CN115741064B

CN115741064B - Door plant rigging equipment

Info

Publication number: CN115741064B
Application number: CN202211480947.8A
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: 2024-01-09
Anticipated expiration: 2042-11-24
Also published as: CN115741064A

Abstract

The invention provides door plate assembly equipment which comprises a door plate assembly die 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 and a door plate assembly control device. The door plate assembly control device comprises a processing and conveying control part, and under the control of the processing and conveying control part, the processing and conveying device can sequentially convey the mold device for door plate assembly carrying the automobile door plate workpiece to be assembled to a screw driving device, a riveting device, a buckle installation device and a door plate taking-out device for screw driving, riveting, buckle installation and taking-out and checking after assembly is completed.

Description

Door plant rigging equipment

Technical Field

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

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, a common assembly process is that an assembly worker carries and places a door plate workpiece on a corresponding workbench, and after the door plate workpiece is fixed, each assembly process is manually carried out, so that a plurality of problems are caused: 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 in the carrying process, and affects the quality or the yield of finished products; thirdly, the assembly worker needs to switch various processing tools to sequentially perform a plurality of different procedures, the skill requirement on the assembly worker is high, the production efficiency is low, and in some procedures (such as screwing and riveting), the manual operation is easy to produce errors, so that the quality of a finished product is affected.

In order to solve the above problems, to improve the production efficiency of automobile door panels and reduce the burden of assembly workers, there is an urgent need for a door panel assembly line capable of automatically or semi-automatically performing each process, in which each assembly process needs to be completed sequentially, and the assembly efficiency and quality can be ensured.

Disclosure of Invention

The invention is carried out to solve the problems, and aims to provide door plate assembly equipment capable of sequentially completing various procedures of automobile door plate assembly according to the working positions, which adopts the following technical scheme:

the invention provides door plate assembly equipment, which is characterized by comprising the following components: 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, 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 panel on which the automobile door panel workpiece is placed; and the door plate assembly control device is used for controlling the assembly process of the automobile door plate workpiece and at least comprises a processing and conveying control part, and is used for controlling the processing and conveying device to sequentially convey the mold device for door plate assembly on which the automobile door plate workpiece is placed to the screw driving device, the riveting device, the buckle mounting device and the door plate taking-out device along a preset processing and conveying direction.

The door panel assembling device provided by the invention can also have the technical characteristics that the door panel placing device is also provided with an operation terminal, an assembling start signal is generated after the operation of an assembling worker is confirmed, and the door panel assembling 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, the processing and conveying control part comprises: a first processing and conveying control unit for controlling the processing and conveying device to convey the door panel assembling die device to the lower part of the screw driving device when receiving the assembling start signal; a second processing and conveying control unit for controlling the processing and conveying device to convey the die device for door panel assembly to the lower part of the riveting device when the screw driving completion signal is received; a third processing and conveying control unit for controlling the processing and conveying device to convey the door panel assembling die device to the lower part of the buckle mounting device when receiving the riveting completion signal; and a fourth processing and conveying control unit that controls the processing and conveying device to convey the mold device for door panel assembly to the door panel take-out device when the buckle installation completion signal is received.

The door panel assembling device provided by the invention can be further characterized in that the door panel placing device is provided with a die pushing part, the door panel taking-out device is provided with a die taking-out part, the processing and conveying device comprises three processing and conveying units which are respectively arranged below the screw driving device, the riveting device and the fastener installation device, the three processing and conveying units are positioned at the same height and have the same conveying direction, when receiving the assembling starting signal, the first processing and conveying control unit controls the die pushing part and the processing and conveying units below the screw driving device to simultaneously convey, so that the door panel assembling die device is conveyed to the position below the screw driving device, when receiving the screw driving completion signal, the second processing and conveying control unit controls the two processing and conveying units below the riveting device to simultaneously convey, so that the door panel assembling die device is conveyed to the position below the riveting device, when receiving the riveting completion signal, the third processing and conveying control unit controls the fastener installation device to simultaneously convey the door panel assembling die device to the position below the fastener installation device, so that the door panel assembling die device is conveyed to the position below the fastener installation device.

