation driving motor 155 drives the elevation of the carrier 153 through the elevation driving assembly 154.

The elevation transmission assembly 154 includes a screw rod 1541 extending in a vertical direction provided between the two rear support rods 1512, a screw nut (not shown in the drawings) mounted on the screw rod 1541, and an adapter block 1542 mounted on the screw rod 1541 and abutted by the screw nut, and the carrier 153 is provided on the screw rod 1541 through the adapter block 1542, and the screw rod 1541 drives the carrier 153 to be elevated by the elevation driving motor 155.

The weight cylinder 156 is provided on the lift driving motor 155 for lifting the lift driving motor 155 upward, thereby reducing the load on one side of the lift driving motor 155.

The two ends of the die pushing unit 12 along the conveying direction are respectively provided with a blocking mechanism 17 for placing the door plate and a check mechanism 16 for placing the door plate, which are used for limiting the die device 20 in the current station after the die device is conveyed in place, so that the condition of mistaken conveying is avoided.

As shown in fig. 10, the door panel placing blocking mechanism 17 is provided between the two chain conveyor rails 121 on the side close to the next station for avoiding erroneous forward conveyance of the mold device 20, and the door panel placing blocking mechanism 17 includes a blocking support 171, a blocking member 172, a blocking wheel 173, and a blocking cylinder 174.

The blocking support 171 and the blocking member 172 are each a shaped metal member, the blocking support 171 is mounted on the upper end of the blocking cylinder 174, and the output end (piston rod) of the blocking cylinder 174 is passed through a through hole in the middle of the support 171. The middle convex portion of the blocking member 172 is hinged to the blocking support member 171, and is rotatable relative to the blocking support member 171, one end of the blocking member 172 abuts against the output end of the blocking cylinder 174, and a pair of blocking wheels 173 are mounted on the other end. In the state of fig. 10, the output end of the blocking cylinder 174 is retracted, and the blocking wheel 173 is higher than the height of the two chain conveyor rails 121, so that the mold device 20 mounted on the chain conveyor rails 121 can be blocked. When the output end of the blocking cylinder 174 is extended, the blocking member 172 is pushed to rotate, and the blocking wheel 173 at one end is driven to rotate to a height lower than the upper surface of the chain conveyor track 121, so that the mounted mold device 20 can be released.

As shown in fig. 11, the door panel placement check mechanism 16 is provided between the two chain conveyor rails 121 on the side close to the previous station for avoiding erroneous backflow of the mold device 20, and the door panel placement check mechanism 16 includes a check base 161, a check support 162, a link 163, a check 164, and a check driving cylinder 165.

The resist support 162 is a shaped metal member, and is attached to the base 161 by a connector such as a screw. The side of the stopper support 162 near the stopper 164 has a beveled edge portion 1621, and a square groove 1622 penetrating in the conveying direction is formed in the upper portion.

One end of the link 163 is rotatably coupled in the square groove 1622, and the other end is mounted with the check 164. When the link 163 is horizontal, there is a gap between the link 163 and the lower edge of the square groove 1622.

The check 164 is a profiled metal piece, and has a weight portion 1641 and an abutment stop portion 1642. The weight portion 1641 is positioned below and has two weight plates 166 mounted on one side thereof. The abutment stopper 1642 extends obliquely upward from above the weight portion 1641 to form a wedge-shaped end portion for stopping the die device 20. A through pivot hole 1643 is formed at a junction between the weight portion 1641 and the abutment stopper portion 1642, and the check member 164 is rotatably mounted to the other end of the link lever 163 through the pivot hole 1643 and the rotation shaft.

As shown in fig. 12, since the weight plate 166 is provided on one side of the check 164, in the initial state (i.e., when the piston rod of the check driving cylinder 165 is retracted), the link 163 extends slightly obliquely downward, and the uppermost end of the wedge-shaped end of the stopper 164 is substantially flush with the uppermost end of the stopper support 162, thereby releasing the die device 20 in the opposite direction of D1.

As shown in fig. 13, when the piston rod 1651 is extended and the die device 20 moves in the direction D1 past the door-plate placing and releasing mechanism 16, the die device 20 presses down the abutment stopper 1642 of the stopper 164, and the stopper 164 rotates counterclockwise to release the die device 20, that is, to have a one-way release function.

The door panel placing apparatus 10 further includes an operation terminal through which a worker places a door panel workpiece to be assembled into the mold apparatus 20, and can confirm and start the assembly process.

As shown in fig. 14, the screw driving device 30 includes, as a second station, a screw driving pressing mechanism 31, a screw driving moving mechanism 32, and a screw driving mechanism.

As shown in fig. 15 to 16, the screw pressing mechanism 31 is mounted on the bracket so as to press the die device 20. The screw tightening mechanism 31 includes a tightening unit 311, a jacking unit 312, and a protective guard 313.

The pressing unit 311 includes two pressing blocks 3111 symmetrically disposed above the cover 22, and is capable of pressing the cover 22. The compression block 3111 includes a main plate 31111, a bottom plate 31112 disposed at the bottom of the main plate 31111, and reinforcing ribs 31113 connecting the main plate 31111 and the bottom plate 31112. The main plate 31111 is attached to a bracket, and ribs 31113 are provided on the side of the main plate 31111.

The jacking unit 312 is capable of pushing the mold device 20 up, and includes a plurality of jacking blocks 3121 and a jacking drive assembly 3122. The jacking block 3121 is a rectangular block, and is disposed below the supporting unit for supporting the mold device 20.

As described above, the support unit 21 has four positioning blocks 2111 at the bottom, and positioning grooves are provided on the four positioning blocks 2111. The jacking unit 312 further includes positioning posts 3123, where the positioning posts 3123 are disposed on top of each jacking block 3121, and adapted to the positioning grooves for positioning the mold device 20. In this embodiment, there are two positioning posts 3123, which are disposed on two jacking blocks 3121 on the diagonal.

The number of the jacking driving units 3122 is equal to the number of the jacking blocks 3121, and the jacking driving units 3122 are connected to the jacking blocks 3121 in a one-to-one correspondence manner, so that the jacking blocks 3121 can be driven to drive the mold device 20 to ascend, thereby causing the cover plate 22 to abut against the pressing blocks 3111. Each jacking drive assembly 3122 includes a cylinder body 31221, a pushrod 31222, and two guide rods 31223. The cylinder body 31221 has guide channels 31221a on both sides thereof that are adapted to the guide rods 31223. One end of the guide rod 31223 is movably inserted through the guide passage 31221a on the cylinder body 31221, and the other end is connected to the jacking block 3121. The push rod 31222 is parallel to the two guide rods 31223, one end of the push rod 31222 is connected to the cylinder main body 31221, the other end is connected to the jacking block 3121, and the push rod 31222 is driven by the cylinder main body 31221 to lift and lower the jacking block 3121.

