CN115743367A - Door plant rigging equipment - Google Patents

Door plant rigging equipment Download PDF

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Publication number
CN115743367A
CN115743367A CN202211481000.9A CN202211481000A CN115743367A CN 115743367 A CN115743367 A CN 115743367A CN 202211481000 A CN202211481000 A CN 202211481000A CN 115743367 A CN115743367 A CN 115743367A
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CN
China
Prior art keywords
conveying
processing
door panel
riveting
mold
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Pending
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CN202211481000.9A
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Chinese (zh)
Inventor
仲华
唐良昭
王帅
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Cenwoy Automation Technology Shanghai Co Ltd
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Cenwoy Automation Technology Shanghai Co Ltd
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Application filed by Cenwoy Automation Technology Shanghai Co Ltd filed Critical Cenwoy Automation Technology Shanghai Co Ltd
Priority to CN202211481000.9A priority Critical patent/CN115743367A/en
Publication of CN115743367A publication Critical patent/CN115743367A/en
Pending legal-status Critical Current

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Abstract

The invention provides door plate assembling equipment which comprises a door plate assembling die device, a door plate placing device, a screwing device, a riveting device, a buckle mounting device, a door plate taking-out device, a processing and conveying device, a backflow conveying device and a door plate assembling control device. The door plate assembly control device comprises a processing and conveying control part, and under the control of the processing and conveying device, the processing and conveying device can convey the door plate assembly mold device loaded with the automobile door plate workpiece to be assembled to the screwing device, the riveting device, the buckle mounting device and the door plate taking-out device in sequence to carry out corresponding assembly, taking out and inspection after assembly is completed, so that the equipment can automatically complete each assembly process, and a large amount of labor can be saved. The door plate assembly control device further comprises a backflow conveying control part, and under the control of the backflow conveying control part, the backflow conveying device can convey the used mold device back to the door plate placing device for reutilization, so that the mold device does not need to be manually carried and recycled, and automatic and efficient door plate assembly can be realized.