The door panel assembling apparatus provided by the invention may further have a technical feature that the mold pushing part and the three processing and conveying units each have a mold detection sensor for reading the electronic tag, the first processing and conveying control unit controls the mold pushing part and the processing and conveying unit below the screw device to stop conveying when the mold detection sensor of the processing and conveying unit below the screw device reads 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 mold detection sensor of the processing and conveying unit below the screw device reads 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 mold detection sensor of the processing and conveying unit below the screw device reads the electronic tag.

The door panel assembling apparatus provided by the present invention may further have a technical feature in that each of the processing and conveying units includes: the distance between the two parallel chain type conveying tracks is matched with the die device for assembling the door plate and is used for carrying and conveying the die device for assembling the door plate; a blocking mechanism provided between the two chain conveyor rails and located at one end downstream in the processing conveying direction, for blocking one end of the door panel assembling die device mounted on the chain conveyor rails; and the check mechanism is arranged between the two chain type conveying rails and positioned at one end along the upstream of the processing conveying direction, and is used for carrying out unidirectional release on the other end of the die device for assembling the door plate, which is arranged on the chain type conveying rails, wherein the first processing conveying control unit, the second processing conveying control unit, the third processing conveying control unit and the fourth processing conveying control unit are used for controlling the corresponding blocking mechanism to release before the processing conveying units are controlled to convey.

The door plate assembly equipment provided by the invention can be further characterized by further comprising a door plate placing lifting mechanism for driving the mold pushing part to lift, wherein the first processing and conveying control unit firstly controls the mold pushing part to lift to be flush with the processing and conveying unit, and then controls the mold pushing part and the processing and conveying unit to simultaneously convey.

The door plate assembly equipment provided by the invention can be further characterized in that the door plate taking-out device is further provided with a lifting mechanism for taking out the door plate, the lifting mechanism is used for driving the die receiving part to lift, the fourth processing and conveying control unit firstly controls the die receiving part to lift to be flush with the processing and conveying unit, and then controls the processing and conveying unit and the die receiving part to simultaneously convey.

The door panel assembly device provided by the invention can also have the technical characteristics that the door panel assembly control device further comprises: the assembly information storage part is used for storing workpiece identification numbers of the automobile door panel workpieces and corresponding assembly information, the assembly information comprises the number and positions of screws, the number and positions of riveting and the number and positions of buckle installation, the screw driving control part is used for controlling the screw driving device to sequentially perform screw driving operation on all positions according to the number and positions of screws in the assembly information, the riveting control part is used for controlling the riveting device to sequentially perform riveting operation on all positions according to the number and positions of riveting in the assembly information, and the buckle installation control part is used for controlling the buckle installation device to sequentially perform buckle installation operation on all positions according to the number and positions of buckle installation in the assembly information.

The door panel assembling equipment provided by the invention can be further characterized in that the screw driving device, the riveting device and the buckle mounting device are provided with pressing mechanisms for pressing the door panel assembling die device on which the automobile door panel workpiece is placed, and the screw driving control part, the riveting control part and the buckle mounting control part also control the corresponding pressing mechanisms to press the door panel assembling die device before the corresponding devices are controlled to start assembling operation.

The actions and effects of the invention

The door plate assembling device comprises a door plate assembling die 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 and a door plate assembling control device. The door plate assembly control device comprises a processing and conveying control part, and under the control of the processing and conveying control part, the processing and conveying device can sequentially convey the mold device for door plate assembly carrying the automobile door plate workpiece to be assembled to a screw driving device, a riveting device, a buckle installation device and a door plate taking-out device for screw driving, riveting, buckle installation and taking-out and checking after assembly is completed.

Drawings

FIG. 1 is a block diagram of a door panel assembly apparatus 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 portion 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 schematic view of a conveying die apparatus in a processing conveying direction in the embodiment of the present invention.

Detailed Description

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

< example >

Fig. 1 is a block diagram of the structure of the door panel assembling apparatus in the present embodiment.

