CN115847060A

CN115847060A - Door panel assembly system

Info

Publication number: CN115847060A
Application number: CN202211481051.1A
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: 2023-03-28

Abstract

The invention provides a door plate assembly system which comprises a plurality of different assembly stations, wherein automobile door plate workpieces to be assembled are placed in a door plate assembly die device to be circulated, and are sequentially conveyed to each station through a processing and conveying device to be assembled. The system also comprises a mould storage device, a backflow conveying device and a door plate assembly control device, wherein the door plate assembly control device comprises a mould information storage part, a mould information acquisition part, a mould switching judgment part and a mould switching control part, and the mould information acquisition part can acquire a corresponding mould identification number according to the workpiece identification number of the next workpiece to be assembled; the mould switching judging part can judge whether the switching is needed according to the acquired and current mould identification number; the mold switching control part can control the mold storage device and the backflow conveying device to store the current mold device in a backflow mode when the mold switching control part judges that the mold switching is needed, and takes out the next mold device according to the mold identification number and puts the next mold device on the backflow conveying device, so that the mold devices are automatically switched.

Description

Door panel assembly system

Technical Field

The invention belongs to the technical field of automobile workpiece manufacturing, and particularly relates to a door panel assembling system.

Background

The automobile door plate is a common automobile part, and the assembly of the automobile door plate comprises a plurality of processes such as screwing, riveting, installing a buckle and quality inspection. At present, in the assembly process, generally, an operator carries and places door panel workpieces on a corresponding workbench, and after the door panel workpieces are fixed and compressed, the operation of each process is performed in sequence.

Therefore, in order to improve the production efficiency and the yield of automobile door plate products, a door plate assembly line capable of automatically or semi-automatically assembling automobile door plates in different stations is needed, automobile door plate workpieces can be automatically conveyed to all assembly stations in the door plate assembly line, all door plate assembly processes such as screwing, welding, buckle installation, quality inspection and the like are automatically completed in sequence, and the assembly quality of all stations can be ensured.

In addition, since the types of the automobile door panel products are numerous (such as door panels of different vehicle types, front doors and rear door panels of the same vehicle type), in order to ensure the production efficiency, the door panel assembly line also needs to be capable of coping with the product type switching, and excessive time or excessive manual intervention is not spent on switching the door panel products to be assembled.

Disclosure of Invention

The invention is carried out to solve the problems, and aims to provide a door panel assembling system which can sequentially complete each procedure of door panel assembling by different stations, can ensure the assembling quality of each procedure, and can deal with the switching situation of the models of the assembled products, and the invention adopts the following technical scheme:

the present invention provides a door panel assembly system, comprising: the door plate assembly mold device is used for carrying an automobile door plate workpiece to be assembled, and is provided with an electronic tag which stores a mold identification number; the door plate placing device, the screw striking 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, performing screw striking, riveting and buckle mounting on the automobile door plate workpiece and taking out the assembled automobile door plate workpiece; the die storage device is arranged beside the screwing device or the riveting device and is used for storing the vacant die device for assembling the door panel; the processing and conveying device is used for conveying the door plate assembling die device loaded with the automobile door plate workpiece to the screwing device, the riveting device, the buckle mounting device and the door plate taking-out device in sequence; the backflow conveying device is used for conveying the empty door plate assembly mold device; 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 for storing die identification numbers of the die devices for assembling the door panel and corresponding workpiece identification numbers of the workpieces of the automobile door panel; the die information acquisition part is used for acquiring the 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 based on the mold identification number acquired by the mold information acquisition unit and the current mold identification number; and a mold switching control unit that controls the reflow conveyance device and the mold storage device when the mold switching determination unit determines that the door panel assembly mold device is used, stores the door panel assembly mold device used in the end of use in the mold storage device, and takes out the door panel assembly mold device used next from the mold storage device based on the mold identification number.

The door panel assembly system of the present invention may also have technical features wherein the mold storage device comprises: the die storage module is arranged beside the screwing device or the riveting device; a mold transfer module provided between the screwing device or the riveting device and the mold storage module, for transferring the mold device for door panel assembly therebetween, the mold switching control section including: a first backflow control unit for controlling a conveying track in the door panel withdrawing device and the backflow conveying device to convey the door panel assembly mold device back to the screwing device or the riveting device; a mold storage control unit for controlling the mold transfer module to transfer the door panel assembling mold device at the screwing device or the riveting device into the mold storage module; and the mould taking-out control unit is used for controlling the mould transferring module to take out the corresponding mould device for door plate assembly from the mould storing module according to the mould identification number and placing the mould device on the backflow conveying device.

The door panel assembling system provided by the present invention may further have a technical feature that the mold storage module includes a plurality of storage sections sequentially arranged in a vertical direction, each of the storage sections has a plurality of storage positions sequentially arranged in a horizontal direction, and the door panel assembling control device further includes: a mold storage information storage unit that stores a layer identification number of each storage unit, a layer position identification number of each storage position, a layer position storage condition, and the corresponding mold identification number, and the mold switching control unit further includes: a storable position acquiring unit, configured to acquire the corresponding layer identification number and the layer position storage condition from the mold storage information storage unit according to the current mold identification number, and acquire the layer position identification number of the vacant layer position according to the layer position storage condition; and a taking-out position acquisition unit, which acquires the corresponding layer identification number, the layer position identification number and the layer position storage condition in the mold storage information storage part according to the mold identification number corresponding to the automobile door panel workpiece to be assembled next, acquires the layer position identification number of the layer position of the door panel assembly mold device corresponding to the storage condition according to the layer position storage condition, and the mold storage control unit stores the door panel assembly mold device into the layer position correspondingly according to the layer position identification number acquired by the storing-out position acquisition unit, and takes out the door panel assembly mold device from the layer position corresponding to the layer position acquired by the taking-out position acquisition unit according to the mold taking-out control unit.

The door plate assembling system provided by the invention can also have the technical characteristics that the backflow conveying device comprises three lower-layer conveying units with the same conveying direction, the lower-layer conveying units are respectively arranged in the screwing device, the riveting device and the buckle mounting device and are arranged at the same height, the door plate taking-out device is provided with a mould receiving part which can be lifted and can switch the conveying direction, the door plate placing device is provided with a mould pushing part which can be lifted and can switch the conveying direction, the first backflow control unit controls the mould receiving part to be lifted and lowered to be flush with the lower-layer conveying units and controls the mould receiving part and the lower-layer conveying units to work, so that the mould device for door plate assembling is conveyed to the screwing device or the riveting device, and the second backflow control unit controls the mould pushing part to be lifted and lowered to be flush with the lower-layer conveying units and controls the mould pushing part and the lower-layer conveying units to work, so that the mould device for door plate assembling at the screwing device or the riveting device is conveyed to the placing device.

The door panel assembling system provided by the present invention may further have the technical features, wherein the door panel assembling control device further comprises: and a mold return control unit which controls the operation of the mold receiving unit, the three lower-stage conveying units, and the mold pushing unit so as to return the current mold device for door plate assembly to the door plate placing device when the mold switching determination unit determines that the mold receiving unit, the three lower-stage conveying units, and the mold pushing unit are not operated.

The door panel assembling system provided by the invention can also have the technical characteristics that the processing and conveying device comprises three upper-layer conveying units with the same conveying direction, the three upper-layer conveying units are respectively arranged in the screwing device, the riveting device and the buckle mounting device and are arranged at the same height, the three upper-layer conveying units are respectively arranged above the three lower-layer conveying units, and the door panel assembling control device further comprises a processing and conveying control part for controlling the upper-layer conveying units and the mould pushing part.

The door panel assembling system provided by the present invention may further have the technical features, wherein the door panel assembling control device further comprises: the screw driving control part is used for controlling the screw driving device and sending a screw driving completion signal after the screw driving operation is completed; a riveting control part for controlling the riveting device and sending a riveting completion signal after the riveting operation is completed; and a buckle installation control part used for controlling the buckle installation device and sending a buckle installation completion signal after the buckle installation is completed, the processing and conveying control part comprises: the lifting control unit is used for controlling the door plate placing device to lift the mould pushing part to be flush with the upper layer conveying unit; a first processing and conveying control unit for controlling the operation of the mould pushing part and the upper layer conveying unit in the screwing device so as to convey the mould device for door plate assembly into the screwing device; a second processing and conveying control unit for controlling the operation of the two upper conveying units of the screwing device and the riveting device when receiving the screwing completion signal, so as to convey the door panel assembly die device into the riveting device; a third processing and conveying control unit for controlling the operation of the riveting device and the two upper conveying units of the buckle mounting device when receiving the riveting completion signal, so as to convey the die device for door panel assembly into the buckle mounting device; and a fourth processing and conveying control unit for controlling the upper layer conveying unit and the die receiving part in the buckle mounting device to work when the buckle mounting completion signal is received, so that the die device for door panel assembly is conveyed to the door panel take-out device.

The door panel assembling system provided by the present invention may further have the technical features, wherein the door panel assembling control device further comprises: the assembly information storage part is used for storing a workpiece identification number and assembly information of the automobile door panel workpiece, and the assembly information comprises the number and the positions of screwing screws, the number and the positions of riveting screws and the number and the positions of buckle installation; the screw driving control part is used for controlling the screw driving device to sequentially drive a plurality of screws into the automobile door panel workpiece according to the assembling information; the riveting control part controls the riveting device to sequentially rivet the automobile door panel workpiece at each position according to the assembly information; and the buckle installation control part is used for controlling the buckle installation device to sequentially carry out buckle installation on each position on the automobile door panel workpiece according to the assembly information.

The door panel assembling system provided by the present invention may further have technical features, wherein the door panel removing device includes: the door plate taking-out mechanism is used for receiving and taking the door plate assembly die device carrying the assembled automobile door plate workpiece and opening the door plate assembly die device; the door plate grabbing mechanism is used for grabbing the automobile door plate workpiece from the opened door plate assembling die device and driving the automobile door plate workpiece to move; the upper camera shooting assembly is arranged above the door panel taking-out mechanism and used for shooting the automobile door panel workpiece from the upper part; the lower camera shooting assembly is arranged below the door panel taking-out mechanism, is staggered with the upper camera shooting assembly in the vertical direction, and is used for shooting the automobile door panel workpiece from below; and the door plate conveying module is used for conveying the automobile door plate workpiece to a preset position, and the door plate assembly control device further comprises: a door panel take-out control section for controlling the door panel take-out device, including: the mould opening and closing control unit is used for controlling the door plate taking-out mechanism to open and close the mould device for assembling the door plate; the upper shooting control unit is used for controlling the upper shooting component to shoot the automobile door panel workpiece in the opened door panel assembling die device from the upper part; the first grabbing control unit is used for controlling the door panel grabbing mechanism to grab the automobile door panel workpiece from the opened door panel assembling die device and move the automobile door panel workpiece to the position above the lower camera shooting assembly after the upper camera shooting assembly finishes shooting; the lower shooting control unit is used for controlling the lower shooting component to shoot the automobile door panel workpiece which is moved in place from the lower part; and the second grabbing control unit is used for controlling the door panel grabbing mechanism to move and place the automobile door panel workpiece on the door panel conveying module after the shooting of the camera assembly at the lower part is finished.