Description

Door plant rigging equipment
Technical Field
The invention belongs to the technical field of automobile part manufacturing, and particularly relates to door plate assembling equipment.
Background
The assembly of the automobile door panel generally comprises a plurality of processes such as screwing, riveting, installing a buckle, quality testing and the like. At present, generally carry the door plant work piece by the workman and place the corresponding operation panel on fix, handheld tools such as welder carry out each process, and this assembly method has a plurality of problems: firstly, the automobile door plate workpiece is large in size, heavy in weight and high in labor intensity; secondly, the automobile door plate workpiece has large volume, is easy to collide and the like in the transportation process, and influences the quality or the yield of finished products; thirdly, workers need to switch various tools to sequentially carry out multiple different processes, production efficiency is low, and operating requirements on the workers are high.
Therefore, there is an urgent need for a door panel assembly line capable of automatically or semi-automatically performing each process and ensuring the process completion, wherein there is a corresponding need for a mold device for loading an automobile door panel to be assembled so that the automobile door panel can be moved between different stations. Because the automobile door panel is bulky, the mold apparatus will also be relatively large in size and heavy in mass, and therefore, a design that enables the mold apparatus to automatically flow back is also needed to avoid causing labor burden on workers.
Disclosure of Invention
The invention is carried out to solve the problems, and aims to provide door plate assembly equipment which can sequentially complete each procedure of automobile door plate assembly by stations and can automatically reflux a mould for carrying the automobile door plate, thereby realizing full-automatic assembly of the automobile door plate and reducing the labor intensity of workers, wherein the invention adopts the following technical scheme:
the present invention provides a door panel assembling apparatus, characterized by comprising: the door plate assembling die device is used for carrying an automobile door plate workpiece to be assembled; 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 processing and conveying device is arranged below the screwing device, the riveting device and the buckle mounting device and is used for conveying the door plate assembling die device loaded with the automobile door plate workpiece; the backflow conveying device is arranged below the processing conveying device and is used for conveying the vacant die device for the door plate device; and a door panel assembly control device for controlling the assembly process of the automobile door panel workpiece, which at least comprises: a machining and conveying control unit for controlling the machining and conveying device to sequentially convey the door panel assembling mold device on which the automobile door panel workpiece is placed to the screwing device, the riveting device, the buckle mounting device, and the door panel removing device in a predetermined machining and conveying direction; and a backflow conveying control part for controlling the backflow conveying device to convey the vacant door plate assembly mold device back to the door plate placing device along a preset backflow conveying direction.
The door plate assembling equipment provided by the invention can also have the technical characteristics that the backflow conveying device comprises three backflow conveying units which are arranged below the screwing device, the riveting device and the buckle mounting device and have the same height, the three backflow conveying units are conveyed along the backflow 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 door plate taking device is provided with a mould receiving part which can be lifted and can switch the conveying direction, the backflow conveying control part controls the mould receiving part, the three backflow conveying units and the mould pushing part to work, and the mould device for the door plate device is conveyed back to the mould pushing part.
The door panel assembling apparatus provided by the present invention may further have technical features in which the return flow conveyance control portion includes: the backflow lifting control unit is used for controlling the mould pushing part and the mould receiving part to lift to be flush with the backflow conveying unit; and the backflow conveying control unit is used for controlling the mould receiving part, the backflow conveying units and the mould pushing part to convey after lifting is finished, so that the vacant mould device for assembling the door plate is conveyed back to the mould pushing part.
The door panel assembling apparatus provided by the present invention may further have a technical feature that the mold pushing part, the mold receiving part, and the three backflow conveying units each include: the two parallel chain type conveying tracks are used for carrying and conveying the die device for door plate assembly; the blocking mechanism is arranged between the two chain type conveying tracks and close to one end of each chain type conveying track and used for blocking one end of the door plate assembling mold device which is arranged on the chain type conveying tracks; and the non-return mechanism is arranged between the two chain conveying tracks and is close to the other end of the chain conveying track, and is used for blocking the other end of the mold device for door plate assembly, which is arranged on the chain conveying track, the mold pushing part and the mold receiving part are close to one end of the chain conveying track, which is arranged along the downstream of the processing conveying direction, the blocking mechanism of the backflow conveying unit is close to one end of the chain conveying track, which is arranged along the downstream of the backflow conveying direction, and the backflow conveying control part further comprises: and the backflow release control unit is used for controlling the mold pushing part and the mold receiving part to release the non-return mechanism of the mold receiving part after the mold pushing part and the mold receiving part are lifted and lowered, and controlling the blocking mechanism of the backflow conveying unit to release.
The door panel assembling apparatus provided by the present invention may further include a processing and conveying device including three processing and conveying units, the processing and conveying device being disposed below the screwing device, the riveting device, and the clip mounting device and being disposed above the three reflow conveying units, the three processing and conveying units being located at the same height and conveying in the processing and conveying direction, and the processing and conveying control unit including: the processing lifting control unit is used for controlling the mould pushing part and the mould receiving part to lift to be flush with the processing conveying unit; the first processing and conveying control unit is used for controlling the mold pushing part and the processing and conveying unit below the screwing device to convey, and conveying the mold device for the door plate device to the position below the screwing device; the second processing and conveying control unit is used for controlling the two processing and conveying units below the screwing device and the riveting device to convey, and conveying the die device for the door plate device to the position below the riveting device; the third processing and conveying control unit is used for controlling the riveting device and the two processing and conveying units below the buckle mounting device to convey, and conveying the die device for the door plate device to the position below the buckle mounting device; and a fourth processing and conveying control unit for controlling the processing and conveying unit and the mold receiving part below the buckle mounting device to convey the mold device for door panel assembly to the door panel taking-out device.