As shown in fig. 1, the door panel assembling apparatus 1000 includes a door panel placing device 10, a screwing device 30, a caulking device 40, a snap mounting device 50, a door panel taking-out device 60, and a processing conveying device 71.

Wherein the door panel placement device 10 serves as a first station in the system for receiving an automotive door panel workpiece to be assembled. The screw driving device 30 is used as a second station for performing screw driving operation. The riveting device 40 serves as a third station for performing a riveting operation. The buckle mounting device 50 serves as a fourth station for carrying out a buckle mounting operation. The door panel removal device 60 serves as a fifth station for transporting out the assembled automobile door panel workpiece. The automobile door panel workpiece to be assembled is placed in a mold device for door panel assembly (hereinafter referred to as a mold device) so as to be circulated between the respective stations. The processing conveyor 71 is disposed in the second to fourth stations for sequentially conveying the automobile door panel workpieces to be assembled to the stations for corresponding assembling operations. The structure and function of each part will be described in detail below.

Fig. 2 is a perspective view of the door panel placement device in this embodiment.

Fig. 3 is a perspective view of a part of the structure of the door panel placement device in this embodiment.

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.

Fig. 4 is a perspective view of the die apparatus in the present embodiment.

Fig. 5 is a perspective view of the opened state of the die device in the present embodiment.

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.

Fig. 6 is a block diagram of a bottom guide block of the door panel assembling die apparatus in the present embodiment.

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 clamped between a plurality of tire fixtures 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 pieces 222 are L-shaped metal pieces and are respectively installed 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 pieces 222 are abutted with square rods on two sides of the cover plate frame 221 to play a role in limiting.

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 head 223 is used for respectively abutting against different parts of the surface of the automobile door panel workpiece when the cover plate 22 is closed, so that the automobile door panel workpiece is pressed and fixed.

Fig. 7 is a schematic structural diagram of the U-shaped opening and closing arm cooperating with the rotation driving mechanism in this embodiment.

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 part 12, a jacking positioning part 13 and a rotation driving part 14.

Fig. 8 is a perspective view of the mold pushing section in the present embodiment.

As shown in fig. 8, the mold pushing section 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 double-speed 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.

Fig. 9 is a perspective view of the lifting mechanism for door panel placement in the present embodiment.

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 part 12 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.

Fig. 10 is a perspective view of a blocking mechanism for door panel placement in the present embodiment.

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.

Fig. 11 is a perspective view of the check mechanism for door panel placement in the present embodiment.

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.

Fig. 12 is a schematic view of the door panel setting check mechanism in the present embodiment when the door panel setting check mechanism is placed in the forward direction.

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.

Fig. 13 is a schematic view of the door panel setting check mechanism in the present embodiment when the door panel setting check mechanism is reversely set.

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.

Fig. 14 is a perspective view of the screw driving device in the present embodiment.

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.

Fig. 15 is a perspective view of the screw driving pressing mechanism in the present embodiment.

Fig. 16 is a schematic view showing a state in which the pressing mechanism for screwing presses the door panel assembling die device in the present embodiment.

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 a plurality of pressing blocks 3111 capable of pressing the cover plate 22. In this embodiment, the number of the pressing blocks 3111 is two, and the two pressing blocks 3111 are symmetrically disposed above the cover 22 and are respectively used for pressing two side edges of the cover 22 in the length direction.

Each of the compression blocks 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. In this embodiment, two reinforcing ribs 31113 are provided at both ends of the main board 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.

A jacking block 3121 is provided below the support unit for holding the mold device 20. In this embodiment, the jacking blocks 3121 are rectangular blocks, and the four jacking blocks 21 are symmetrically arranged in pairs, so that the four corners of the mold device 20 can be stably supported during jacking.

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.

Fig. 17 is a perspective view of the moving mechanism for driving screws in the present embodiment.

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.

Fig. 18 is a perspective view of the first horizontal moving unit in the present embodiment.

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.

Fig. 19 is a perspective view of the second horizontal moving unit in the present embodiment.