The door panel assembling system provided by the present invention may further have a technical feature that the door panel removal control portion further includes: the door plate assembly detection and judgment unit is used for detecting the assembly quality of the automobile door plate workpiece according to images obtained by shooting of the upper camera component and the lower camera component and judging whether the assembly of the automobile door plate workpiece is qualified or not; and the door plate offline conveying control unit is used for controlling the door plate conveying module, conveying the automobile door plate workpiece to a first preset position when the door plate assembly detection judging unit judges that the automobile door plate workpiece is qualified, and conveying the automobile door plate workpiece to a second preset position when the door plate assembly detection judging unit judges that the automobile door plate workpiece is unqualified.

Action and Effect of the invention

According to the door plate assembling system, the door plate assembling system comprises the processing and conveying device, the door plate placing device, the screw driving device, the riveting device, the buckle mounting device and the door plate taking-out device which are sequentially arranged, automobile door plate workpieces to be assembled are placed in the door plate assembling die device to circulate, and are sequentially conveyed to the devices through the processing and conveying device to be subjected to screw driving, riveting, buckle mounting and taking-out operations, so that the system can automatically complete each procedure of door plate assembling and conveying work among the procedures, a large amount of labor can be saved, and the production efficiency of the automobile door plate products is improved. Furthermore, the system also comprises a mould storage device, a backflow conveying device and a door plate assembly control device, so that the switching condition of the assembled products can be automatically dealt with. The door panel assembly control device comprises a mould information storage part, a mould information acquisition part, a mould switching judgment part and a mould switching control part, wherein the mould information storage part is used for correspondingly storing a mould identification number and a workpiece identification number of an automobile door panel workpiece; the mould switching judging part can judge whether the mould device needs to be switched or not according to the mould identification number to be used next and the current mould identification number; the mold switching control part can control the mold storage device and the backflow conveying device to perform backflow storage on the current mold device when the mold switching control part judges that switching is needed, and takes out the next mold device to be used according to the mold identification number and places the next mold device on the backflow conveying device, so that automatic switching of the corresponding mold device is realized when an assembly product is switched.

As described above, the door panel assembly system of the present invention not only can automatically complete each procedure of door panel assembly, but also can reflow and temporarily store the used mold device, so as to well deal with the switching of the products to be assembled, save a lot of manpower and time, and improve the production efficiency of the automobile door panel products and the consistency of the 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 in an embodiment of the present invention;

FIG. 3 is a perspective view showing a partial structure of a door panel placing apparatus according to an embodiment of the present invention;

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

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

FIG. 6 is a view showing a bottom guide block of the die assembly for assembling a door panel in accordance with the embodiment of the present invention;

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

FIG. 8 is a perspective view of a mold pushing part in the embodiment of the present invention;

FIG. 9 is a perspective view of an elevator mechanism for placing a door panel in an embodiment of the present invention;

FIG. 10 is a perspective view of a mold apparatus and a door panel assembly blocking mechanism in accordance with an embodiment of the present invention;

FIG. 11 is an enlarged view of a portion within box B of FIG. 10;

FIG. 12 is a schematic structural view of a door panel placing blocking mechanism in a forward direction for releasing the door panel in the embodiment of the present invention;

FIG. 13 is a schematic view of a door panel placement restraining mechanism in an embodiment of the present invention in a reversed release configuration;

FIG. 14 is a perspective view of a screwing device in accordance with an embodiment of the present invention;

FIG. 15 is a perspective view of a pressing mechanism for screwing in an embodiment of the present invention;

FIG. 16 is a schematic view showing a state where a pressing mechanism for screwing presses a mold device for assembling a door panel in the embodiment of the present invention;

FIG. 17 is a perspective view of a moving mechanism for screwing in the embodiment of the present invention;

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

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

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

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

FIG. 22 is an enlarged view of a portion of FIG. 21 within box C;

FIG. 23 is a perspective view of a support portion for snap-fitting in an embodiment of the present invention;

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

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

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

FIG. 29 is a schematic structural view of a door panel placing device and a processing and conveying device working together according to an embodiment of the present invention;

FIG. 30 is a schematic view of a door panel removal device in cooperation with a return flow conveyor in accordance with an embodiment of the present invention;

FIG. 31 is a perspective view of a mold storage module in an embodiment of the present invention;

FIG. 32 is a perspective view of one end of the storage section in the embodiment of the present invention;

FIG. 33 is a perspective view of an end of the storage section at a different angle in an embodiment of the present invention;

FIG. 34 is a perspective view of the other end of the storage section in the embodiment of the present invention;

FIG. 35 is a perspective view of a mold transfer module in an embodiment of the present invention;

FIG. 36 is a perspective view of a transfer mechanism in an embodiment of the present invention;

FIG. 37 is a perspective view showing a partial structure of the transfer mechanism and the elevating mechanism in the embodiment of the present invention;

FIG. 38 is an enlarged view of the end of the transfer mechanism in an embodiment of the present invention;

FIG. 39 is a perspective view of a transfer mechanism of an embodiment of the present invention from a different angle;

fig. 40 is a perspective view of a part of the structure of the elevating mechanism in the embodiment of the present invention.

Detailed Description

In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the door panel assembling system of the invention is specifically described below by combining the embodiment and the attached drawings.

< example one >

As shown in fig. 1, the door panel assembling system 1000 includes a door panel placing device 10, a door panel assembling mold device 20 (hereinafter, simply referred to as a mold device 20), a screwing device 30, a riveting device 40, a snap-fitting device 50, a door panel taking-out device 60, a processing conveyor 71, a reflow conveyor 72, and a mold storage device 100.

The door panel placement device 10 serves as a first station in the system for receiving automobile door panel workpieces to be assembled. The screwing device 30 serves as a second station for performing the screwing operation. The riveting device 40 serves as a third station for carrying out the riveting operation. The snap-fitting device 50 serves as a fourth station for performing the snap-fitting operation. The door panel removing device 60 serves as a fifth station for conveying out the assembled automobile door panel workpiece. The automotive door panel workpiece to be assembled is placed in the mold apparatus 20 for ease of flow between the various stations. The processing conveying device 71 is arranged in the second to fourth stations and is used for conveying automobile door panel workpieces to be assembled to the stations in sequence to perform corresponding assembling operation. The return conveyor 72 is also disposed in the second to fourth stations below the processing conveyor 71, and is configured to return the corresponding mold device 20 by using the lower space after the assembly of one automobile door panel workpiece is completed. The mold storage device 100 is used for recycling and temporarily storing the used mold devices 20, and is used for taking out the corresponding mold devices 20 to be placed in the assembly station.

The structure and operation of each part will be described in detail below.

As shown in fig. 2 to 3, the door panel placing device 20 is used as a first station in the system for placing the mold device 20, and the structure thereof 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 support unit 21, a cover plate 22, and a connection unit 23.

The supporting unit 21 includes a supporting frame 211, a supporting mold (not shown), and a plurality of mold fixing members 212. The supporting frame 211 is formed by welding a steel square rod and a steel sheet, and is used for carrying and supporting the mold.

As shown in fig. 6, four guide blocks 2111 are arranged below the supporting frame 211, a circular groove facing downward is formed in the middle of each guide block 2111, and when the mold device 20 is conveyed to the assembly station, the output ends of the four jacking cylinders on the assembly station can be respectively embedded into the four circular grooves to jack up the mold device 20, so that the mold device 20 is positioned and fixed, and the assembly operation on the station is facilitated.

The plurality of mold fixing members 212 are L-shaped metal members, and are respectively mounted above the square rods of the supporting frame 211 and face different directions, wherein a structure for mounting and supporting a mold is formed between the plurality of mold fixing members 212. The support tires are captured between the tire mounts 212.

The cover plate 22 is rotatably coupled to the support unit 21 for pressing the door panel workpiece against the support unit 21, thereby fixing the door panel workpiece. The cover plate 22 includes a cover plate frame 221, a pair of stoppers 222, a plurality of pressing heads 223, U-shaped opening and closing arms 224, and four hooks 225.

The cover frame 221 is formed by welding aluminum profiles.

The pair of position-limiting members 222 are L-shaped metal members, and are respectively mounted on two sides of the cover frame 221, and when the cover 22 rotates to a position toward the supporting unit 21, the extending ends of the position-limiting members 222 abut against the square rods on two sides of the cover frame 221, so as to achieve a position-limiting effect.

The pressure heads 223 are composed of metal round rods and elastic pieces wrapped at the end portions 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 pressure heads 223 and the extending length of each pressure head 223 are matched with the upper surface to be pressed on of an automobile door panel workpiece. The pressing heads 223 are used for respectively abutting against different parts of the upper surface of the automobile door panel workpiece when the cover plate 22 is rotated to close, so that the automobile door panel workpiece is pressed and fixed.

As shown in fig. 7, the U-shaped opening and closing arm 224 is a substantially U-shaped metal member, and is fixedly mounted on the side of the cover frame 221 connected to the support unit 21 by a connecting member such as a screw, the opening of the U-shape faces outward, 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 surface direction of the cover frame 221 is substantially aligned 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 rotation driving mechanism in the assembling station, so that the cover plate frame 221 is driven to rotate by the rotation driving mechanism.

The hook pieces 225 are L-shaped metal plates, and are installed at both sides of the support frame 211 in the longitudinal direction in a pair of two.

The connection unit 23 is used to connect 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 connecting bracket 231 is a metal bracket and is installed at one side of the supporting frame 211, the rotating shaft 232 is installed on the connecting bracket 231, and the extending direction of the rotating shaft 232 is consistent with the extending direction of the square rod at the side of the supporting frame 211. The cover frame 221 is mounted on the rotation shaft 232 by two pairs of bearing assemblies 233 to be rotatable along the rotation shaft 232. The cover frame 221 is connected to the connection bracket 231 at a middle portion of one side thereof by a damper assembly 234, and the damper assembly 234 enables the cover 22 to receive a certain resistance when rotating, thereby limiting a rotational speed thereof.

It should be noted that, because the door panel products have various models, and there are various different mold devices 20 corresponding to the door panel products, the structure of the cover plate frame 221, the structure and distribution of the pressing heads 223 are different so as to be able to fix the automobile door panel workpieces of different shapes and sizes, but the overall size of all the mold devices 20 and the arrangement of the hook pieces 225 are the same, so that the door panel products can be transferred by using the transfer mechanism with the same structure, and can be stored by using the storage part with the same structure.