The protection plate 313 is positioned above the cylinder body 31221, and is mounted on the bracket by a plurality of fixing members, so that the cylinder body 31221 can be protected. The protection baffle 313 is provided with a jacking hole 3131 adapted to the jacking block 3121, and the jacking hole 3131 can allow the jacking block 3121 to pass through when lifting.

When the mold device 20 with the automobile door panel workpiece placed thereon flows to the current station, the four groups of jacking driving assemblies 3122 drive the four jacking blocks 3121 to synchronously ascend, the positioning columns 3123 at the tops of the jacking blocks 3121 are inserted into the positioning grooves at the bottoms of the supporting units 21 so as to position the mold device 20, and the jacking blocks 3121 continue to ascend to support the mold device 202 on the upper conveying unit 711 until the cover plate 22 is abutted with the pressing block 3111, so that the mold device 20 and the automobile door panel workpiece therein are pressed. Then, the screw driving operation of the station can be performed. That is, the second station performs the screw-driving operation without opening the cover, but the mold device 20 may be operated through the gap between the metal bars of the cover plate 22. Likewise, the assembly operation of the third and fourth stations also does not require uncapping. And the cover plate 22 needs to be opened at the first station to put in the automobile door plate workpiece, and the cover plate 22 needs to be opened at the fifth station to carry out shooting inspection on the assembled automobile door plate.

The end shape of the screw driving mechanism is similar to that of a screw driver, and the screw driving mechanism can rotate and press down to drive screws, so that the screw driving mechanism is in the prior art and is not repeated. As shown in fig. 17, the screw driving moving mechanism 32 is configured to drive the screw driving mechanism to move to each predetermined screw driving position. The screw driving moving mechanism 32 includes a first horizontal moving unit 321, a second horizontal moving unit 322, and a screw driving lifting unit 323.

As shown in fig. 18, the first horizontal moving unit 321 includes a first driving member (motor), a first rail 3212, and two first moving members 3213 movably mounted on the same first rail 3212. The first driving member is connected with the first moving member 3213 through a screw structure, so as to drive the first moving member 3213 to move along the first guide rail 3212. The two second horizontal moving units 322 are respectively and correspondingly installed on the two first moving members 3213.

As shown in fig. 19, each of the second horizontal moving units 322 includes a second driving member 3221, a second guide rail 3222, and a second moving member 3223 movably fitted over the second guide rail 3222. Second driving member 3221 is a motor, and is connected to second moving member 3223 through a screw structure, so as to drive second moving member 3223 to move along second guide rail 3222. The longitudinal direction of the second rail 3222 is perpendicular to the longitudinal direction of the first rail 3212.

Two screw driving lifting units 323 are provided on the second moving member 3223 and are respectively and correspondingly mounted on the two second horizontal moving units 322.

As shown in fig. 20, each screw driving lifting unit 323 includes a lifting drive member 3231, a lifting rail 3232, and a mounting member 3233 provided on the lifting rail 3232 so as to be liftable. The lifting driving member 3231 is a motor, and is connected to the mounting member 3233 via a screw structure, for driving the mounting member 3233 to move along the lifting rail 3232. The length direction of the lifting rail 3232 is perpendicular to the plane in which the first guide rail 3212 and the second guide rail 3222 lie. The mounting piece 3233 is used for mounting the screw driving mechanism 33, so that the screw driving mechanism 33 can synchronously move under the driving of the mounting piece 3233, and screw driving operations are performed on different points on the automobile door panel workpiece.

The riveting device 40 is used as a third station and includes a pressing mechanism for riveting, a moving mechanism for riveting and a riveting mechanism, wherein the structure of the pressing mechanism for riveting is consistent with that of the pressing mechanism 31 for screwing, the structure of the moving mechanism for riveting is consistent with that of the moving mechanism 32 for screwing, and the riveting mechanism is a structure in the prior art, so that the details are not repeated.

As shown in fig. 21 to 22, the buckle mounting device 50 as a fourth station includes a buckle mounting hold-down mechanism 51, a buckle mounting support portion 52, a buckle supply portion 53, a buckle mounting mechanism 54, and a plurality of sensors 55.

The structure of the clip-mounting hold-down mechanism 51 is identical to that of the screw-driving hold-down mechanism 31.

As shown in fig. 23, the supporting portion 52 for mounting a buckle is used for placing and supporting the buckle for the buckle mounting mechanism 54 to grasp, the supporting portion 52 for mounting a buckle is a supporting table, and has an access slot 521 and an abdication slot 522 which are mutually communicated, wherein the width and depth of the access slot 521 are smaller than those of the abdication slot 522, and both sides of the access slot 521 in the width direction are in a step shape and are matched with the structure of the buckle. The receiving groove 521 is used for receiving the buckle conveyed by the buckle feeding portion 53, and the releasing groove 522 is used for releasing the corresponding conveying structure of the buckle feeding portion 53, which will be described in detail below in connection with the corresponding structure of the buckle feeding portion 53.

The buckle feeding part 53 includes a vibration tray 531, a discharge passage 532, and a buckle pushing unit 533.

The vibration dish 531 neatly arranges and outputs a plurality of unordered buckles in proper order through the vibration mode, and it is prior art.

The output of vibration dish 531 is connected to ejection of compact passageway 532 one end, and the other end is connected to buckle installation and uses supporting part 52, and the width of ejection of compact passageway 532 is slightly wider than the width of single buckle for carry the buckle that arranges to buckle installation and use supporting part 52 one by one, supply buckle installation mechanism 54 to snatch and install.

The buckle pushing unit 533 includes a pushing frame 5331 and a pushing cylinder 5332 for driving the pushing frame 5331 to move, for pushing the buckle on the buckle mounting support portion 52 into place, thereby facilitating grasping by the buckle mounting mechanism 54. The yielding groove 522 of the buckle mounting support portion 52 is used for yielding the end of the pushing frame 5331, that is, the end of the pushing frame 5331 can extend into the yielding groove 522 to push the buckle in the access groove 521 into place.

A plurality of sensors 55 are respectively mounted on the buckle mounting support parts 52, wherein a pair of sensors 55 are used for sensing whether the buckle is conveyed to the position of the access groove 521, so that the operation of pushing the buckle into place can be performed; a pair of sensors 55 for sensing whether the buckle has been pushed into place so that a grabbing and installing operation can be performed; the other sensors 55 are also used for sensing and judging whether the buckle is grabbed away, etc., so that automatic control can be realized.

As shown in fig. 24, the buckle mounting mechanism 54 is for grasping a buckle and mounting to a predetermined position on a door panel workpiece of an automobile, and includes a robot 541, a buckle mounting member 542, a connecting frame 543 for the buckle mounting member, and a buckle detection unit 544.

The robot 541 includes a robot holder 5411, a first horizontal rotation unit 5412 for mounting a buckle, a second horizontal rotation unit 5413 for mounting a buckle, and a lifting unit 5414 for mounting a buckle.