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.

Fig. 20 is a perspective view of the lifting unit for screwing in the present embodiment.

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.

Fig. 21 is a plan view of a part of the structure of the snap-fit device in this embodiment.

Fig. 22 is an enlarged view of the inner portion of the frame C in fig. 21.

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.

Fig. 23 is a perspective view of the support portion for attaching the buckle in the present embodiment.

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 is neatly arranged a plurality of unordered buckles through the vibration mode and export in proper order, and it is prior art and does not need to describe in detail.

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.

Fig. 24 is a perspective view of the buckle mounting mechanism in this embodiment.

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 two lifting guide rods 54143 for mounting the buckle are respectively arranged in parallel with the lifting connecting rod 54142 for mounting the buckle, and are used for guiding and limiting during 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.

Fig. 25 is a perspective view of the buckle mount in this embodiment.

As shown in fig. 25, the bottom of the buckle mounting member 542 has a buckle fixing cavity 5421, which is shaped and sized to fit 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 two clip mounting pieces 542 are disposed on the clip mounting piece connecting frame 543 in parallel along the longitudinal direction of the clip mounting lifting connecting rod 54142, and can be taken out from the two clip mounting pieces at a time.

Fig. 26 is a perspective view of the buckle detecting unit in the present embodiment.

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 is a servo motor, and can feed back the resistance received during rotation to the superior equipment such as the controller, and then 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. The tensioning wheel 54424 is used for tensioning the synchronous belt 54423, so that the transmission effect is prevented from being influenced by slipping during transmission.

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.

Fig. 27 is a perspective view of the door panel removing device in the present embodiment.

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.

Fig. 28 is a perspective view of the door panel gripping module gripping the door panel workpiece of the automobile in this embodiment.

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 is used for conveying 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 taking-out mechanism 64 is basically identical in structure to the door placing mechanism 11, that is, includes a die receiving portion identical in structure to the die pushing portion 121, a lifting mechanism for lifting the die receiving portion, and the like, and the door taking-out lifting mechanism 65 is basically identical in structure to the door placing lifting mechanism 14, and therefore, a description thereof will not be repeated. That is, the mold receiving portion 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 conveying rail installed under the screw driving device 30, and the same is provided under the caulking device 40 and the buckle installation device 50, and 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 direction D1 in fig. 1. In the present embodiment, the structure of the processing and conveying unit 711 is identical to that of the mold pushing unit 12, and is also a chain conveyor rail. The three processing and conveying units 711 are also provided with a blocking mechanism and a check mechanism at both ends, and the structure is the same as the door panel placing blocking mechanism 17 and the door panel placing check mechanism 16, and will not be described again.

Further, mold detecting sensors for reading electronic tags at the bottom of the mold device 20 are installed in each of the first to fifth stations.

As shown in fig. 1, the door panel assembly apparatus 1000 further includes a door panel assembly control device including: production information storage unit 1001, assembly information storage unit 1002, mold information storage unit 1003, door information to be assembled acquisition unit 1004, door setting control unit 1005, current door information acquisition unit 1006, door information comparison determination unit 1007, screw driving control unit 1008, caulking control unit 1009, buckle mounting control unit 1010, process conveyance control unit 1011, door extraction control unit 1012, and door assembly control unit 1013 that control 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.

When the assembler confirms that the mold device 20 has been placed at the first station by the operation terminal, the door panel placement control section 1005 controls the door panel placement mechanism 11 to rotate and open the cover plate 22 of the mold device 20 at the current station; and controlling the door panel placing mechanism 11 to rotate the cover plate 22 of the mold device 20 of the current station closed when the assembler confirms through the operation terminal that the corresponding automobile door panel workpiece has been placed in the opened mold device 20.

When the front door information acquiring unit 1006 confirms that a workpiece has been placed in the die device 20 at the first station through the operation terminal, it controls the workpiece detection sensor at the first station to read the electronic tag on the automobile door workpiece, and acquires the workpiece identification number.