In addition, in this embodiment, be provided with electronic tags (RFID) on the car door plant work piece, read this electronic tags and can discern the model of car door plant work piece. A product detection sensor (not shown) for reading the electronic tag is further provided on the die device 20, and power is transmitted to the product detection sensor through a wireless power rod. 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 placing device 10.

As shown in fig. 2 to 3, the door panel placing device 10 includes a door panel placing mechanism 11, a door panel placing elevating mechanism 15, and a door panel placing blocking mechanism (not shown in fig. 2 to 3 due to structural shielding). The door plate placing mechanism 11 is used for positioning, opening, closing and pushing the mold device 20 at the current station, and the door plate placing mechanism 11 includes a mold pushing portion 12, a jacking positioning portion 13 and a rotation driving portion 14.

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

The two chain conveying rails 121 are arranged in parallel, and the distance between the two chain conveying rails is matched with the width of the mold device 20, and when the mold device 20 is placed on the chain conveying rails 121, the two sides of the mold device 20 in the width direction are respectively placed on the two chain conveying rails 121, so that the position of the mold device 20 can be moved in the current station. The chain type conveying track comprises a driving gear, an annular chain sleeved on the driving gear and the like, and the specific structure of the chain type conveying track is the prior art and is not described in detail. In this embodiment, the chain conveying track 121 adopts a double-speed chain, which can accelerate the conveying beat.

In addition, the outer side edges of the two chain conveying tracks 121 are also provided with outer baffles 124, and the height of the upper edges of the outer baffles 124 is higher than that of the upper end surfaces of the chain conveying tracks 121, so that the mold devices 20 on the chain conveying tracks 121 form a clamping structure, the mold devices are prevented from inclining or even falling in the conveying process, and meanwhile, the chains are protected.

Both ends of the transmission shaft 122 are connected to the two driving gears of the two chain conveyor rails 311 through bearing assemblies, respectively, for keeping the conveying speeds of the two chain conveyor rails 121 uniform, thereby enabling smooth conveyance of the mold device 20.

The chain rail driving motor 123 is used to drive the chain of the chain conveyor rail 121 to rotate. Due to the arrangement of the transmission shaft 122, both the chain conveying rails 121 synchronously rotate in the same direction under the driving of the chain rail driving motor 123.

Jacking location portion 13 includes four jacking cylinders 131, all sets up on the bracket in door plant placer 10, and four jacking cylinders 131 distribute on four rectangular angles, and are located unified vertical height, and four jacking cylinders 131 arrange with four locating piece 2111's of mould device 20 bottom arrange corresponding, and jacking cylinder 131's output and locating piece 2111's circular positioning groove phase-match can inlay in the circular positioning groove. When the jacking positioning is performed, the four jacking cylinders 131 simultaneously jack up, and the output ends of the jacking cylinders abut against the bottom surface of the circular positioning groove, so that the mold device 20 is stably jacked up.

When the mold apparatus 20 is raised into position, the cover 22 may be opened for inspection or assembly of the automotive door panel workpiece at the current station.

As shown in fig. 6, the rotary driving part 14 is used for opening or closing the cover plate 22 of the mold device 20 by rotation, and the rotary driving part 14 includes a rotary driving motor 141, a rotation transmission assembly 142, and a rotation limiting assembly 143.

The rotary driving motor 141 is used to drive the rotation of the cover plate 22.

The rotation transmission assembly 142 includes a bearing 1421, an opening and closing bar 1422, and a circular pushing member 1423. The opening/closing bar 1422 has two circular ends, one end of which is larger than the other end, and the opening/closing bar 1422 gradually narrows from the larger end to the smaller end, and a circular mounting hole is opened on the larger end, and the opening/closing bar 1422 is mounted at the output end of the rotary driving motor 141 through the circular mounting hole and the bearing 1421, and the opening/closing bar 1422 can swing in the vertical direction under the driving of the rotary driving motor 141. The circular pushing member 1423 is rotatably mounted on the smaller end of the opening/closing rod 1422 through a connecting member such as a bolt and a nut, and the diameter of the circular pushing member 1423 matches the opening width of the U-shaped opening/closing arm 224 of the mold device 20, and 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. Specifically, taking the cover plate 22 as an example, the rotary driving motor 141 drives the opening and closing rod 1422 to swing downward, and the circular pushing piece 1423 presses and pushes the lower side of the U-shaped opening and closing arm 224, so that the cover plate 22 is rotated upward and opened by leverage.

Further, the initial position of the opening/closing bar 1422 is set to correspond to the setting of the jack-up position of the jack-up positioning portion 32, and when the die set 20 is jacked up to a proper position by the jack-up positioning portion 32, the circular pusher 1423 of the opening/closing bar 1422 is fitted into the U-shaped opening of the U-shaped opening/closing arm 224 of the die set 20.

The rotation limiting assembly 143 includes four louvers 1431 and four proximity sensors 1432 for limiting the maximum travel of the opening and closing bar 1422. Two of the slotted plates 1431 are disposed above the output end of the rotary driving motor 141, the other two are disposed below, two proximity sensors 1432 are installed in the slotted holes of the two slotted plates 1431 above through nuts, the other two proximity sensors 1432 are installed below in the same manner, the two proximity sensors 1432 above are horizontally disposed, the uppermost proximity sensor 1432 is farther away from the output end of the rotary driving motor 141, when the opening and closing rod 1422 swings upward, when the two proximity sensors 1432 above sense the opening and closing rod 1422 at the same time, it indicates that the opening and closing rod 1422 has swung upward to a predetermined maximum position, that is, the cover plate 22 has been closed to a position, at this time, the industrial personal computer can timely control the rotary driving motor 141 to stop working according to the signals of the two proximity sensors 1432 above, and prevent the cover plate 22 from further pressing down to damage automobile door panel workpieces. The same applies to the lower two proximity sensors 1432, and the description will not be repeated.

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

The support frame 151 is used to provide support for lifting and lowering, and the support frame 151 includes two relatively short front support rods 1511 and two relatively long rear support rods 1512.

The plurality of vertical guide rails 152 are used for providing a guiding function for lifting, in the embodiment, the number of the vertical guide rails 152 is four, two shorter vertical guide rails 152 are arranged on the two front support rods 1511, two longer vertical guide rails 152 are arranged on the two rear support rods 1512, and the guide rails face the inside of the bracket.

The bracket 153 is a metal frame for supporting the door panel placing mechanism 11 and the mold device 20 and driving them to move up and down. The bracket 153 is L-shaped in side view, and has a short front end portion and a long rear end portion, two sliders 1531 are provided on the front end portion, four sliders 1531 are provided on the rear end portion in a two-by-two manner, and the plurality of sliders 1531 are slidably fitted to the plurality of vertical guide rails 152, respectively, to form a guide engagement. Further, a reader (not shown) is provided on the carriage 153 for reading the electronic tag on the mold device 20 placed on the carriage 153.

The lifting driving motor 155 drives the carriage 153 to lift through the lifting transmission assembly 154.

The lifting transmission assembly 154 includes a screw 1541 disposed between the two rear support rods 1512 and extending in the vertical direction, a screw nut (not shown in the figure) mounted on the screw 1541, and a switching block 1542 mounted on the screw 1541 and supported by the screw nut, the bracket 153 is disposed on the screw 1541 through the switching block 1542, the screw 1541 drives the bracket 153 to lift under the driving of the lifting driving motor 155, and details thereof are omitted in the prior art.

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

As shown in fig. 10 to 11, the door panel placing block and release mechanism 16 is used to block or release the mold device 20 at the current station, so that the mold device 20 stays at the current station or is transported to the next assembly station. The door plate placing and releasing mechanism 16 is provided on the side of the chain conveyor rail 121 close to the next station, and the door plate placing and releasing mechanism 16 includes a base 161, a placing and supporting member 162, a connecting rod 163, a stopper 164, and a driving cylinder 165 for stopper.

The base 161 is mounted on the bracket 153.

The release support 162 is a special-shaped metal member and is attached to the base 161 by a connecting member such as a screw. The blocking support 162 has a sloped edge 1621 on a side thereof adjacent to the blocking member 164, and the sloped edge 1621 is inclined at an angle corresponding to the arrangement of the blocking member 164. A rectangular groove 1622 is formed in the upper portion of the release support 162, and the rectangular groove 1622 penetrates in the conveying direction.

The link 163 is connected between the release support 162 and the stopper 164. The link 163 is a square metal rod, one end of which is disposed in the square groove 1622 of the blocking support 162 and is rotatably connected in the square groove 1622 by a rotating shaft, and the other end of which is used for mounting the stopper 164. When the connecting rod 163 rotates to extend in the horizontal direction, there is a certain gap between the connecting rod 163 and the lower edge of the square groove 1622, and when the connecting rod 163 abuts against the lower edge of the square groove 1622, the connecting rod 163 extends obliquely downward.

The stopper 164 is a special-shaped metal member having a weight portion 1641 and an abutting stopper portion 1642. The weight portion 1641 is located below and used for installing a weight, in this embodiment, two weight plates 166 made of metal are installed on one side of the weight portion 1641. The abutment stop 1642 extends obliquely upwards from above the weight 1641 and, seen from the side, the abutment stop 1642 tapers outwards from the weight 1641 to form a wedge-shaped end for stopping the die arrangement 20. A through pivot hole 1643 is formed at the connection position of the weight portion 1641 and the abutting stop portion 1642, and the blocking member 164 is rotatably mounted at one end of the connecting rod 163 through the pivot hole 1643 and a corresponding rotation shaft.

In addition, the blocking member 164 is provided with a limiting groove 1644 at one side of the wedge-shaped end portion, the limiting groove 1644 extends from the abutting blocking portion 1642 to the weight portion 1641, the limiting groove 1644 is closed at one end of the abutting blocking portion 1642 and penetrates downward at one end of the weight portion 1641, and the limiting groove 1644 is used for limiting the rotation range of the blocking member 164. When the blocking member 164 rotates to the right position in the counterclockwise direction, the abutting blocking portion 1642 (wedge-shaped end portion) abuts against the inclined edge 1621 of the support member 162 for blocking and releasing, and the upper edge of the limiting groove 1644 abuts against the connecting rod 163, so that the blocking member 164 cannot further rotate counterclockwise; when the stopper 164 is rotated clockwise to a position, the lower edge of the limit groove 1644 abuts against the output end of the driving cylinder 165 for stopping, so that the stopper 164 cannot be further rotated clockwise.