The first horizontal rotation unit 5412 for snap fitting is rotatably provided on the robot fixing base 5411, and the first horizontal rotation unit 5412 for snap fitting includes a first horizontal rotation arm 54121 and a first horizontal rotation driving piece. The first horizontal rotation driving member is connected to the first horizontal rotation arm 54121 for driving the first horizontal rotation arm 54121 to rotate.

The second horizontal rotation unit 5413 for snap fitting is rotatably provided on the first horizontal rotation unit 5412 for snap fitting. The second horizontal rotation unit 5413 for snap fitting includes a second horizontal rotation arm 54131 and a second horizontal rotation driver. The second horizontal pivot arm 54131 is rotatably coupled to the first horizontal pivot arm 54121 and the second horizontal pivot drive is coupled to the second horizontal pivot arm 54131 to drive the second horizontal pivot arm 54131 to rotate.

The buckle installation lifting unit 5414 is provided on the buckle installation second horizontal rotation unit 5413, and is used for driving the buckle installation member 542 to lift. In the present embodiment, the buckle installation elevating unit 5414 includes an elevating motor for buckle installation, an elevating connecting rod 54142 for buckle installation, and an elevating guide 54143 for buckle installation.

The lifting motor for mounting the buckle is used for driving the lifting connecting rod 54142 for mounting the buckle to lift. One end of the lifting connecting rod 54142 for mounting the buckle is mounted on the second horizontal rotating arm 54131, and the other end is connected with the buckle mounting member 542 through the connecting frame 543 for mounting the buckle. The number of the lifting guide rods 54143 for buckle installation is two, and the lifting guide rods 54142 for buckle installation are respectively arranged in parallel with each other and used for guiding and limiting when lifting.

The buckle mounting mechanism 54 includes two buckle mounting members 542 disposed on the robot 541 for engaging with the buckle to move or mount the buckle.

As shown in fig. 25, the bottom of the buckle mounting member 542 has a buckle fixing cavity 5421, and the shape and size of the buckle fixing cavity 5421 are adapted to the buckle. The buckle fixing cavity 5421 is in interference fit with the buckle, and the buckle is fixed through friction force. After the buckle is installed in place, the lifting unit 5414 for installing the buckle drives the buckle installation member 542 to ascend, so that the buckle and the buckle installation member 542 can be separated.

The buckle mounting piece connecting frame 543 is mounted on the buckle mounting lifting connecting rod 54142, and is used for connecting the buckle mounting piece 542. In this embodiment, the two clip mounting members 542 are disposed on the clip mounting member connecting frame 543 in parallel along the longitudinal direction of the clip mounting lifting connecting rod 54142, so that the two clip removing members can be realized at a time.

As shown in fig. 26, a buckle detecting unit 544 is provided on the buckle-mounting-member connecting frame 543 for detecting whether the buckle is mounted in place. The buckle detection unit 544 includes a buckle-mounting detection motor 5441 and a detection transmission assembly 5442.

The detection motor 5441 for mounting the buckle is connected to the buckle mounting member 542 through the detection transmission assembly 5442, thereby driving the buckle mounting member 542 to rotate. In this embodiment, the detection motor 5441 for mounting the buckle uses a servo motor, and can feed back the resistance received during rotation to the upper-level equipment such as the controller, and then further judge whether the buckle is mounted in place according to the magnitude of the resistance.

The detection transmission assembly 5442 includes a drive pulley 54421, two driven pulleys 54422, a timing belt 54423, and a tension pulley 54424. The driving wheel 54421 is connected to the output end of the catch mounting detection motor 5441, and the two driven wheels 54422 are fixedly connected to the two catch mounting members 542, respectively.

In this embodiment, the buckle mounting point position on the automobile door panel workpiece is provided with a buckle mounting groove with a side opening. When the component is taken out, the manipulator 541 moves to position the fastener mounting component 542 above the fastener to be mounted, and the lifting unit 5414 for fastener mounting descends to clamp and fix the upper part of the fastener into the fastener fixing cavity 5421. During installation, the manipulator 541 drives the buckle to move, so that the lower part of the buckle is clamped into the buckle installation groove from the side opening to be fixed. During detection, under the drive of the detection motor 5441 for mounting the buckle, the driving wheel 54421 drives the driven wheel 54422 to rotate through the synchronous belt 54423, so that the buckle mounting piece 542 also rotates along with the driven wheel, thereby applying torsion force to the buckle, and then judging whether the buckle is mounted in place according to the feedback result of the servo motor.

After the buckle is installed in place, the lifting unit 5414 for installing the buckle drives the buckle installation member 542 to ascend and separate from the buckle, thereby completing the installation of the buckle.

As shown in fig. 27, the door extracting device 60 includes a detection imaging module 61, a door grasping module 62, a workpiece conveying module 63, a door extracting mechanism 64, and a door extracting lifting mechanism 65.

The detection imaging module 61 includes a housing, an upper imaging module 612, a lower imaging module 613, and an illumination unit. The shell is made of black organic glass and is used for shielding an external light source so as to reduce the influence of light source change on shooting. The upper camera assembly 612 includes a plurality of cameras disposed above the door panel removal mechanism 64 for capturing images of the assembled automobile door panel workpiece from above. The lower camera assembly 613 includes a plurality of cameras disposed below (near the ground) for capturing images of the automobile door panel workpiece from below, and the lower camera assembly 613 and the upper camera assembly 612 are arranged in a staggered manner in the vertical direction. The lighting unit includes a plurality of lamps for providing sufficient illumination for photographing.

As shown in fig. 27-28, the door panel grabbing module 62 includes a grabbing moving part 621 and two sets of clamping assemblies 622 that can grab both sides of the automobile door panel workpiece to move it. The door panel grabbing moving part 621 includes a guide rail and a plurality of driving motors, and can drive the clamping assembly 622 mounted on the guide rail to move along x, y and z axes.

The clamping assemblies 622 comprise a supporting arm 6221, a supporting block 6222 arranged at the end of the supporting arm 6221 and a pressing cylinder 6223 arranged above the supporting block 6222, wherein the supporting block 6222 can support two sides of an automobile door panel workpiece, the output end of the pressing cylinder 6223 can press the two sides of the automobile door panel workpiece on the supporting block 6222, and the four clamping assemblies 622 clamp four positions on the two sides of the automobile door panel workpiece at the same time, so that the automobile door panel workpiece can be clamped and stably moved.

The workpiece conveying module 63 is a belt type conveying line and conveys the automobile door panel workpiece subjected to shooting detection to a preset position.

Therefore, after the mold device 20 is opened, the upper surface of the automobile door panel workpiece can be photographed by the upper image capturing component 612, then the door panel grabbing module 62 grabs the automobile door panel workpiece and moves the automobile door panel workpiece to above the lower image capturing component 613, at this time, the lower surface of the automobile door panel workpiece can be photographed by the lower image capturing component 613, and then whether the assembly of the automobile door panel workpiece is qualified can be detected according to the photographing results of the two surfaces. The door panel grabbing module 62 then places the automobile door panel workpiece onto the workpiece conveying module 63, and the workpiece conveying module 63 conveys the automobile door panel workpiece to a predetermined position.