The door panel information comparison judging section 1007 compares the workpiece identification number acquired by the door panel information to be assembled acquiring section 1004 with the workpiece identification number acquired by the current door panel information acquiring section 1006, and judges whether the two are identical. And the two are consistent, namely the model of the placed workpiece is correct, and automatic assembly can be started.

The screw driving control part 1008 is used for controlling the screw driving process and sending out a screw driving completion signal after the screw driving operation is completed. The device comprises a first compression control unit and a screw driving control unit. The pressing control unit controls the pressing mechanism 31 for screwing to press the die device 20 in the current station at the die device 20. After the die device 20 is compressed, the screw driving control unit controls the screw driving moving mechanism 32 to drive the screw driving mechanism to sequentially move to each screw driving position according to the number and the positions of the screws in the acquired assembly information to perform screw driving operation.

The caulking control section 1009 is configured to control the caulking process and to issue a caulking completion signal after the completion of the caulking operation. The riveting control device comprises a second compaction control unit and a riveting control unit. The second pressing control unit controls the pressing mechanism for riveting to press the die device 20 in the current station. After the die device 20 is pressed, the riveting control unit controls the riveting moving mechanism to drive the riveting mechanism to sequentially move to each riveting position according to the number and the positions of the riveting in the acquired assembly information to perform the riveting operation.

The buckle installation control part 1010 is used for controlling the buckle installation process and sending out a buckle installation completion signal after the buckle installation is completed. The clamping device comprises a third compression control unit, a feeding control unit, a clamping buckle grabbing control unit, a clamping buckle installation control unit and a clamping buckle detection control unit. The third pressing control unit controls the pressing mechanism for mounting the buckle to press the die device 20 in the current station. After the sensor 55 senses that the buckle on the buckle mounting support portion 52 has been grasped away, the feeding control unit controls the vibration plate 531 and the buckle pushing unit 533 to output the buckle and push the buckle into place. The buckle grabbing control unit controls the buckle mounting mechanism 54 to grab the buckle from the buckle mounting support portion 52. The buckle installation control unit controls the buckle installation mechanism 54 to sequentially install the grabbed buckles to various positions according to the number of buckles in the assembly information and the installation positions. After each buckle is mounted, the buckle detection control unit controls the buckle mounting mechanism 54 to detect the mounted buckle.

The machining conveyance control section 1011 sequentially conveys the die apparatus 20 carrying the workpiece to be assembled to each station in a predetermined machining conveyance direction, and includes a first machining conveyance control unit 10111, a second machining conveyance control unit 10112, a third machining conveyance control unit 10113, and a fourth machining conveyance control unit 10114.

The elevation control unit 10111 controls the elevation of the mold pushing unit 12 to be flush with the process conveying unit 711 when the assembler confirms the start of the assembly through the operation terminal of the first station.

When the assembly worker confirms the start of the assembly through the operation terminal of the first station, the first process conveyance control unit 10111 controls the die pushing unit 12 and the process conveyance 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:

the die pushing part 12 is controlled to rise and fall to be flush with the processing conveying unit 711;

controlling the release of the blocking mechanism at the mold pushing part 12;

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

The blocking mechanism at the mold pushing section 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.

The door panel take-out control portion 1012 controls the operation of the door panel take-out device 60 so as to take a photograph of the assembled automobile door panel workpiece and convey it away from the assembly line, specifically, sequentially:

The door panel take-out mechanism 64 is controlled to rotate the cover plate 22 of the mold device 20 open;

controlling the upper image pickup assembly 612 to photograph the automobile door panel workpiece in the die device 20 from above;

the control door panel grabbing mechanism 62 grabs the automobile door panel workpiece from the opened mold device 20 and drives the workpiece to move to the position right above the lower camera assembly 613;

the lower camera assembly 613 is controlled to shoot the workpiece from below;

the control door grasping mechanism 62 places the photographed workpiece on the door conveying module 63, and the workpiece is conveyed to a predetermined position.

Fig. 29 is a schematic view of a conveying die apparatus in the processing conveying direction in the present embodiment.