The driving cylinder 165 for blocking is used to drive the blocking member 164 to block or release the mold device 20, and the driving cylinder 165 for blocking is embedded in the base 161, and a piston rod 1651 thereof protrudes upward from the base 161. Fig. 3 is a structural view showing the door panel placing barrier mechanism in a blocking state, in which the piston rod 1651 of the driving cylinder 165 for blocking is extended, the upper end of the piston rod 1651 abuts against the connecting rod 163, so that the connecting rod 163 is kept at a position extending in the horizontal direction, the side edge of the piston rod 1651 abuts against the limit recess 1644 of the blocking member 164, at this time, the abutting blocking portion 1642 of the blocking member 164 abuts against the side edge of the mold device 20, and the blocking member 164 cannot rotate clockwise by the piston rod 1651, so that the mold device 20 is blocked, and the mold device 20 stays at a predetermined position in the working position.

As shown in fig. 12, since the weight plate 166 is provided on one side of the stopper 164, the center of gravity thereof is shifted to the right side in the drawing, and therefore, in the initial state (i.e., when the piston rod 1651 of the driving cylinder 165 for stopper is retracted), the link 163 is slightly inclined downward as compared with the stopper state, and the stopper 164 is deflected clockwise with its wedge end portion facing upward, and the uppermost end of the wedge end portion is substantially flush with the uppermost end of the support 162 for stopper, thereby releasing the mold assembly 20 in the direction D1, allowing the mold assembly 20 to be conveyed to the next station, or adjusting the position of the mold assembly 20 in the conveyance halt state, or taking out the mold assembly 20 from the station. In addition, fig. 13 also shows the initial state of the door panel placing register mechanism, and therefore, the mold device 20 can be placed in the station at this time.

As shown in fig. 13, when the piston rod 1651 of the driving cylinder 165 for stopping is extended, when the die set 20 moves in the direction indicated by D2 in fig. 5 past the door panel placing stop mechanism 16, the die set 20 presses down the abutment stop portion 1642 of the stopper 164, and the stopper 164 rotates counterclockwise to release the die set 20. Therefore, the door panel placing barrier mechanism 16 of the present embodiment can also have a function of one-way release when the piston rod 1651 of the barrier driving cylinder 165 is extended.

Further, as shown in fig. 2, the door panel placing apparatus 10 further includes a photographing mechanism (not shown in the figure) and an operation terminal 19 provided above. In the embodiment, the shooting mechanism is a camera and is used for shooting the automobile door panel workpiece in the current station so as to perform quality inspection; the operation terminal 19 is used for an operator to start and control the corresponding operation process of the current station.

As shown in fig. 14, the screwing device 30 includes, as a second station, a pressing mechanism 31 for screwing, a moving mechanism 32 for screwing, and a screwing mechanism (not shown due to the structural shielding).

As shown in fig. 15 to 16, a screw-driving pressing mechanism 31 is attached to the bracket and can press the die assembly 20. The screwing pressing mechanism 31 includes a pressing 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 plate 22 and are respectively used for pressing two side edges of the cover plate 22 in the length direction.

Each compact block 3111 includes a main plate 31111, a bottom plate 31112 arranged at the bottom of the main plate 31111, and a reinforcing rib 31113 connecting the main plate 31111 and the bottom plate 31112. Mainboard 31111 is connected on the support, and strengthening rib 31113 sets up in mainboard 31111 side. In this embodiment, two reinforcing ribs 31113 are provided at both ends of the main plate 31111.

The jacking unit 312 can push the mold apparatus 20 to ascend, and includes a plurality of jacking blocks 3121 and a jacking driving assembly 3122.

The jacking block 3121 is provided under the supporting unit for supporting the mold device 20. In this embodiment, jacking piece 3121 is the rectangle piece, and four jacking pieces 21 two bisymmetry settings can stably bear four bights of mold device 20 when the jacking.

As described above, the bottom of the supporting unit 21 has four positioning blocks 2111, and the four positioning blocks 2111 have positioning grooves. The jacking unit 312 further includes positioning columns 3123, and the positioning columns 3123 are disposed at the top of each jacking block 3121, and are adapted to the positioning grooves, and are used for positioning the mold apparatus 20. In this embodiment, the number of the positioning columns 3123 is two, and the two positioning columns are disposed on the two jacking blocks 3121 on the diagonal line.

The quantity of jacking drive assembly 3122 equals with jacking piece 3121's quantity, and jacking drive assembly 3122 is connected with jacking piece 3121 one-to-one, can drive jacking piece 3121 and drive mould device 20 and rise to make apron 22 and compact heap 3111 butt. Each of the jacking drive assemblies 3122 includes a cylinder main body 31221, a push rod 31222, and two guide rods 31223. The cylinder body 31221 has guide passages 31221a fitted to the guide rods 31223 at both sides. One end of the guide rod 31223 is movably inserted into the cylinder body 31221 through the guide passage 31221a, 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, the push rod 31222 is driven by the cylinder main body 31221 to lift, thereby driving the jacking block 3121 to lift.

The protective barrier 313 is positioned above the cylinder body 31221 and is mounted to the bracket by a plurality of fixing members, thereby protecting the cylinder body 31221. The protective baffle 313 is provided with a jacking hole 3131 matched with 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 on which the automobile door panel workpiece is placed is moved to the current station, the four sets of jacking driving assemblies 3122 drive the four jacking blocks 3121 to ascend synchronously, the positioning columns 3123 at the tops of the jacking blocks 3121 are inserted into the positioning grooves at the bottom of the supporting unit 21 to position the mold device 20, and the jacking blocks 3121 continue to ascend to support the mold device 202 on the upper layer conveying unit 711 until the cover plate 22 abuts against the pressing block 3111, so that the mold device 20 and the automobile door panel workpiece therein are pressed. Then, the screw screwing operation of the station can be carried out. That is, when the second station performs the screwing operation, the mold device 20 does not open the cover but can operate through the gap between the metal rods of the cover plate 22. Similarly, the assembly operation of the third and fourth stations does not need to open the cover. 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 workpiece.

After the process of the current station is completed, the jacking unit 312 lowers the mold apparatus 20, and then the mold apparatus 20 is transferred to the next station by the upper layer conveying unit 711.

The end shape of the screw driving mechanism is similar to that of a screwdriver, and the screw driving mechanism can rotate and press down to drive a screw.

As shown in fig. 17, the screwing moving mechanism 32 is used to drive the screwing mechanism to move to each predetermined screwing position. The screw driving moving mechanism 32 includes a first horizontal moving unit 321, a second horizontal moving unit 322, and a screw driving elevating unit 323.

As shown in fig. 18, the first horizontal moving unit 321 includes a first driving member, a first guide rail 3212, and a first moving member 3213 movably disposed on the first guide rail 3212. In this embodiment, the first driving member is a motor, and is connected to the first moving member 3213 through a screw rod structure, so as to drive the first moving member 3213 to move along the first guide rail 3212. The number of the first moving members 3213 is two, and the first moving members are sleeved on the same first guide rail 3212.

The second horizontal moving units 322 are disposed on the first moving members 3213, and the number of the second horizontal moving units 322 is equal to the number of the first moving members 3213. In this embodiment, there are two second horizontal moving units 322, which are respectively and correspondingly mounted 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 disposed on the second guide rail 3222. In this embodiment, the second driving element 3221 is a motor and is connected to the second moving element 3223 through a screw rod structure, so as to drive the second moving element 3223 to move along the second guiding rail 3222. The longitudinal direction of the second guide rail 3222 is perpendicular to the longitudinal direction of the first guide rail 3212.

The two screwing elevating units 323 are disposed 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 screwing elevating unit 323 includes an elevating drive member 3231, an elevating rail 3232, and a mounting member 3233 provided on the elevating rail 3232 so as to be elevatable. The elevating driving member 3231 is a motor, and is connected to the mounting member 3233 through a screw structure, for driving the mounting member 3233 to move along the elevating rail 3232. The length direction of the lifting rail 3232 is perpendicular to the plane of the first guide rail 3212 and the second guide rail 3222. The mounting part 3233 is used for mounting the screwing mechanism 33, so that the screwing mechanism 33 can be driven by the mounting part 3233 to move synchronously, and thus, screwing operation is performed on different positions on the workpiece of the automobile door panel.

The riveting device 40 is used as a third station and comprises 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 and is not repeated.

As shown in fig. 21 to 22, the clip mounting device 50 includes, as a fourth station, a pressing mechanism 51 for clip mounting, a supporting portion 52 for clip mounting, a clip supplying portion 53, a clip mounting mechanism 54, and a plurality of sensors 55.

The structure of the pressing mechanism 51 for snap-fitting is the same as that of the pressing mechanism 31 for screwing, and description thereof will not be repeated.

As shown in fig. 23, the supporting portion 52 for mounting and supporting the buckle for the buckle mounting mechanism 54 to catch, the supporting portion 52 for mounting the buckle is a supporting platform, and has a receiving slot 521 and a receding slot 522 which are mutually communicated, wherein the width and the depth of the receiving slot 521 are both smaller than the receding slot 522, and both sides of the receiving slot 521 in the width direction are step-shaped and are adapted to the structure of the buckle. The receiving groove 521 is used for receiving the buckles conveyed by the buckle feeding portion 53, and the abdicating groove 522 is used for abdicating the corresponding conveying structure of the buckle feeding portion 53, which will be described in detail below with reference to the corresponding structure of the buckle feeding portion 53.

The clip supply portion 53 includes a vibration plate 531, a discharge passage 532, and a clip pushing unit 533.

The vibration disk 531 arranges a plurality of unordered buckles in order and outputs in sequence in a vibration manner, which is the prior art.

One end of the discharging channel 532 is connected with the output end of the vibrating disk 531, the other end is connected to the supporting part 52 for mounting the buckle, the width of the discharging channel 532 is slightly wider than the width of the single buckle, and the discharging channel is used for conveying the arranged buckles to the supporting part 52 for mounting the buckle one by one so as to be grabbed and mounted by the buckle mounting mechanism 54.

The snap pushing unit 533 includes a pushing rack 5331 and a pushing cylinder 5332 driving the pushing rack 5331 to move, and is used to push the snap on the snap-mounting supporting portion 52 in place, thereby facilitating the gripping by the snap mounting mechanism 54. The receding groove 522 of the support portion 52 for snap mounting is used for receding the end of the pushing rack 5331, that is, the end of the pushing rack 5331 can extend into the receding groove 522 to push the snap in the receiving groove 521 to a proper position.

A plurality of sensors 55 are respectively mounted on the clip mounting support parts 52, wherein a pair of the sensors 55 are used for sensing whether the clip is conveyed to the receiving groove 521, so that the operation of pushing the clip in place can be carried out; a pair of sensors 55 for sensing whether the clip has been pushed in place, so that the operation of grasping and mounting can be performed; the other sensors 55 are also used for sensing and judging whether the buckle is grabbed away or not, and the like, so that automatic control can be realized.