The door plate take-out mechanism 64 has a structure substantially identical to that of the door plate placing mechanism 11, that is, includes a die-receiving unit identical in structure to the die-pushing unit 121, a lifting mechanism for lifting the die-receiving unit, and the like, and the door plate take-out lifting mechanism 65 has a structure substantially identical to that of the door plate placing lifting mechanism 14, and thus a description thereof will not be repeated. That is, the mold access unit is a chain type conveying rail which can be lifted and lowered and which can switch the conveying direction, as in the door panel placing device 10.

Fig. 14 also shows a double layer conveyor track mounted below the screw driving device 30, also provided below the riveting device 40, the snap mounting device 50.

The processing conveying device 71 includes three processing conveying units 711 provided at the second to fourth stations, and the three processing conveying units 711 are provided at the same height and in the same conveying direction, i.e., in the D4 direction. The return conveying device 72 includes three return conveying units 721 provided at the second to fourth stations, and the three return conveying units 721 are provided at the same height and in the same conveying direction, i.e., in the D2 direction. And, three return conveying units 721 are provided immediately below the three processing conveying units 711, respectively. In this embodiment, the structure of the processing conveying unit 711 and the reflow conveying unit 721 is identical to that of the mold pushing unit 12, and is also a chain conveying track, and in this embodiment, the chain conveying track adopts a double-speed chain to speed up the conveying tact. The three processing and conveying units 711 and the three return conveying units 721 are also provided with a blocking mechanism and a check mechanism at both ends, and the structures are the same as the blocking mechanism 17 for placing the door plate and the check mechanism 16 for placing the door plate, respectively. At the return conveying unit 721, a blocking mechanism is provided downstream in the return conveying direction, and a check mechanism is provided upstream in the return conveying direction.

As shown in fig. 29 to 30, the mold temporary storage device 100 includes a deposit conveying rail 110, a transfer conveying rail 120, a take-out conveying rail 130, a first reversing conveying unit 140, a second reversing conveying unit 150, a third reversing conveying unit 160, and a transplanting conveying unit 170. The storage conveying rail 110, the transfer conveying rail 120, and the take-out conveying rail 130 are three main conveying rails, and are sequentially connected end to form a bent conveying rail, one end of which is provided near the mold receiving unit 61 of the fifth station, and the other end of which is provided near the reflow conveying unit 721 of the fourth station.

The storage conveyor rail 110 includes two parallel linear conveyor timing belt rails 111, a conveyor drive shaft 112, and a conveyor drive motor 113. The deposit conveyance rail 110 conveys in the direction D1 in fig. 1.

The conveying synchronous belt track 111 comprises a fixing frame, a driving wheel, a driven wheel and a synchronous belt, wherein the driving wheel and the driven wheel are arranged on the fixing frame, and the synchronous belt is sleeved on the driving wheel and the driven wheel. The distance between the two conveying timing belt rails 111 is adapted to the length of the mold device 20, and both ends in the longitudinal direction of the mold device 20 are placed on the two conveying timing belt rails 111, respectively, to be conveyed. Two ends of the transmission shaft 112 for transmission are respectively connected with two driving wheels through bearings, so that the two synchronous belts synchronously rotate. The driving motor 113 for conveying drives the driving wheel to rotate so as to drive the synchronous belt to rotate. In the present embodiment, the conveying drive motor 113 is a gear motor.

The third reversing and conveying unit 160 is provided at an end of the deposit conveying rail 110 near the fifth station, and conveys in the direction D4 for conveying the mold device 20 on the mold pickup unit 61 of the fifth station onto the deposit conveying rail 110.

As shown in fig. 31 to 32, the third reversing conveyance unit 160 includes a reversing bracket 161, two reversing timing belt rails 162 arranged in parallel, a reversing drive shaft 163, a reversing drive motor 164, a reversing jack-up cylinder 165, and four reversing support members 166.

The reversing timing belt rail 161 is identical in structure to the conveying timing belt rail 111, except that the pitch between the two reversing timing belt rails 161 is adapted to the width of the mold device 20 and is connected by the reversing bracket 161. The reversing drive shaft 162 rotates the two reversing timing belt rails 161 in synchronization, and the reversing drive motor 163 drives the driving wheels to rotate. In the present embodiment, the reversing drive motor 163 is also a gear motor.

The reversing jack cylinder 165 is provided below the middle portion of the reversing bracket 161, and is configured to jack up the reversing bracket 161 and the two reversing timing belt rails 161 connected thereto. When the mold device is not lifted, the reversing timing belt rail 161 is lower than the conveying timing belt rail 111, and the mold device 20 on the conveying timing belt rail 111 can be conveyed normally. In the jacked state, the reversing timing belt rail 161 is higher than the conveying timing belt rail 111 and is flush with the mold receiving unit 61 of the fifth station, and at this time, the mold device 20 of the fifth station can be conveyed to the third reversing conveying unit 160, and then the jacked state is restored, and the mold device 20 falls onto the storing conveying rail 110.

Four reversing support members 166 are provided around the reversing jack cylinder 165, which is a telescopic rod having a spring inside, and are capable of keeping the reversing bracket 161 and the two reversing timing belt rails 161 connected thereto substantially horizontal when jack-up and jack-down are performed.

One end of the transfer conveying rail 120 is connected to one end of the storage conveying rail 110 away from the fifth station, and the conveying direction of the transfer conveying rail 120 is perpendicular to the storage conveying rail 110. The transfer conveyor rail 120 also includes two timing belt rails, which are substantially identical in structure to the deposit conveyor rail 110, except that the pitch between the two timing belt rails of the transfer conveyor rail 120 is adapted to the width of the mold device 20, and the height of the two timing belt rails of the transfer conveyor rail 120 is higher than the deposit conveyor rail 110.

The first reversing and conveying unit 140 is provided at an end of the deposit conveying rail 110 that is in contact with the transfer conveying rail 120, and is configured to convey the mold device 20 at the end of the deposit conveying rail 110 onto the transfer conveying rail 120. The structure thereof is substantially identical to that of the third reversing and conveying unit 160, and a description thereof will not be repeated. The difference is that the first reversing and conveying unit 140 conveys in the D2 direction; and in the jack-up state, the two timing belt rails thereof are substantially flush with the two timing belt rails of the transfer conveyance rail 120.

One end of the take-out conveying rail 130 is in contact with the other end of the transfer conveying rail 120, and is conveyed in the direction D3 in the drawing, that is, in a direction perpendicular to the transfer conveying rail 120, parallel to and opposite to the deposit conveying rail 110. The take-out conveyor track 130 is also substantially identical in construction to the deposit conveyor track 110, except that it has a shorter timing belt track and a higher height than the transfer conveyor track 120.