As shown in fig. 29, based on the door panel assembling apparatus 1000, the process of automatically assembling the door panel workpiece of the automobile specifically includes the following steps:

step S1, an assembler places a corresponding mold device 20 into the door panel placing device 10 according to the assembly information of the next workpiece, and confirms the mold placement through an operation terminal;

step S2, the door panel placement control unit 1005 controls the door panel placement mechanism 11 to rotate and open the cover plate 22;

step S3, the assembler puts the next automobile door panel workpiece to be assembled into the opened mold device 20, and confirms the workpiece put-in through the operation terminal;

Step S4, the current door panel information acquiring unit 1006 acquires the workpiece identification number of the current workpiece;

step S5, the door panel information comparison judging part 1007 judges whether the workpiece identification number of the current workpiece is consistent with the information to be assembled, if yes, the step S6 is carried out, and if not, the corresponding warning information is generated and the end state is carried out;

after the assembly worker checks and replaces the workpiece with the correct model according to the warning information, the step S3 can be returned.

Step S6, the door panel placement control unit 1005 controls the door panel placement mechanism 11 to rotate the cover plate 22 closed;

step S7, the first processing and conveying control unit 10111 controls the mold pushing unit 12 and the processing and conveying unit 711 of the second station to convey the mold device 20 to the second station;

step S8, the screw driving control unit 1008 controls the screw driving device 30 to compress the current station die device 20, and sequentially screw driving at each position according to the assembly information;

step S9, the second processing and conveying control unit 10112 controls the two processing and conveying units 711 of the second station and the third station to convey the die apparatus 20 to the third station;

step S10, the caulking control unit 1009 controls the caulking apparatus 40 to compress the die apparatus 20 at the current station and sequentially perform caulking at each position according to the assembly information;

Step S11, the third processing and conveying control unit 10113 controls the two processing and conveying units 711 of the third station and the fourth station to convey the die apparatus 20 to the fourth station;

step S12, the buckle installation control part 1010 controls the buckle installation device 50 to compress the die device 20 at the current station, and sequentially performs buckle installation at each position according to the assembly information;

step S13, the fourth process conveyance control unit 10114 controls the process conveyance unit 711 and the mold access portion of the fourth station to convey the mold device 20 to the fifth station;

in step S14, the door panel removal control unit 1012 controls the door panel removal device 60 to remove the assembled automobile door panel and perform shooting detection.

Example operation and Effect

The door panel assembling apparatus 1000 according to the present embodiment includes a door panel assembling die device 20, a door panel placing device 10, a screwing device 30, a riveting device 40, a snap mounting device 50, a door panel taking-out device 60, a processing conveying device 71, and a door panel assembling control device. The door panel assembly control device comprises a processing and conveying control part 1011, and under the control of the processing and conveying control part 1011, the processing and conveying device 71 can sequentially convey the die device 20 carrying the automobile door panel workpiece to be assembled to the screw driving device 30, the riveting device 40, the buckle installation device 50 and the door panel taking-out device 60 for screw driving, riveting, buckle installation and taking-out and checking after the assembly is completed, so that the equipment 1000 of the embodiment can automatically complete each procedure of door panel assembly without manually carrying the automobile door panel and processing the automobile door panel, can save a great amount of manpower, and improve the production efficiency and the consistency of final products.

Specifically, the processing and conveying control section 1011 includes first to fourth processing and conveying control units for controlling the conveying processes between the stations, and takes the first processing and conveying control unit 10111 as an example, when receiving the assembly start signal, it controls the lifting of the mold pushing section 12 to be flush with the processing and conveying unit 711, then controls the blocking mechanism at the mold pushing section 12 to release, then controls the mold pushing section 12 to simultaneously convey with the processing and conveying unit 711, and stops conveying when the mold detection sensor of the processing and conveying unit 711 detects the electronic tag at the bottom of the mold device 20, and then controls the blocking mechanism to block. Therefore, the die device 20 can be stably conveyed between the stations, the die device 20 can be conveyed to the designated position in the stations, and after the die device is conveyed in place, the die device 20 and workpieces therein cannot be displaced in the assembly process by the stop mechanisms at the two ends and the limit of the check mechanism, so that the automatic assembly is facilitated.