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

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

The first horizontal rotation unit 5412 for snap attachment is rotatably provided on the manipulator fixing base 5411, and the first horizontal rotation unit 5412 for snap attachment includes a first horizontal rotation arm 54121 and a first horizontal rotation driving member. The first horizontal rotation driving member is connected with the first horizontal rotation arm 54121 and is used 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 turning unit 5413 for snap fitting includes a second horizontal turning arm 54131 and a second horizontal turning driving member. The second horizontal rotary arm 54131 is rotatably connected to the first horizontal rotary arm 54121, and the second horizontal rotary driving member is connected to the second horizontal rotary arm 54131, so that the second horizontal rotary arm 54131 is driven to rotate.

The lifting unit 5414 for snap fitting is provided on the second horizontal turning unit 5413 for snap fitting, and drives the snap fitting 542 to lift. In the present embodiment, the lift unit 5414 for snap fitting includes a lift motor for snap fitting, a lift link 54142 for snap fitting, and a lift guide 54143 for snap fitting.

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 snap fitting is attached to the second horizontal turning arm 54131, and the other end is connected to the snap fitting 542 via the connecting frame 543 for snap fitting. The number of the lifting guide rods 54143 for snap fitting is two, and the two lifting guide rods 54143 are respectively arranged in parallel with the lifting connecting rod 54142 for snap fitting, and are used for guiding and limiting when lifting.

The snap mount mechanism 54 includes two snap mounts 542 disposed on the manipulator 541 for engaging with the snaps to move or mount the snaps.

As shown in fig. 25, the bottom of the snap mount 542 has a snap retention cavity 5421, the snap retention cavity 5421 being shaped and sized to fit over the snap. The buckle fixing cavity 5421 and the buckle are in interference fit, and the buckle is fixed through friction force. After the clip is mounted in place, the lifting unit 5414 for clip mounting drives the clip mounting member 542 to ascend, so that the clip can be separated from the clip mounting member 542.

The connecting frame 543 for snap attachment is attached to the lift connecting rod 54142 for snap attachment, and is used for connecting the snap attachment 542. In this embodiment, two clip mounting pieces 542 are provided in parallel to the clip mounting piece connecting frame 543 in the longitudinal direction of the lifting/lowering rod 54142, and two clips can be taken out at a time.

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

The detection motor 5441 for snap-fitting is connected to the snap fitting 542 through the detection transmission assembly 5442, and drives the snap fitting 542 to rotate. In this embodiment, the detection motor 5441 for mounting the clip is a servo motor, and can feed back the resistance received during rotation to a higher-level device such as a controller, and further determine whether the clip 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 with the output end of the detection motor 5441 for mounting the buckle, and the two driven wheels 54422 are respectively and fixedly connected with the two buckle mounting pieces 542. The tensioning wheel 54424 is used for tensioning the synchronous belt 54423, and the transmission effect is prevented from being influenced by slippage in transmission.

In this embodiment, buckle mounting position department on the car door plant work piece has side open-ended buckle mounting groove. When picking up a clip, the robot arm 541 moves so that the clip mounting piece 542 is positioned above the clip to be mounted, and the clip mounting lifting unit 5414 descends so that the upper portion of the clip is caught in the clip fixing cavity 5421 and fixed. During installation, the manipulator 541 drives the buckle to move, so that the lower part of the buckle is clamped into the buckle mounting groove from the opening on the side and is fixed. During detection, under the driving 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 rotates along with the driving wheel, torsional force is applied to the buckle, and whether the buckle is mounted in place or not is judged according to a feedback result of the servo motor.

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

As shown in fig. 27, the door panel taking-out device 60 includes a detection camera module 61, a door panel grasping module 62, a work conveying module 63, a door panel taking-out mechanism 64, and a door panel taking-out elevating mechanism 65.

The detection camera module 61 includes a housing, an upper camera assembly 612, a lower camera assembly 613, and an illumination unit. Wherein, the casing is black organic glass for shield external light source in order to reduce the influence to shooing. The upper camera assembly 612 includes a plurality of cameras disposed above the door panel take-out mechanism 64 for shooting the assembled automobile door panel workpiece from above. The lower camera assembly 613 includes a plurality of cameras disposed below (near the ground) for photographing the automobile door panel workpiece from below, and the lower camera assembly 613 and the upper camera assembly 612 are arranged in a vertically staggered manner. The lighting unit includes a plurality of lamps for providing sufficient lighting for photographing.

As shown in fig. 27 to 28, the door panel gripping module 62 includes a gripping moving part 621 and two sets of clamping members 622, and can grip and move both sides of the automobile door panel workpiece.

The door panel grabbing and moving portion 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 support block 6222 arranged at the end part of the supporting arm 6221 and a pressing cylinder 6223 arranged above the support block 6222, the support block 6222 can support two sides of the 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 support block 6222, and the four clamping assemblies 622 simultaneously clamp four positions of the two sides of the automobile door panel workpiece, 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 automobile door panel workpieces which are shot and detected to a preset position.

Therefore, after the mold device 20 is opened, the upper surface of the automobile door panel workpiece can be firstly photographed by the upper photographing component 612, then the door panel grabbing module 62 grabs the automobile door panel workpiece and moves to the upper side of the lower photographing component 613, the lower surface of the automobile door panel workpiece can be photographed by the lower photographing component 613, and then whether the assembly of the automobile door panel workpiece is qualified or not can be detected according to the photographing results of the two surfaces. Then the door panel grabbing module 62 places the automobile door panel workpiece on the workpiece conveying module 63, and the workpiece conveying module 63 conveys the automobile door panel workpiece to a preset position.

The door panel taking out mechanism 64 has a structure substantially identical to that of the door panel placing mechanism 11, that is, includes a mold receiving portion having the same structure as that of the mold pushing portion 121, an elevating mechanism for elevating and lowering the mold receiving portion, and the like, and the door panel taking out elevating mechanism 65 has a structure substantially identical to that of the door panel placing elevating mechanism 14, and therefore, the description thereof will not be repeated. That is, like the door panel placing device 10, the door panel removing device 60 has a chain type conveying structure capable of switching the conveying direction, and can drive the mold device 20 to move up and down so as to cooperate with the processing conveying device 71 or the return conveying device 72.

As shown in fig. 29, the processing and conveying device 71 is used for conveying the automobile door panel workpiece to be assembled and the mold device 20 thereof to the second to fourth stations in sequence, and performing assembly of each process in sequence. The processing and conveying device 71 includes three upper conveying units 711 having the same conveying direction, which are respectively disposed in the screwing device 30, the riveting device 40, and the snap-fit device 50, and the three upper conveying units 711 are located at the same height. In this embodiment, the upper layer transport unit 711 has the same structure as the mold pushing unit 12, that is, a chain type transport track is also adopted, and the transport directions of the three upper layer transport units 711 are all the directions indicated by D3 in fig. 29.

Therefore, when the mold pushing part 12 of the door panel placing device 10 is raised to a height substantially flush with the upper layer conveying unit 711, the mold pushing part 12 and the three upper layer conveying units 711 form a relatively continuous conveying track, and the mold device 20 can be conveyed to the second to fourth stations in sequence.

It should be noted that, since the two adjacent upper layer conveying units 711 have a certain interval therebetween and the entire width of the mold apparatus 20 is large, the interval does not affect the conveying of the mold apparatus 20.

As shown in fig. 30, the reflow device 72 is used to transport the used, empty mold device 20 in the opposite direction. If the next automobile door panel workpiece to be assembled is of the same type, the empty mold device 20 can be directly conveyed back to the first station for recycling. If the next automobile door panel workpiece to be assembled is of a different type, that is, a product to be assembled is switched, the empty mold device 20 may be conveyed back to the second station or the third station, and then the mold storage device 100 recovers and temporarily stores the mold device 20 reflowing at the station.

The reflow conveying device 72 includes three lower conveying units 721 with the same conveying direction, which are respectively disposed in the screwing device 30, the riveting device 40, and the buckle mounting device 50, and located below the corresponding upper conveying units 711, where the three lower conveying units 721 are located at the same height, that is, the two-layer conveying line structures are located in the second to the fourth stations. In this embodiment, the lower stage conveying units 721 are also configured similarly to the mold pushing unit 12, and the conveying directions of the three lower stage conveying units 721 are all the directions indicated by D4 in fig. 30.

Therefore, when the line of the door panel take-out mechanism 65 in the door panel take-out device 60 is lowered to a height substantially flush with the lower conveyor units 721, the line of the door panel take-out mechanism 65 and the three lower conveyor units 721 form a relatively continuous conveying track, and the empty mold devices 20 can be returned in the opposite direction by using the space below.

The mold storage device 100 is disposed near the second or third station, and when switching the product to be assembled, the mold storage device 100 transfers and stores the empty mold device 20 on the lower layer conveying unit 721 in the station, and takes out the mold device 20 corresponding to the next automobile door panel workpiece to be assembled from the stored plurality of mold devices 20 and places it on the station.

In this embodiment, the mold storage device 100 is disposed adjacent to the third station (i.e., the riveting apparatus 40) and includes a mold transfer module 80 and a mold storage module 90. A mold storage module 90 is disposed adjacent the third station for storing the mold apparatus 20, and a mold transfer module 80 is disposed between the third station and the mold storage module 90 for transferring the mold apparatus 20 therebetween.

As shown in fig. 31, the mold storage module 90 includes a storage rack 91, a plurality of storage portions 92, and a plurality of protection plates 95.

The storage rack 91 is a metal frame, and the whole storage rack is rectangular, and the plurality of storage portions 92 are sequentially arranged on the storage rack 91 in the vertical direction, in this embodiment, the number of the storage portions 92 is 7, each storage portion 92 is used for storing two mold devices 20 of the same model, and different storage portions 92 are used for storing mold devices 20 of different models.

As shown in fig. 32 to 34, each storage section 92 includes a bracket 93 and a horizontal moving unit 94 for storage.

The bracket 93 is a rectangular metal frame, is fixedly mounted on the storage rack 91, and is used for supporting the mold apparatus 20, and includes two supporting rods 931, a front baffle 932 and a rear baffle 933, where the supporting rod 931 is a square metal rod, and the extending direction of the supporting rod is consistent with the length direction of the mold storage module 90. When stored in the storage section 92, both ends of the die unit 20 in the bottom width direction are placed on the two support rods 931, respectively. The front baffle 932 and the rear baffle 933 are respectively installed on the front surface and the back surface of the storage rack 91 and respectively attached to the two support rods 931, specifically, the front baffle 932 is attached to the outer side of the support rod 931 on the front surface, and the height of the front baffle 932 is slightly larger than the height of the support rod 931 and the support frame 211, and similarly, the rear baffle 933 is attached to the outer side of the support rod 931 on the back surface, and the height of the rear baffle 933 is slightly larger than the height of the support rod 931 and the support frame 211, so that the mold device 20 can be placed on the two support rods 931, and the two sides of the mold device are respectively limited by the front baffle 932 and the rear baffle 933, thereby being stably stored in the storage portion 92. Further, the distance between the upper end of the front fence 932 and the upper-stage storage portion 92 is larger than the height of the mold device 20 in the closed state, so that the placement of the front fence 932 does not affect the placement of the mold device 20.