The second reversing and conveying unit 150 is provided at one end of the transfer conveying rail 120 that is in contact with the take-out conveying rail 130, and is configured to convey the mold device 20 at one end of the transfer conveying rail 120 onto the take-out conveying rail 130. The structure is also substantially identical to the third reversing and conveying unit 160, except that the interval between the two timing belt rails of the second reversing and conveying unit 150 is adapted to the length direction of the mold device 20, that is, the interval is wider, and the conveying is performed in the D3 direction; and in the non-jack-up state, the two timing belt tracks of the second reversing conveying unit 150 are lower than the two timing belt tracks of the take-out conveying track 130, and in the jack-up state, the two timing belt tracks are substantially flush with the two timing belt tracks of the take-out conveying track 130.

The transplanting conveyor unit 170 is disposed at an end of the take-out conveyor rail 130 near the fourth station and between the two chain conveyor rails 7211 of the reflow conveyor unit 721 at the fourth station, for transplanting the mold device 20 at the end of the take-out conveyor rail 130 onto the reflow conveyor unit 721 at the fourth station. The transplanting conveying unit 170 is basically identical in structure to the second reversing conveying unit 150, except that the two synchronous belt tracks thereof are shorter in length than the interval between the two chain conveying tracks 7211; and in the non-lifted state, the timing belt track of the transplanting conveying unit 170 is lower than the chain conveying track 7211, and in the lifted state, the timing belt track of the transplanting conveying unit 170 is higher than the chain conveying track 7211.

Further, a blocking mechanism 190 is provided in the middle of the transfer conveying rail 120 upstream of the second reversing conveying unit 150 in the conveying direction, and a blocking mechanism 190 is provided at one end of the take-out conveying rail 130 downstream in the conveying direction for blocking or releasing the mold device 20 reaching these positions. The blocking mechanism 190 is structured in conformity with the door-plate placement-use resist mechanism 16.

As shown in fig. 1, the door panel assembly system 1000 further includes a door panel assembly control device comprising: production information storage unit 1001, assembly information storage unit 1002, mold information storage unit 1003, door panel information to be assembled acquisition unit 1004, mold information acquisition unit 1005, mold storage information storage unit 1006, door panel placement control unit 1007, screwing control unit 1008, caulking control unit 1009, clip mounting control unit 1010, processing conveyance control unit 1011, mold switching determination unit 1012, mold switching control unit 1013, mold reflow control unit 1015, door panel extraction control unit 1016, and door panel assembly control unit 1017 that controls the above.

The production information storage portion 1001 stores production information including a work piece identification number, the number, and the production order of the car door panel work pieces to be assembled.

The assembly information storage portion 1002 stores information of various types of automobile door panel workpieces to be assembled and corresponding assembly information, including workpiece identification numbers, workpiece models, workpiece size information and the like, and also stores various information required during assembly, including the number and position information of screws, the number and position information of riveting, the number and position information of mounting buckles and the like.

The mold information storage unit 1003 stores information of each type of mold device 20, including a mold identification number, a mold type, mold size information, and the like, and stores a workpiece identification number of the automobile door panel workpiece corresponding to each mold device 20.

The door panel to be assembled information acquisition section 1004 acquires the workpiece identification number of the next door panel workpiece to be assembled and the corresponding assembly information from the assembly information storage section 1001.

The mold information acquisition section 1005 acquires the corresponding mold identification number, that is, the mold identification number of the mold device 20 to be used next, from the mold information storage section 1003 according to the work piece identification number acquired by the door panel information acquisition section 1004 to be assembled.

The mold storage information storage unit 1006 stores the number of mold devices 20 stored in the mold temporary storage device 100 and the mold identification number of each mold device 20.

The door panel placing control portion 1007 is used for controlling the operation of the door panel placing device 10 at the first station, controlling the door panel placing device 10 to open the mold device 20, and controlling the door panel placing device 10 to close the mold device 20 after a worker places the automobile door panel workpiece to be assembled into the mold device 20 and confirms the automobile door panel workpiece through the operation terminal.

The screw driving control unit 1008 is configured to control the operation of the screw driving device 30 at the second station, control the screw driving device 30 to sequentially drive each screw according to the number and the position of the screws in the assembly information, and send out a screw driving completion signal after all the screws are driven.

The caulking control unit 1009 controls the operation of the caulking apparatus 40 at the third station, controls the caulking apparatus 40 to sequentially perform caulking at each position in accordance with the number and positions of caulking in the assembly information, and sends out a caulking completion signal after completion of caulking at all positions.

The buckle installation control part 1010 is used for controlling the operation of the buckle installation device 50 at the fourth station, controlling the buckle installation device 50 to sequentially install each buckle according to the number and the positions of buckle installation in the assembly information, and sending out a buckle installation completion signal after all buckle installation is completed.

The processing conveyance control unit 1011 controls the processing conveyance process of the die apparatus 20, and includes: a process lift control unit 10115, a first process conveyance control unit 10111, a second process conveyance control unit 10112, a third process conveyance control unit 10113, and a fourth process conveyance control unit 10114.

The process elevation control unit 10115 controls the elevation of the die pushing unit 12 and the die pick-up portion to be flush with the process conveying unit 711 when the assembler confirms that the work has been put in through the operation terminal of the first station.

After the completion of the lifting, the first processing and conveying control unit 10111 controls the die pushing unit 12 and the processing and conveying unit 711 below the screw driving device 30 to convey the die device 20 from the first station to the second station, specifically, sequentially performs the following control operations:

controlling the blocking mechanism of the mold pushing unit 12 to release;

the chain type conveying rails of the mold pushing unit 12 and the processing conveying unit 711 are controlled to work simultaneously, the mold device 20 is conveyed to the processing conveying unit 711, and the conveying is stopped when the mold detection sensor of the second station reads the electronic tag at the bottom of the mold device 20;

the blocking mechanism at the die pushing unit 12 is controlled to block.

The second process conveyance control unit 10112, upon receiving the screw driving completion signal, controls the two process conveyance units 711 under the screw driving device 30 and under the caulking device 40 to convey the die device 20 from the second station to the third station.

The third process conveyance control unit 10113, upon receiving the caulking completion signal, controls the two process conveyance units 711 below the caulking device 40 and below the snap-fit device 50 to convey the die device 20 from the third station to the fourth station.

The fourth processing and conveying control unit 10114, upon receiving the buckle installation completion signal, controls the die attach portion of the fifth station to rise and fall flush with the processing and conveying unit 711, and controls the processing and conveying unit 711 and the die attach portion below the buckle installation device 50 to convey the die apparatus 20 from the fourth station to the fifth station.

The specific control procedures of the second to fourth processing conveyance control units are substantially identical to those of the first processing conveyance control unit, and a description thereof will not be repeated.

When the mold device 20 is conveyed to the fifth station, the mold switching determination unit 1012 determines whether the mold device 20 needs to be switched for the next door panel to be assembled, that is, determines whether the mold identification number acquired by the mold information acquisition unit 1005 is identical to the current mold identification number, and if not, it is determined that the mold identification number is to be switched.