Further, the door panel assembly control device further comprises a screw driving control part 1008, a riveting control part 1009 and a buckle installation control part 1010, and by taking the screw driving control part 1008 as an example, after the die device 20 at the current station is pressed by the pressing mechanism, the screw driving mechanism is driven to move to each preset position by the moving mechanism 32 for controlling screw driving according to assembly information to perform screw driving operation, displacement, deflection and the like of automobile door panel workpieces in the assembly process can be avoided, the positions of screw driving, riveting and the like are guaranteed to be accurate, and therefore the assembly efficiency and quality are guaranteed.

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 apparatus, 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, 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 panel on which the automobile door panel workpiece is placed; and

a door panel assembly control device for controlling the assembly process of the automobile door panel workpiece, at least comprising a processing and conveying control part for controlling the processing and conveying device to sequentially convey the door panel assembly die device carrying the automobile door panel workpiece to the screw driving device, the riveting device, the buckle mounting device and the door panel taking-out device along a preset processing and conveying direction,

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 processing conveyance control unit includes:

a first processing and conveying control unit for controlling the processing and conveying device to convey the door panel assembling die device to the lower part of the screw driving device when receiving the assembling start signal;

a second processing and conveying control unit for controlling the processing and conveying device to convey the die device for door panel assembly to the lower part of the riveting device when the screw driving completion signal is received;

a third processing and conveying control unit for controlling the processing and conveying device to convey the door panel assembling die device to the lower part of the buckle mounting device when receiving the riveting completion signal; and

A fourth processing and conveying control unit for controlling the processing and conveying device to convey the mold device for assembling the door plate to the door plate taking-out device when receiving the buckle installation completion signal,

wherein the door plate placing device is provided with a mould pushing part,

the door plate taking-out device is provided with a die taking-out part,

the processing and conveying device comprises three processing and conveying units which are respectively arranged below the screw driving device, the riveting device and the buckle mounting device, the three processing and conveying units are positioned at the same height and have the same conveying direction,

the first processing and conveying control unit controls the die pushing part and the processing and conveying unit below the screw driving device to simultaneously convey when receiving the assembly starting signal, so as 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 controls the two processing and conveying units below the screw device and below the riveting device to simultaneously convey when receiving the screw driving completion signal, so as to convey the die device for assembling the door plate to the lower part of the riveting device,

The third processing and conveying control unit controls the two processing and conveying units below the riveting device and below the buckle installation device to simultaneously convey when receiving the riveting completion signal, so as to convey the die device for assembling the door plate to the lower part of the buckle installation device,

the fourth processing and conveying control unit controls the processing and conveying unit and the die receiving part below the buckle installation device to simultaneously convey when receiving the buckle installation completion signal, so as to convey the die device for assembling the door plate to the door plate taking-out device,

wherein each of the processing conveying units includes:

the distance between the two parallel chain type conveying tracks is matched with the die device for assembling the door plate and is used for carrying and conveying the die device for assembling the door plate;

a blocking mechanism provided between the two chain conveyor rails and located at one end downstream in the processing conveying direction, for blocking one end of the door panel assembling die device mounted on the chain conveyor rails; and

a check mechanism disposed between the two chain conveyor rails and located at an upstream end in the processing conveying direction for one-way release of the other end of the door panel assembling die device mounted on the chain conveyor rails,