The storage horizontal movement unit 94 is used to horizontally move the mold device 20 stored in the storage section 92, thereby adjusting the storage position of the mold device 20 in the storage section 92. The storage horizontal movement unit 94 includes two bearing assemblies 941, two driving gears 942, two driven gears 943, a synchronous rotation shaft 944, two conveyor belts 945, and a horizontal movement driving motor 946.

Two bearing assemblies 941 are installed on the end portions of the same sides of the two supporting rods 931, two driving gears 942 are respectively installed on the two bearing assemblies 941, and the two driving gears 942 are coaxially installed at both ends of the synchronous rotating shaft 944. Two driven gears 943 are rotatably installed at the ends of the other sides of the two support rods 931, and each of the conveyor belts 945 is fitted over the driving gear 942 and the driven gear 943 at both ends of one of the support rods 931 and is engaged with the driving gear 942 and the driven gear 943. The diameters of the driving gear 942 and the driven gear 943 are substantially the same as the height of the support rod 931 when the support rod 931 is placed horizontally (i.e., the width of the support rod 931), so that the upper and lower sections of the conveyor belt 945 are respectively fitted to the upper and lower surfaces of the support rod 931. The output end of the horizontal movement driving motor 946 is connected to the synchronous rotation shaft 944, and can drive the synchronous rotation shaft 944 to rotate. In this embodiment, the horizontal movement driving motor 946 is a reduction motor. When the mold apparatus 20 is stored in the storage section 92, the mold apparatus 20 is placed on the support rod 931 and the conveyor 945 attached to the support rod 931.

Therefore, the two driving gears 942 are rotated in synchronization with each other by the horizontal movement driving motor 946, and the two conveyor belts 945 are rotated in synchronization with each other, and the conveyor belts 945 move the mold device 20 placed thereon horizontally.

A plurality of protective plates 95 are mounted on the top, two sides and back of the rack 91 to shield the four sides and protect the stored mold assemblies 20.

In addition, as shown in fig. 30, since the mold storage module 90 is relatively tall and narrow as a whole, in order to prevent it from falling, the bottom of the storage rack 91 is fixed on the ground by a plurality of L-shaped fixing members 912 and a plurality of connecting members.

As shown in fig. 35, the mold transfer module 80 includes a support 81 composed of a metal rod, a transfer mechanism 82, and a lifting mechanism 83. The transfer mechanism 82 is used for transferring the mold device 20, and the lifting mechanism 83 is used for lifting the entire transfer mechanism 82.

As shown in fig. 36 to 38, the transfer mechanism 82 includes a support frame 821, a pair of telescopic arms 822, a telescopic drive unit 823, a gripping unit 824, and a belt drive unit 825.

The support 821 is formed of a metal rod and is horizontally mounted on the elevating mechanism 83. The support 821 includes a square frame and a triangular frame installed at four corners of the square frame.

A pair of telescopic arms 822 are mounted below two sides of the support 821 and can extend out toward the other two sides of the support 821, i.e., along the directions indicated by arrows D5 and D6 in fig. 34, and the telescopic arms 822 are square metal rods.

The telescopic driving unit 823 is configured to drive a pair of telescopic arms 822 to extend and retract, and includes a first guide rail 8231, a first slider 8232, a telescopic driving motor 8233, a telescopic driving wheel 8234, a first synchronization rod 8235, a pair of telescopic driven wheels 8236, and a horizontal rack 8237.

The two first guide rails 8231 are respectively installed below two sides of the support frame 821, the first slider 8232 is installed above the telescopic arm 822, and the first slider 8232 is slidably embedded with the first guide rail 8231 on the corresponding side, so that the first slider 8232 can extend out to two sides. A horizontal rack 8237 is installed on the telescopic arm 822, the tooth mouth of the horizontal rack is upward, a pair of telescopic driven wheels 8236 are respectively meshed with the two racks 8237, the pair of telescopic driven wheels 8236 are coaxially installed at two ends of a first synchronous rod 8235, and the first synchronous rod 8235 is installed on the support frame 821 through a pair of bearing assemblies. A telescoping drive wheel 8234 is mounted at the output of the telescoping drive motor 8233 and is in meshing engagement with one of the telescoping driven wheels 8236. A telescopic driving motor 8233 is installed on the support frame 821 through a bracket plate.

Therefore, under the driving of the telescopic driving motor 8233, the telescopic driving wheel 8234 rotates to drive the pair of telescopic driven wheels 8236 to synchronously rotate, and further drive the pair of telescopic arms 822 to synchronously extend or retract through the horizontal rack 8237.

The gripping unit 824 comprises a pair of supporting claws 8241, the pair of supporting claws 8241 are movably arranged below the pair of telescopic arms 822, each supporting claw 8241 comprises a connecting plate 82411 and two supporting ends 82412 which are arranged on the connecting plate 82411 and extend downwards from the connecting plate 82411 in an L shape, and the distribution of the two supporting ends 82412 is consistent with that of the two hooks 225 on one side of the mold device 20.

As shown in fig. 36 and 38-39, two belt transmission units 825 are respectively used for driving two supporting claws 8241 to move, and each belt transmission unit 825 is installed inside the telescopic arm 822 (i.e. on the opposite side of the two telescopic arms 822) and includes a pair of synchronous pulleys 8251, a synchronous belt 8252, a plurality of groups of engaging members 8253, a second guide rail 8254 and a second sliding block 8255.

A second guide 8254 is installed below the telescopic arm 822, a second slider 8255 is installed on the holding claw 8241, and the second slider 8255 is slidably fitted to the second guide 8254. A pair of synchronous pulleys 8251 are respectively arranged at two ends of the inner side of the telescopic arm 822, a synchronous belt 8252 is sleeved on the pair of synchronous pulleys 8251, and one group of meshing components 8253 is fixedly arranged in the middle of the lower part of one side of the supporting frame 821 and is meshed with the synchronous belt 8252. The holding claw 8241 is attached to the timing belt 8252 by another engaging member (not shown).

Therefore, when the telescopic arm driving unit 823 drives the pair of telescopic arms 822 to extend to one side, due to the relative displacement between the telescopic arms 822 and the supporting frame 821, the meshing member 8253 drives the timing belt 8252 to rotate, and further drives the supporting claw 8241 to move along the telescopic arms 822. In this embodiment, the length of the timing belt 8252 matches the length and maximum stroke of the telescopic arm 822, and when the telescopic arm 822 extends to the maximum stroke, the holding claw 8241 moves to just the end of the extended telescopic arm 822. The same is true when the telescopic arm 822 extends toward the other side, and description thereof will not be repeated. Similarly, when the telescopic arm driving unit 823 drives the pair of telescopic arms 822 to retract, the meshing member 8253 drives the timing belt 8252 to rotate in the reverse direction due to the relative displacement between the telescopic arms 822 and the support bracket 821, and the holding claw 8241 moves in the reverse direction along the telescopic arms 822.

As shown in fig. 36 to 37 and 40, the lifting mechanism 83 is used to integrally lift and lower the transfer mechanism 82 to a height substantially flush with the die arrangement 20 to be transferred on the lower transport line 42 of the assembly station 40. The lifting mechanism 83 includes four vertical racks 831, four vertical guide rails 832, a lifting driving motor 833, a lifting driving wheel 834, two first lifting driven wheels 835, two second synchronizing rods 836, four second lifting driven wheels 837, three tensioning wheels 838, a lifting synchronous belt 839, and a plurality of bearing assemblies.

Two vertical guide rails 832 and two vertical racks 831 are respectively installed on two sides of the bracket 81, the two vertical racks 831 are located between the two vertical guide rails 832, and tooth mouths of the two vertical racks 831 face to the same side. Two sliding blocks (not shown) are further installed on two sides of the supporting frame 821, and the sliding blocks on the two sides of the supporting frame 821 are slidably engaged with the four vertical guide rails 832 respectively.

Lift driving motor 833 passes through the mounting panel to be fixed on support frame 821, lift drive wheel 834 is installed at the output of lift driving motor 833, every second synchronizing bar 836 all installs on support frame 821 through a pair of bearing assembly, every second synchronizing bar 836 both ends respectively coaxial arrangement have two second to go up and down from driving wheel 837, a first lift is from driving wheel 835, three gear synchronous rotation, wherein first lift is from the diameter of driving wheel 835 bigger, install in the position that is close to second synchronizing bar 836 one end, four second lifts from driving wheel 837 mesh with four vertical racks 831 respectively mutually. The lifting synchronous belt 839 is sleeved on the lifting driving wheel 834 and the two first lifting driven wheels 835, and is engaged with the three gears, and the lifting synchronous belt 839 is further tensioned by three tension wheels 838, one tension wheel 838 is installed on the first synchronous rod 8235, and the other two tension wheels 838 are installed on the support frame 821 through a connecting rod (not shown in the figure), that is, the three tension wheels 838 are installed on the support frame 821 in a rotatable manner.

Therefore, under the driving of the lifting driving motor 833, the lifting driving wheel 834 rotates to drive the two first lifting driven wheels 835 to synchronously rotate through the lifting synchronous belt 839, and then the two first lifting driven wheels 835 drive the four coaxial second lifting driven wheels 837 to synchronously rotate, thereby driving the whole transfer mechanism 82 to lift.

In this embodiment, the mold transfer module 80 is disposed between the third station and the mold storage module 90, and the retractable arm 822 extends to the third station when extending to one side and extends to the storage portion 92 of the mold storage module 90 when extending to the other side, so as to transfer the mold assembly 20 therebetween.

1001. An assembly information storage unit 1002, a mold information storage unit 1003, a door panel information acquisition unit 1004 to be assembled, a mold information acquisition unit 1005, a mold storage information storage unit 1006, a door panel placing control unit 1007, a screwing control unit 1008, a caulking control unit 1009, a clip attachment control unit 1010, a processing conveyance control unit 1011, a mold switching determination unit 1012, a mold reflow control unit 1013, a mold switching control unit 1014, a door panel take-out control unit 1015, and a door panel assembly control unit 1016 that controls the above units.

The production information storage section 1001 stores production information including a workpiece identification number, the number, and a production order of automobile door panel workpieces to be assembled.

The assembly information storage portion 1002 stores information of automobile door panel workpieces of various types to be assembled and corresponding assembly information, including workpiece identification numbers, workpiece types, 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 rivets, the number and position information of mounting fasteners, and the like.