The mold switching control unit 1013 controls the process of switching the mold device 20 when the mold switching determination unit 1012 determines that the determination is made, and includes: the storable determining unit 10131, the mold storing control unit 10132, the mold taking-out determining unit 10133, the mold taking-out control unit 10134, the mold transferring control unit 10135, the taken-out mold determining unit 10136, and the taken-out mold reflow control unit 10137.

The storable determining unit 10131 determines whether the mold device 20 is storable in the mold temporary storage device 100, and if the number of the mold devices 20 that have been stored is equal to the storable maximum value, it determines that the memory is no longer possible, and generates a corresponding hint.

The mold storing control unit 10132 controls the door panel withdrawing device 60 and the mold temporary storage device 100 to cooperate to store the mold device 20. Specifically, the reversing lifting cylinder of the third reversing conveying unit 160 is controlled to lift the reversing synchronous belt track, and the die attach unit 641 is controlled to be lowered to be flush with the reversing synchronous belt track; then, the third reversing and conveying unit 160 and the mold receiving unit 641 are controlled to synchronously convey in the direction D4, and the mold device 20 is conveyed to the third reversing and conveying unit 160; then, the third reverse conveying unit 160 is controlled to descend, and the die device 20 is placed at the end of the deposit conveying rail 110; the three conveying rails and the reversing conveying unit are then controlled to operate according to the stored number, and the newly stored die device 20 is conveyed to a position adjacent to the last stored die device 20.

In this embodiment, the mold temporary storage device 100 can store 6 mold devices 20 in total.

Deposit 0, deposit case 1: the mold device 20 is conveyed to the take-out conveying rail 130;

1, case of deposit 2: the mold device 20 is conveyed to one end of the conveying track 120 for transferring and the position of the second reversing conveying unit 150, and the second reversing conveying unit 150 is lifted up after the mold device is conveyed in place;

2 cases are stored, and the case of 3 rd: the die device 20 is conveyed to the middle of the conveying rail 120 for transfer;

3 cases are stored, and 4 cases are stored: the die device 20 is conveyed to one end of the storing conveying track and the first reversing conveying unit 140, and the first reversing conveying unit 140 is lifted up after the die device is conveyed in place;

logging 5 th, 6 th, and so on. That is, the stored mold assemblies 20 are all arranged adjacent to each other without voids therebetween.

When one mold device 20 is stored, the corresponding mold identification number is also stored in the mold storage information storage unit 1006, and the stored number is increased by 1.

The mold extraction judging unit 10133 judges whether or not the stored mold device 20 is extracted from the mold temporary storage device 100, that is, whether or not the mold identification number acquired by the mold information acquiring unit 1005 is present among the one or more mold identification numbers stored in the mold storage information storing unit 1006.

When the mold removal determination unit 10133 determines that the mold is positive, the mold removal control unit 10134 controls the mold temporary storage device 100 to remove the mold device 20 stored on the removal conveying rail 130 to the reflow conveying unit 721 below the fourth station. Specifically, the raising of the transplanting conveying unit 170 is controlled first; then, the take-out conveying rail 130 and the transplanting conveying unit 170 are controlled to synchronously convey, and the mold device 20 is conveyed to the transplanting conveying unit 170; the transplanting conveyor unit 170 is controlled to descend again, and the mold device 20 is placed on the reflow conveyor unit 721 below the fourth station. In addition, the mold taking-out control unit 10134 controls the mold temporary storage device 100 to move the remaining stored mold devices 20 by one storage position in the storage conveying direction after taking out one mold device 20, so that the next mold device 20 is taken out later, and the specific control process is similar to the storing process.

When one mold device 20 is taken out, the corresponding mold identification number is also removed from the mold storage information storage unit 1006, and the stored number is reduced by 1.

The mold transfer control unit 10135 controls the reflow conveyor 72 and the door panel placement device 10 to convey the mold device 20 to the first station after the mold removal control unit 10134 removes one of the mold devices 20. Specifically, the three reflow transporting units 721 are controlled to transport the mold device 20 onto the reflow transporting units 721 below the second station; the mold pushing unit 12 is then controlled to descend to be flush with the reflow conveying unit 721; the reflow conveyor 721 and the mold pushing unit 12 are controlled to be synchronously conveyed, and the mold device 20 is transferred to the mold pushing unit 12.

The taken-out mold judging unit 10136 judges whether or not the taken-out mold device 20 is to be used for the next door panel. Specifically, after the mold device 20 is taken out and conveyed to the first station, the mold identification number of the mold device 20 is read by the mold detection sensor at the first station, and whether the mold identification number is consistent with the mold identification number acquired by the mold information acquisition unit 1005 is judged, namely, the mold device 20 which is to be used at the current first station is consistent, and then the assembly of the next door panel can be started; if not, the stored mold device 20 may be removed again.

The take-out mold return control unit 10137 controls the door panel placing device 10, the processing and conveying device 71, and the door panel take-out device 60 to return the unmatched mold device 20 when the take-out mold determination unit 10136 determines no. Specifically, the die pushing unit 12 and the die attach unit 641 are controlled to be raised to be flush with the processing conveying unit 711; the mold pushing unit 12, the three working conveying units 711, and the mold pickup unit 641 are then controlled to convey, and the mold device 20 is conveyed to the fifth station. The mold storing control unit 10132 may then store the unmatched mold apparatus 20 in the mold temporary storage device 100 again.

The mold reflow control unit 1015 controls the process of reflowing the mold device 20 when the mold switching determination unit 1012 determines no, and reflows the same to the first station for reuse. Specifically, the die attach unit 641 is controlled to descend to be flush with the reflow conveying unit 721; the mold receiving unit 641 and the reflow conveying unit 721 below the fourth station are controlled to synchronously convey, and the mold device 20 is conveyed below the fourth station; the control process thereafter coincides with the mold transfer control unit 10134, and the description will not be repeated.

The door removal control unit 1016 controls the operation of the door removal device 60. Specifically, the door panel take-out mechanism 64 is controlled to open the mold device 20; then controlling the upper camera assembly 612 to shoot the door panel from above; the door panel grabbing module 62 is controlled to grab the door panel from the opened mold device 20 and transfer the door panel to one side; then the lower camera assembly 613 is controlled to shoot the door panel from below; finally, the door panel grabbing module 62 is controlled to transfer and place the door panel onto the workpiece conveying module 63 to be conveyed to a preset position.