The non-return mechanism comprises a non-return base, a non-return support, a connecting rod, a non-return member and a non-return driving cylinder,

the non-return support piece is a special-shaped metal piece and is arranged on the non-return base through a connecting piece, one side of the non-return support piece, which is close to the non-return piece, is provided with a bevel edge part, the upper part of the non-return support piece is provided with a square groove which is communicated along the processing conveying direction,

one end of the connecting rod is rotatably connected in the square groove, the other end of the connecting rod is provided with the check piece, when the connecting rod is horizontal, a gap is reserved between the connecting rod and the lower edge of the square groove,

the check member is a special-shaped metal member and is provided with a weight part and an abutting blocking part, the weight part is positioned below, one side of the weight part is provided with a weight plate, the abutting blocking part extends obliquely upwards from the upper part of the weight part to form a wedge-shaped end part for blocking the die device, a through pivot hole is formed at the joint of the weight part and the abutting blocking part, the check member is rotatably arranged at the other end of the connecting rod through the pivot hole and a rotating shaft,

the buckle installation device comprises a pressing mechanism for buckle installation, a supporting part for buckle installation, a buckle feeding part, a buckle installation mechanism and a plurality of inductors,

The buckle installation mechanism is used for grabbing a buckle and installing the buckle at a preset position on the automobile door panel workpiece and comprises a manipulator, two buckle installation parts, a connecting frame for the buckle installation parts and a buckle detection unit,

the manipulator comprises a manipulator fixing seat, a first horizontal rotating unit for installing the buckle, a second horizontal rotating unit for installing the buckle and a lifting unit for installing the buckle,

the two buckle installation parts are arranged on the manipulator and are used for being clamped with the buckles so as to move or install the buckles,

the buckle detection unit is arranged on the connecting frame for the buckle installation piece and is used for detecting whether the buckle is installed in place or not, the buckle detection unit comprises a detection motor for buckle installation and a detection transmission assembly,

the detection motor for mounting the buckle is connected with the buckle mounting piece through the detection transmission component so as to drive the buckle mounting piece to rotate, the detection motor for mounting the buckle is a servo motor, and can feed back the resistance received during rotation into the upper-level equipment so as to judge whether the buckle is mounted in place according to the resistance,

the detection transmission assembly comprises a driving wheel, two driven wheels, a synchronous belt and a tensioning wheel, wherein the driving wheel is connected with the output end of the detection motor for buckle installation, the two driven wheels are respectively and fixedly connected with the two buckle installation pieces, the tensioning wheel is used for tensioning the synchronous belt,

The first processing conveying control unit, the second processing conveying control unit, the third processing conveying control unit and the fourth processing conveying control unit also control the corresponding blocking mechanism to release before controlling the processing conveying units to convey.

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

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

the first processing and conveying control unit controls the die pushing part 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.

3. The door panel assembly apparatus of claim 1, wherein:

wherein the door plate placing device is also provided with a lifting mechanism for placing the door plate, which is used for driving the mould pushing part to lift,

the first processing and conveying control unit firstly controls the die pushing part to be lifted to be flush with the processing and conveying unit, and then controls the die pushing part and the processing and conveying unit to simultaneously convey.

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

wherein the door plate taking-out device is also provided with a lifting mechanism for taking out the door plate and is used for driving the die taking-out part to lift,

the fourth processing and conveying control unit firstly controls the die receiving part to lift to be flush with the processing and conveying unit, and then controls the processing and conveying unit and the die receiving part to convey simultaneously.

5. The door panel assembly apparatus of claim 1, wherein:

wherein, door plant assembly control device still includes:

an assembly information storage part for storing workpiece identification numbers of the automobile door panel workpieces and corresponding assembly information, wherein the assembly information comprises the number and positions of screws, the number and positions of riveting and the number and positions of buckle installation,

The screw driving control part controls the screw driving device to sequentially perform screw driving operation on each position according to the number and the positions of screws in the assembly information,

the riveting control part controls the riveting device to sequentially rivet each position according to the number and the position of riveting in the assembly information,

the buckle installation control part controls the buckle installation device to sequentially carry out buckle installation operation on each position according to the number and the positions of buckle installation in the assembly information.

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

wherein the screw driving device, the riveting device and the buckle mounting device are provided with a pressing mechanism for pressing the die device for assembling the door panel on which the automobile door panel workpiece is placed,

the screw driving control part, the riveting control part and the buckle installation control part also control the corresponding pressing mechanism to press the die device for door plate assembly before controlling the corresponding devices to start assembly operation.