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

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

The mold information acquisition section 1005 acquires a corresponding mold identification number from the mold information storage section 1003 based on the workpiece identification number acquired by the door panel information acquisition section 1004 to be assembled.

The mold storage information storage unit 1006 stores storage information of the mold device 20 in the mold storage device 100, including a layer identification number of each layer (i.e., each storage unit 91), a layer position identification number of a plurality of positions for each layer, and whether or not the mold device 20 is stored in each layer position, and stores a mold identification number of the corresponding mold device 20 (i.e., to be stored in each layer).

The door panel placing control portion 1007 is configured to control the operation of the door panel placing device 10 at the first station, control the door panel placing device 10 to open the mold device 20, and control the door panel placing device 10 to close the mold device 20 after a worker places an 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 controls the operation of the screw driving device 30 at the second station, controls the screw driving device 30 to drive the screws in sequence according to the number and positions of the screws in the assembly information, and sends a screw driving completion signal after all the screws are driven.

The riveting control part 1009 is configured to control the operation of the riveting device 40 at the third station, control the riveting device 40 to sequentially rivet each position according to the number and position of rivets in the assembly information, and send a riveting completion signal after the riveting at all positions is completed.

The buckle installation control part 1010 is configured to control the operation of the buckle installation device 50 at the fourth station, control the buckle installation device 50 to sequentially install the buckles according to the buckle installation number and the buckle installation positions in the assembly information, and send a buckle installation completion signal after all buckles are installed.

The processing and conveying control unit 1011 controls the operations of the door panel placing device 10 and the processing and conveying device 71, and thus sequentially conveys the mold device 20 to the respective assembly stations. Specifically, the processing conveyance control unit 1011 includes a lift control unit 10111, a first processing conveyance control unit 10112, a second processing conveyance control unit 10113, a third processing conveyance control unit 10114, and a fourth processing conveyance control unit 10115.

The lift control unit 10111 controls the mold pushing part 12 to ascend to be flush with the upper layer transporting unit 711.

The first processing and conveying control unit 10112 controls the operation of the mold pushing unit 121 and the upper layer conveying unit 711 in the screwing device 30 after the mold pushing unit 121 has ascended, so as to convey the mold device 20 from the first station to the second station.

The second processing and conveying control unit 10113 controls the two upper conveying units 711 in the screwing device 30 and the riveting device 40 to operate when receiving the screwing completion signal, so as to convey the mold device 20 from the second station to the third station.

The third processing conveyance control unit 10114 controls the operation of the riveting device 40 and the two upper layer conveyance units 711 in the snap fitting device 50 upon receiving the riveting completion signal, thereby conveying the mold device 20 from the third station to the fourth station.

The fourth processing conveyance control unit 10115, upon receiving the snap fit mounting completion signal, controls the operation of the upper layer conveying unit 711 in the snap fit mounting device 50 and the chain conveying mechanism in the mold removing mechanism 64, thereby conveying the mold device 20 from the fourth station to the fifth station.

The mold switching determination unit 1012 is configured to determine whether to switch the mold device 20 to be used, and may determine whether to switch the mold device according to the acquired mold identification number corresponding to the next automobile door panel workpiece to be assembled and the current mold identification number, and determine that switching is required when the two mold identification numbers are different, and do not require switching when the two mold identification numbers are the same.

When the mold switching determination unit 1012 determines that switching is not necessary, the return-flow conveyance control unit 1013 controls the operation of the mold receiving unit, the return-flow conveyance device 72, and the mold pushing unit 12, and directly conveys the current mold device 20 back to the door panel placing device 10 for reuse.

The mold switching controller 1014 controls the reflow conveyance device 72 and the mold storage device 100 to switch the mold device 20 when the mold switching determiner 1012 determines that switching is necessary. Specifically, the mold switching control part 1014 includes a first reflow control unit 10141, a vacant storage position acquisition unit 10142, a mold storage control unit 10143, a take-out position acquisition unit 10144, a mold take-out control unit 10145, and a second reflow control unit 10146.

The first reflow control unit 10141 controls the chain conveyor track of the door panel removing mechanism 64 and the reflow conveyor device 72 to operate, so as to convey the current mold device 20 to the third station lower layer.

The storable position acquisition unit 10142 acquires the corresponding layer identification number, layer position identification number, and layer position storage condition from the mold storage information storage unit 1006 based on the current mold identification number, and acquires the layer position identification number of the vacant storable layer position based on the layer position storage condition.

The mold storage control unit 10143 controls the mold transfer module 80 to transfer the mold device 20 at the lower stage of the third station to the corresponding position in the mold storage module 90 according to the stage position identification number acquired by the storage position acquisition unit.

The taking-out position obtaining unit 10144 obtains the corresponding layer identification number, the layer position identification number, and the layer position storage condition from the mold storage information storage unit 1006 according to the mold identification number corresponding to the next automobile door panel workpiece to be assembled, and obtains the layer position identification number storing the layer position of the mold device 20 according to the layer position storage condition.

The mold removal control unit 10145 controls the mold transfer module 80 to remove the next used mold device 20 from the corresponding position in the mold storage module 90 based on the layer position identification number acquired by the removal position acquisition unit.

The second reflow control unit 10146 controls the reflow conveying device 72 and the mold pushing part 121 to operate after the new mold device 20 is taken out and placed at the third station lower layer, and conveys the new mold device 20 to the door panel placing device 10.

The door panel take-out control unit 1015 controls the operation of the door panel take-out device 60, and thereby performs imaging inspection of the assembled automobile door panel workpiece and conveys it out of the assembly line. Specifically, the door panel taking-out control portion 1015 includes a mold opening and closing control unit, an upper shooting control unit, a first grabbing control unit, a lower shooting control unit, a door panel assembly detection and judgment unit, a second grabbing control unit, and a door panel offline conveying control unit.

The mold opening and closing control unit is used for controlling the door panel taking mechanism 64 to rotate the cover plate 22 of the mold device 20 to open so as to take out the automobile door panel workpiece.

The upper shooting control unit is used for controlling the upper camera assembly 612 to shoot the automobile door panel workpiece in the opened die device 20 from the upper side.

After the upper camera assembly 612 finishes shooting, the first grabbing control unit controls the door panel grabbing mechanism 62 to grab the automobile door panel workpiece from the opened mold device 20 and drive the automobile door panel workpiece to move to a position right above the lower camera assembly 613.

After the automobile door panel workpiece is moved in place, the lower shooting control unit controls the lower shooting component 613 to shoot the automobile door panel workpiece from below.

The door panel assembly detection and judgment unit preprocesses images obtained by shooting by the upper camera assembly 612 and the lower camera assembly 613, and compares the images with images of ideal products prestored in the system, so as to judge whether the assembly of the automobile door panel workpiece is qualified.

The second grasping control unit controls the door panel grasping mechanism 62 to move and place the automobile door panel workpiece onto the door panel conveying module 63 after the shooting by the lower shooting component 613 is completed.

The door plate offline conveying control unit controls the door plate conveying module 63 according to the judgment result of the door plate assembly detection judgment unit, so that qualified automobile door plate workpieces are conveyed to a first preset position, and unqualified automobile door plate workpieces are conveyed to a second preset position.

Based on the door panel assembling system 1000, the process of automatically assembling the automobile door panel specifically comprises the following steps:

step S1, a door panel information acquisition part 1004 to be assembled acquires a workpiece identification number and assembly information of a next automobile door panel workpiece to be assembled, and then step S2 is performed;

note that, at this time, the mold pushing portion 121 in the first station is flush with the lower layer conveying unit 721, and the mold receiving portion in the fifth station is flush with the upper layer conveying unit 711.

Step S2, the die information acquisition section 1005 acquires the die identification number of the die apparatus 20 to be used next based on the workpiece identification number, and then proceeds to step S3;

step S3, the mold switching determination unit 1012 determines whether or not to switch the mold according to the acquired mold identification number and the current mold identification number, and if not, the process proceeds to step S4, and if yes, the process proceeds to step S5;

step S4, without switching, the mold return control part 1013 controls the operation of the mold receiving part, the three lower transport units 721, and the mold pushing part 121, directly transports the mold device 20 back to the door panel placing device 10, and then proceeds to step S5;

step S5, the mold switching control unit 1013 controls the two lower layer conveying units 721 of the mold receiving unit, the fourth station and the third station to operate, so as to convey the mold device 20 to the lower layer of the third station, and then the process proceeds to step S6;

step S6, the mold switching control unit 1013 controls the mold transfer module 80 to transfer the mold device 20 at the lower stage of the third station to the corresponding position in the mold storage module 90 for storage, and then the process goes to step S7;

step S7, the mold switching control unit 1013 controls the mold transfer module 80 to take out the next used mold device 20 from the corresponding position in the mold storage module 90 according to the acquired mold identification code, place the mold device on the lower layer transport unit 721 below the third station, and then proceed to step S8;

in step S8, the mold switching control unit 1013 controls the two lower transport units 721 and the mold pushing unit 121 of the third and second stations to operate, transports the new mold device 20 to the first station, and then proceeds to step S9;

step S9, the door panel placing control portion 1007 controls the door panel placing device 10 to rotate the cover plate 22 of the mold device 20 to open, and then the process proceeds to step S10;

step S10, a worker puts a to-be-assembled automobile door panel workpiece into the opened die device 20, confirms the workpiece through an operation terminal of a first station, and then enters step S11;

step S11, the door panel placing control portion 1007 controls the door panel placing device 10 to close the cover plate 22 in a rotating manner, and then the process goes to step S12;

step S12, the processing and conveying control unit 1011 controls the operation of the upper conveying unit 711 in the mold pushing unit 121 and the screwing device 30, conveys the mold device 20 to the second station, and then proceeds to step S13;

step S13, the screwing control section 1008 controls the screwing device 30 to press the mold device 20, performs screwing according to the assembly information, and then proceeds to step S14;

step S14, the processing and conveying control unit 1011 controls the upper conveying unit 711 in the screwing device 30 and the riveting device 40 to operate, conveys the mold device 20 to the third station, and then proceeds to step S15;

step S15, the caulking control section 1009 controls the caulking device 40 to press the mold device 20, performs caulking according to the assembly information, and then proceeds to step S16;

step S16, the processing and conveying control unit 1011 controls the upper conveying unit 711 in the riveting device 40 and the buckle mounting device 50 to operate, conveys the mold device 20 to the fourth station, and then, the process goes to step S17;

step S17, the clip installation control section 1010 controls the clip installation device 50 to compress the mold device 20, and performs clip installation according to the assembly information, and then the process goes to step S18;

step S18, the processing and conveying control unit 1011 controls the upper conveying unit 711 and the mold receiving part in the snap fitting device 50 to work, conveys the mold device 20 to the fifth station, and then, the process goes to step S19;

in step S19, the door panel take-out control unit 1014 controls the door panel take-out device 60 to take pictures of both surfaces of the assembled automobile door panel workpiece, determines whether the assembled automobile door panel workpiece is qualified or not according to the shooting result, conveys the qualified and unqualified products to different predetermined positions, and enters an end state.