As shown in fig. 33-34, the process of switching or reflowing the mold device 20 specifically includes the following steps:

step S1, the mold information acquisition unit 1005 acquires the mold identification number of the mold device 20 to be used next from the production information;

Step S2, the die-change judging unit 1012 judges whether or not to change according to the current die identification number and the die identification number acquired in step S1, and proceeds to step S3 if the judgment is no, and proceeds to step S4 if the judgment is yes;

step S3, without switching, the mold reflow control unit 1015 controls the mold receiving unit 641, the lower reflow conveying unit 721, and the mold pushing unit 12 to convey the mold device 20 from the fifth station back to the first station for reuse, and then enters an end state;

step S4, in which switching is required, the mold extraction determining unit 10133 determines whether or not a corresponding mold is present in the mold temporary storage device 100, and if not, the process proceeds to step S5, and if yes, the process proceeds to step S6;

step S5, without corresponding storage, the assembly worker places the corresponding die device 20 into the first station and then enters an end state;

step S6, storing the corresponding mold device 20, the mold taking-out control unit 10134 controls the mold temporary storage device 100 to take out one mold device 20 to be placed on the reflow conveying unit 721 below the fourth station, and moving the other mold devices 20 stored in the storage conveying direction by one storage position;

step S7, the mold transfer control unit 10135 controls the reflow conveyor 72 and the mold pushing unit 12 to convey the taken-out mold device 20 to the first station;

Step S8, the mold removal judging unit 10136 reads the mold identification number of the mold device 20 by the reader of the first station, judges whether or not it should be used, and if yes, proceeds to step S9, and if no, proceeds to step S10;

step S9, the taken-out die device 20 is matched, an operation terminal prompts an assembly worker to put in the next door plate workpiece, and an assembly process is started;

step S10, the mismatch of the removal, the removal-die-backflow control unit 10137 controls the die pushing unit 12, the upper-layer processing and conveying unit 711, and the die picking unit 641 to convey the die apparatus 20 back to the fifth station;

in step S11, the mold deposit control unit 10132 deposits the mold device 20 whose fifth station is not matched into the mold temporary storage device 100 again, and then returns to step S6, i.e., repeats the process of taking out the next mold device 20 to the first station for judgment until the correct mold device 20 is taken out.

After the above steps, the first station is placed with the correct type of mold device 20 and the next door panel assembly process is entered.

Example operation and Effect

In an embodiment, the mold switching control portion includes a storable judging unit and a mold storing control unit, and can judge whether the next mold can be stored according to the number of existing mold devices, and can control the mold access unit with the fifth station being liftable and the third reversing conveying unit at one end of the storing conveying rail to cooperate to convey the mold devices onto the storing conveying rail for temporary storage. Further, the mold switching control unit further includes a mold removal determination unit, a mold removal control unit, a mold transfer control unit, a mold removal determination unit, and a mold removal reflow control unit, so that it is also possible to determine whether or not there is a mold device currently stored that should be used next, and when it is determined that the mold devices are not matched, the mold devices are sequentially removed and transferred to the first station for determination, and when it is determined that the mold devices are not matched, the mold devices are transferred back and stored in the mold temporary storage device again until the matched mold devices are removed. Therefore, when the assembly products are switched, the automatic processing can be realized, manual intervention is not needed, the production efficiency can be ensured, and the labor burden of workers is reduced.

Further, the mold devices stored in the mold temporary storage device are all placed adjacently under the control of the mold storing control unit without empty space therebetween, so that the storage space can be fully utilized, and the removal of the mold devices can be realized with relatively simpler control logic.

The above examples are only for illustrating the specific embodiments of the present invention, and the present invention is not limited to the description scope of the above examples.

Claims

1. A door panel assembly system, comprising:

the mold device for door panel assembly is used for carrying automobile door panel workpieces to be assembled, and is provided with an electronic tag and a mold identification number;

the door plate placing device, the screw driving device, the riveting device, the buckle mounting device and the door plate taking-out device are sequentially arranged and are respectively used for placing the door plate assembling die device, driving screws on the automobile door plate workpiece of the door plate assembling die device, riveting, buckle mounting and taking out the assembled automobile door plate workpiece;

a processing and conveying device for conveying the mold device for assembling the door plate along a preset processing and conveying direction;

a reflow conveying device for conveying the mold device for door panel assembly along a predetermined reflow conveying direction;

The die temporary storage device is used for storing and conveying the die device for assembling the door plate; and

the door plant assembly controlling means for to the assembly process of car door plant work piece is controlled, and it includes at least:

a die information storage unit which stores a die identification number of each of the die devices for assembling the door panel and a corresponding workpiece identification number of the automobile door panel workpiece;

a die information acquisition part for acquiring a corresponding die identification number according to the input workpiece identification number of the next automobile door panel workpiece to be assembled;

a mold switching determination unit configured to determine whether to switch the mold device for door panel assembly of different types based on the current mold identification number and the mold identification number acquired by the mold information acquisition unit;

a die switching control unit for controlling the door plate take-out unit and the die temporary storage unit to cooperate when the die switching judgment unit judges that the die is positive, storing the die device for assembling the door plate at the door plate take-out unit into the die temporary storage unit,

wherein the door plate taking-out device is provided with a die taking-out unit for taking out the die device for assembling the door plate from the processing and conveying device,

The die temporary storage device comprises:

the device comprises a storage conveying track, a transfer conveying track and a taking-out conveying track which are sequentially connected and used for carrying and conveying the die device for assembling the door plate;

the third reversing conveying unit is arranged at one end of the storing conveying rail and is used for abutting the die receiving unit to receive the die device for assembling the door plate and placing the die device on the storing conveying rail for temporary storage,

the die switching control section includes:

a mould storing control unit for controlling the mould receiving unit and the third reversing conveying unit to work cooperatively, transferring the mould device for assembling the door plate on the mould receiving unit onto the storing conveying track for temporary storage,

the door plate placing device is provided with a mold pushing unit which can be lifted and can switch the conveying direction and is used for placing and conveying the mold device for assembling the door plate,

the mould pushing unit is provided with a mould detection sensor for reading the electronic tag to obtain the mould identification number,

the die temporary storage device further comprises:

a transfer unit provided in the reflow conveyor and near one end of the take-out conveyor rail, for transferring the door panel-mounting mold device temporarily stored at one end of the take-out conveyor rail to the reflow conveyor,

The door panel assembly control device further includes:

a die storing information storage unit for storing the die identification number of each die device for assembling the door panel stored in the die temporary storage unit,

the mold switching control section further includes:

a mold extraction judgment unit that judges whether or not the mold identification number acquired by the mold information acquisition unit is present in the mold identification numbers stored by the mold storage information storage unit;

a mold extraction control unit configured to control the extraction conveyor rail and the transplanting conveyor unit to cooperate when the mold extraction determination unit determines yes, and sequentially extract and place the temporarily stored mold device for door panel assembly onto the reflow conveyor;

a mold transfer control unit for controlling the reflow conveyor and the mold pushing unit to convey the mold device for door panel assembly to the door panel placing device after the mold removal control unit removes one mold device for door panel assembly;

and a die taking-out judging unit for judging whether the die device for assembling the door plate is matched with the next automobile door plate workpiece to be assembled or not according to the die identification number read by the die detection sensor and the die identification number acquired by the die identification number acquiring part.

2. The door panel assembly system of claim 1, wherein:

wherein the die receiving unit comprises two chain type conveying tracks which are arranged in parallel,

the door plate taking-out device is also provided with a lifting mechanism for taking out the door plate, which is used for driving the die receiving unit to lift,

the storing conveying track comprises two conveying synchronous belt tracks which are arranged in parallel,

the third reversing and conveying unit is arranged between the two synchronous belt rails for conveying and comprises two synchronous belt rails for reversing which are arranged in parallel and a lifting cylinder for reversing which is arranged below the synchronous belt rails for reversing, when in a lifting state and a non-lifting state, the synchronous belt rails for reversing are respectively higher than and lower than the chain type conveying rails,

the die storing control unit firstly controls the jacking cylinder for reversing to jack up the synchronous belt track for reversing, controls the lifting mechanism for taking out the door plate to lift the chain type conveying track to be flush with the synchronous belt track for reversing, then controls the synchronous belt track for reversing and the chain type conveying track to synchronously convey, conveys the die device for assembling the door plate to the synchronous belt track for reversing, and then controls the jacking cylinder for reversing to put down the synchronous belt track for reversing, and places the die device for assembling the door plate on the conveying track for storing.

3. The door panel assembly system of claim 2, wherein:

wherein the transfer conveying track and the taking-out conveying track also comprise two conveying synchronous belt tracks which are arranged in parallel,

the conveying direction of the conveying track for transferring is perpendicular to the conveying track for storing and the conveying track for taking out,

the die temporary storage device further comprises:

a first reversing and conveying unit, which is arranged at one end of the storing and conveying track connected with the transferring and conveying track and is positioned between the two conveying synchronous belt tracks, and is used for reversing and conveying the die device for assembling the door plate on the storing and conveying track onto the transferring and conveying track; and

a second reversing and conveying unit which is arranged at one end of the transfer conveying track connected with the taking-out conveying track and is positioned between the two conveying synchronous belt tracks and is used for reversing and conveying the die device for assembling the door plate on the transfer conveying track onto the taking-out conveying track,

when the die device for assembling the door plate is stored, the die storing control unit also controls the storing conveying rail, the transferring conveying rail, the taking-out conveying rail, the first reversing conveying unit and the second reversing conveying unit to work cooperatively, and the stored die device for assembling the door plate is conveyed to a position adjacent to the last stored die device for assembling the door plate for temporary storage.

4. The door panel assembly system of claim 1, wherein:

wherein the reflux conveying device comprises three reflux conveying units which are respectively arranged below the screw driving device, the riveting device and the buckle mounting device,

the three reflux conveying units are arranged at the same height and in the same conveying direction and each comprise two parallel chain conveying tracks,

the transplanting conveying unit comprises:

two synchronous belt tracks for transplanting, which are arranged in parallel, are arranged between the two chain type conveying tracks of one of the reflux conveying units, and the conveying direction is the same as that of the conveying track for taking out;

the jacking cylinder for transplanting is arranged below the synchronous belt track for transplanting and is used for jacking the synchronous belt track for transplanting, the synchronous belt track for transplanting is respectively higher than and lower than the two chain type conveying tracks in the jacking state and the non-jacking state,

when the mold device for door plate assembly is taken out, the mold taking-out control unit firstly controls the jacking cylinder for transplanting to jack up the synchronous belt track for transplanting, then controls the taking-out conveying track and the synchronous belt track for transplanting to synchronously convey, conveys the mold device for door plate assembly to the synchronous belt track for transplanting, and then controls the jacking cylinder for transplanting to put down the synchronous belt track for transplanting, and places the mold device for door plate assembly on the chain conveying track.

5. The door panel assembly system of claim 4, wherein:

wherein the mold extraction control section further includes:

a mold take-out reflow control unit that controls the door panel placing device, the processing and conveying device, and the door panel take-out device to convey the mold device for door panel assembly that is not matched to the door panel take-out device when the mold take-out judgment unit judges that the mold take-out judgment unit is not good,

the die storing control unit is used for controlling the door plate taking-out device to work in cooperation with the die temporary storage device after the die device for assembling the door plate reflows to the door plate taking-out device, and storing the die device for assembling the door plate into the die temporary storage device again.

6. The door panel assembly system of claim 5, wherein:

wherein, processing conveyor includes: three processing and conveying units which are respectively arranged below the screw driving device, the riveting device and the buckle mounting device and are respectively arranged above the three reflux conveying units,

the three processing and conveying units are arranged at the same height and in the same conveying direction and comprise two parallel chain conveying tracks,

The door panel assembly control device further includes:

a processing conveyance control unit for controlling a processing conveyance process, comprising:

the processing lifting control unit is used for controlling the die pushing unit and the die receiving unit to lift to be flush with the processing conveying unit;

the first processing and conveying control unit is used for controlling the die pushing unit and the processing and conveying unit below the screw driving device to convey the die device for assembling the door plate to the position below the screw driving device;

the second processing and conveying control unit is used for controlling the screw driving device and the two processing and conveying units below the riveting device to convey the die device for assembling the door plate to the position below the riveting device;

the third processing and conveying control unit is used for controlling the riveting device and the two processing and conveying units below the buckle installation device to convey and convey the die device for assembling the door plate to the position below the buckle installation device;

and a fourth processing and conveying control unit, configured to control the processing and conveying unit and the mold receiving unit below the buckle installation device to convey the mold device for assembling the door plate to the door plate taking-out device.

7. The door panel assembly system of claim 6, wherein:

wherein the door panel placement device is also provided with an operation terminal, and generates an assembly start signal after the operation confirmation of an assembly worker,

the door panel assembly control device further includes:

the screw driving control part is used for controlling the screw driving device and generating a screw driving completion signal when the screw driving operation is completed;

a caulking control section for controlling the caulking apparatus and generating a caulking completion signal when the caulking operation is completed; and

a buckle installation control part for controlling the buckle installation device and generating a buckle installation completion signal when the buckle installation operation is completed,

the first processing and conveying control unit controls the die pushing unit and the processing and conveying unit below the screw driving device to convey when receiving the assembly starting signal,

when the second processing and conveying control unit receives the screw driving completion signal, the second processing and conveying control unit controls the screw driving device and the two processing and conveying units below the riveting device to convey,

when receiving the riveting completion signal, the third processing and conveying control unit controls the two processing and conveying units below the riveting device and the buckle installation device to convey,

And when receiving the buckle installation completion signal, the fourth processing and conveying control unit controls the processing and conveying unit and the die receiving unit below the buckle installation device to convey.

8. The door panel assembly system of claim 7, wherein:

wherein the die pushing unit and the three processing and conveying units are respectively provided with a die detection sensor for reading the electronic tag,

the first processing and conveying control unit controls the die pushing unit and the processing and conveying unit below the screw device to stop conveying when the die detection sensor of the processing and conveying unit below the screw device reads the electronic tag,

the second processing and conveying control unit controls the two processing and conveying units below the screw device and below the riveting device to stop conveying when the die detection sensor of the processing and conveying unit below the riveting device reads the electronic tag,

and the third processing and conveying control unit controls the two processing and conveying units below the riveting device and below the buckle mounting device to stop conveying when the die detection sensor of the processing and conveying unit below the buckle mounting device reads the electronic tag.