< example II >

The present embodiment provides a door panel assembling system 1000, which is different from the first embodiment in that the door panel assembling system 1000 of the present embodiment does not include the mold backflow control unit 1013, and the mold switching control unit 1013 controls the mold storage device 100 to store the old mold device 20 and to take out the new mold device 20 in the same manner when the mold switching determination unit 1012 determines no. That is, in the present embodiment, the mold device 20 is not directly returned to the first station, but a new mold device 20 is taken out each time according to the model of the next automobile door panel workpiece to be assembled.

Meanwhile, the door panel assembling system 1000 of the present embodiment does not wait for the completion of assembling the previous automobile door panel workpiece, but conveys the next mold device 20 to the first station after the previous automobile door panel workpiece leaves the first station, and starts assembling the next automobile door panel workpiece. In this way, a larger number of mold devices 20 are needed to be used (more than three mold devices 20 are needed for each model), but the labor hour can be fully utilized and the production efficiency can be further improved when a plurality of five stations are assembled at the same time. Other structures are the same as those in the first embodiment, and therefore, a description thereof will not be repeated.

Claims

1. A door panel assembly system, comprising:

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

the door plate placing device, the screw striking 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, performing screw striking, riveting and buckle mounting on the automobile door plate workpiece and taking out the assembled automobile door plate workpiece;

the die storage device is arranged beside the screwing device or the riveting device and is used for storing the vacant die device for assembling the door plate;

the processing and conveying device is used for conveying the door panel assembling die device loaded with the automobile door panel workpiece to the screwing device, the riveting device, the buckle mounting device and the door panel taking-out device in sequence;

the backflow conveying device is used for conveying the empty door plate assembly mold device; and

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

a die information storage unit for storing die identification numbers of the die devices for assembling the door panel and corresponding workpiece identification numbers of the workpieces of the automobile door panel;

the die information acquisition part is used for acquiring the 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 based on the mold identification number acquired by the mold information acquisition unit and the current mold identification number; and

and a mold switching control unit that controls the reflow conveyance device and the mold storage device when the mold switching determination unit determines that the door panel assembly mold device is used, stores the door panel assembly mold device used after the use in the mold storage device, and takes out the door panel assembly mold device used next from the mold storage device according to the mold identification number and places the door panel assembly mold device on the reflow conveyance device.

2. A door panel assembly system as claimed in claim 1, wherein:

wherein the mold storage device comprises:

the die storage module is arranged beside the screwing device or the riveting device;

a mold transfer module disposed between the screwing device or the riveting device and the mold storage module for transferring the door panel assembly mold device therebetween,

the mold switching control unit includes:

a first backflow control unit for controlling a conveying track in the door panel withdrawing device and the backflow conveying device to convey the door panel assembly mold device back to the screwing device or the riveting device;

a mold storage control unit for controlling the mold transfer module to transfer the door panel assembling mold device at the screwing device or the riveting device into the mold storage module; and

and the mold taking-out control unit is used for controlling the mold transfer module to take out the corresponding mold device for door plate assembly from the mold storage module according to the mold identification number and placing the mold device on the backflow conveying device.

3. A door panel assembly system according to claim 2, wherein:

wherein the mold storage module comprises a plurality of storage parts which are sequentially arranged along the vertical direction, each storage part is provided with a plurality of storage positions which are sequentially arranged along the horizontal direction,

the door panel assembly control device further includes:

a mold storage information storage section for storing a layer identification number of each storage section, a layer position identification number of each storage position, a layer position storage condition, and a corresponding mold identification number,

the mold switching control unit further includes:

a storable position acquiring unit, configured to acquire the corresponding layer identification number and the layer position storage condition from the mold storage information storage unit according to the current mold identification number, and acquire the layer position identification number of the vacant layer position according to the layer position storage condition; and

a take-out position acquiring unit that acquires the corresponding layer identification number, the layer position identification number, and the layer position storage condition from the mold storage information storage portion according to the mold identification number corresponding to the automobile door panel workpiece to be assembled next, and acquires the layer position identification number storing the layer position of the corresponding mold device for door panel assembly according to the layer position storage condition,

the mold storage control unit stores the mold device for door panel assembly into the corresponding layer position according to the layer position identification number acquired by the storable position acquisition unit,

and the mould taking-out control unit takes out the mould device for assembling the door panel from the corresponding layer position according to the layer position identification number acquired by the taking-out position acquisition unit.

4. A door panel assembly system according to claim 2, wherein:

wherein the backflow conveying device comprises three lower-layer conveying units with the same conveying direction, the lower-layer conveying units are respectively arranged in the screwing device, the riveting device and the buckle mounting device and are arranged at the same height,

the door plate taking-out device is provided with a mould receiving part which can be lifted and can switch the conveying direction,

the door plate placing device is provided with a mould pushing part which can be lifted and can switch the conveying direction,

the first backflow control unit controls the mould receiving part to ascend and descend to be flush with the lower layer conveying unit and controls the mould receiving part and the lower layer conveying unit to work so as to convey the mould device for door plate assembly to the screw device or the riveting device,

the second backflow control unit controls the mold pushing portion to ascend and descend to be flush with the lower layer conveying unit, and controls the mold pushing portion and the lower layer conveying unit to work, so that the mold device for door plate assembly at the screw device or the riveting device is conveyed into the door plate placing device.

5. A door panel assembly system according to claim 4, wherein:

wherein, door plant assembly controlling means still includes:

and a mold return control unit which controls the operation of the mold receiving unit, the three lower-stage conveying units, and the mold pushing unit so as to return the current mold device for door plate assembly to the door plate placing device when the mold switching determination unit determines that the mold receiving unit, the three lower-stage conveying units, and the mold pushing unit are not operated.

6. The door panel assembly system according to claim 4, wherein:

wherein the processing and conveying device comprises three upper-layer conveying units with the same conveying direction, the three upper-layer conveying units are respectively arranged in the screwing device, the riveting device and the buckle mounting device and are arranged at the same height,

the three upper-layer conveying units are respectively arranged above the three lower-layer conveying units,

the door plate assembly control device further comprises a processing and conveying control part which is used for controlling the upper layer conveying unit and the mould pushing part.

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

wherein, door plant assembly controlling means still includes:

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

a riveting control part for controlling the riveting device and sending a riveting completion signal after the riveting operation is completed; and

a buckle installation control part for controlling the buckle installation device and sending a buckle installation completion signal after the buckle installation is completed,

the processing and conveying control part comprises:

the lifting control unit is used for controlling the door plate placing device to lift the mould pushing part to be flush with the upper layer conveying unit;

a first processing and conveying control unit for controlling the operation of the mold pushing part and the upper layer conveying unit in the screwing device so as to convey the mold device for door plate assembly into the screwing device;

a second processing and conveying control unit for controlling the two upper conveying units of the screwing device and the riveting device to work when the screwing completion signal is received, so that the door panel assembly mold device is conveyed to the riveting device;

a third processing and conveying control unit for controlling the operation of the riveting device and the two upper conveying units of the buckle mounting device when receiving the riveting completion signal, so as to convey the die device for door panel assembly into the buckle mounting device;

a fourth machining conveyance control unit for controlling the upper layer conveyance unit and the die receiving portion in the buckle mounting device to operate upon receiving the buckle mounting completion signal, thereby conveying the die device for door panel assembly into the door panel take-out device.

8. A door panel assembly system as claimed in claim 1, wherein:

wherein, door plant assembly controlling means still includes:

the assembly information storage part is used for storing a workpiece identification number and assembly information of the automobile door panel workpiece, and the assembly information comprises the number and the positions of screwing screws, the number and the positions of riveting screws and the number and the positions of buckle installation;

the screw driving control part is used for controlling the screw driving device to sequentially drive a plurality of screws into the automobile door panel workpiece according to the assembling information;

the riveting control part controls the riveting device to sequentially rivet the automobile door panel workpiece at each position according to the assembly information; and

and the buckle installation control part is used for controlling the buckle installation device to sequentially carry out buckle installation at each position on the automobile door panel workpiece according to the assembly information.

9. A door panel assembly system as claimed in claim 1, wherein:

wherein, door plant remove device includes:

the door plate taking-out mechanism is used for receiving and taking the door plate assembly die device carrying the assembled automobile door plate workpiece and opening the door plate assembly die device;

the door plate grabbing mechanism is used for grabbing the automobile door plate workpiece from the opened door plate assembling die device and driving the automobile door plate workpiece to move;

the upper camera shooting assembly is arranged above the door panel taking-out mechanism and used for shooting the automobile door panel workpiece from the upper part;

the lower camera shooting assembly is arranged below the door panel taking-out mechanism, is staggered with the upper camera shooting assembly in the vertical direction, and is used for shooting the automobile door panel workpiece from below; and

the door panel conveying module is used for conveying the automobile door panel workpiece to a preset position,

the door panel assembly control device further includes:

a door panel take-out control section for controlling the door panel take-out device, including:

the mould opening and closing control unit is used for controlling the door plate taking-out mechanism to open and close the mould device for assembling the door plate;

the upper shooting control unit is used for controlling the upper shooting component to shoot the automobile door panel workpiece in the opened door panel assembling die device from the upper part;

the first grabbing control unit is used for controlling the door panel grabbing mechanism to grab the automobile door panel workpiece from the opened door panel assembling die device and move the automobile door panel workpiece to the position above the lower camera shooting assembly after the upper camera shooting assembly finishes shooting;

the lower shooting control unit is used for controlling the lower shooting component to shoot the automobile door panel workpiece which moves in place from the lower part; and

and the second grabbing control unit is used for controlling the door panel grabbing mechanism to move and place the automobile door panel workpiece on the door panel conveying module after the lower camera shooting assembly finishes shooting.

10. A door panel assembly system as claimed in claim 1, wherein:

wherein, the door plant takes out control portion still includes:

the door plate assembly detection and judgment unit is used for detecting the assembly quality of the automobile door plate workpiece according to images obtained by shooting of the upper camera component and the lower camera component and judging whether the assembly of the automobile door plate workpiece is qualified or not; and

and the door plate offline conveying control unit is used for controlling the door plate conveying module, conveying the automobile door plate workpiece to a first preset position when the door plate assembly detection judging unit judges that the automobile door plate workpiece is qualified, and conveying the automobile door plate workpiece to a second preset position when the door plate assembly detection judging unit judges that the automobile door plate workpiece is unqualified.