The door panel assembling apparatus provided by the present invention may further have such technical features that the door panel placing device further has an operation terminal that generates an assembling start signal after the operation confirmation of an assembling worker, and the door panel assembling control device further comprises: the screw driving control part is used for controlling the screw driving device and generating a screw driving completion signal when the screw driving operation is completed; a riveting control section for controlling the riveting device and generating a riveting completion signal when the riveting operation is completed; and a buckle installation control part used for controlling the buckle installation device and generating a buckle installation completion signal when the buckle installation operation is completed, wherein the first processing and conveying control unit controls the mold pushing part and the processing and conveying units below the screw driving device to convey when receiving the assembly starting signal, the second processing and conveying control unit controls the screw driving device and the two processing and conveying units below the riveting device to convey when receiving the screw driving completion signal, the third processing and conveying control unit controls the riveting device and the two processing and conveying units below the buckle installation device to convey when receiving the riveting completion signal, and the fourth processing and conveying control unit controls the processing and conveying units below the buckle installation device and the mold receiving part to convey when receiving the buckle installation completion signal.
The door panel assembling equipment provided by the invention can also have the technical characteristics that an electronic tag is arranged on the door panel assembling die device, the die pushing part and the three processing and conveying units are respectively provided with a die detection sensor for reading the electronic tag, the first processing and conveying control unit controls the die pushing part and the processing and conveying units below the screw device to stop conveying when the die detection sensors of the processing and conveying units below the screw device read the electronic tag, the second processing and conveying control unit controls the two processing and conveying units below the screw device and the riveting device to stop conveying when the die detection sensors of the processing and conveying units below the riveting device read the electronic tag, and the third processing and conveying control unit controls the two processing and conveying units below the riveting device and the fastening and mounting device to stop conveying when the die detection sensors of the processing and conveying units below the fastening and mounting device read the electronic tag.
The door panel assembling apparatus provided by the present invention may further have the technical feature that the door panel assembling control device further includes: the assembly information storage part stores workpiece identification numbers and corresponding assembly information of the automobile door panel workpieces, the assembly information comprises the number and positions of screw driving, the number and positions of riveting and the number and positions of buckle installation, the screw driving control part controls the screw driving devices to sequentially drive screws to the positions according to the number and positions of screw driving in the assembly information, the riveting control part controls the riveting devices to sequentially drive rivets to the positions according to the number and positions of riveting in the assembly information, and the buckle installation control part controls the buckle installation devices to sequentially drive buckle installation to the positions according to the number and positions of buckle installation in the assembly information.
The door panel assembling equipment provided by the invention can also have the technical characteristics that the screwing device, the riveting device and the buckle mounting device are respectively provided with a pressing mechanism for pressing the door panel assembling die device loaded with the automobile door panel workpiece, and the screwing control part, the riveting control part and the buckle mounting control part further control the corresponding pressing mechanisms to press the door panel assembling die device before controlling the corresponding devices to start assembling operation.
Action and Effect of the invention
The door plate assembling equipment comprises a door plate assembling die device, a door plate placing device, a screwing device, a riveting device, a buckle mounting device, a door plate taking-out device, a processing and conveying device, a backflow conveying device and a door plate assembling control device. The door plate assembly control device comprises a processing and conveying control part, and under the control of the processing and conveying control part, the processing and conveying device can convey the door plate assembly mold device loaded with the automobile door plate workpiece to be assembled to the screwing device, the riveting device, the buckle mounting device and the door plate taking-out device in sequence to perform screwing, riveting, buckle mounting and taking-out and inspection after assembly is completed. Further, door plant assembly controlling means still includes backward flow and carries the control part, and under its control, the conveyor that adds flows can carry the mould device that finishes using, vacant back door plant placer department and reuse, therefore the mould device also need not artifical transport and retrieves, can realize automatic, efficient car door plant assembly.
Drawings
FIG. 1 is a block diagram of a door panel assembling apparatus 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 portion 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 blocking mechanism for positioning a door panel in an embodiment of the present invention;
FIG. 11 is a perspective view of a check mechanism for locating a door panel in an embodiment of the present invention;
FIG. 12 is a schematic view of the positive clearance of the check mechanism for door panel placement in accordance with an embodiment of the present invention;
FIG. 13 is a schematic view of the reverse direction release of the check mechanism for door panel placement in an embodiment of the present invention;
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 the 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 an 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;
figure 25 is a perspective view of a snap mount in an embodiment of the invention;
FIG. 26 is a perspective view of a buckle detection unit 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 view of an embodiment of the present invention illustrating the delivery of the mold apparatus in the machine direction of delivery;
fig. 30 is a schematic view of a mold apparatus for carrying in a reflow carrying direction 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 equipment of the invention is specifically described below with reference to the embodiment and the attached drawings.
< example >
Fig. 1 is a block diagram showing the structure of the door panel assembling apparatus in this embodiment.
As shown in fig. 1, the door panel assembling apparatus 1000 of the present embodiment is used for automated assembling of mass automobile door panels of the same model, and includes a door panel placing device 10, a screwing device 30, a riveting device 40, a snap-fit mounting device 50, a door panel taking-out device 60, a processing conveyor 71, and a reflow conveyor 72.
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 automobile door panel workpiece to be assembled is placed in a door panel assembly mold device (hereinafter referred to as mold device) so as to be convenient for circulation among 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 flow conveyor 72 is also provided in the second to fourth stations for conveying the used mold apparatus back to the first station for reuse. The structure and operation of each part will be described in detail below.
Fig. 2 is a perspective view of the door panel placement device in the present embodiment.
Fig. 3 is a perspective view showing a partial structure of the door panel placement device in the present embodiment.
As shown in fig. 2 to 3, the door panel placing device 10 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.
Fig. 4 is a perspective view of the mold apparatus in this embodiment.
Fig. 5 is a perspective view showing an opened state of the mold device in this embodiment.
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.
Fig. 6 is a view showing a bottom guide block of the die set for assembling a door panel according to the present embodiment.
As shown in fig. 6, four guide blocks 2111 are disposed below the supporting frame 211, a circular groove facing downward is disposed in the middle of each guide block 2111, and when the mold device 20 is conveyed to the assembling station, the output ends of four jacking cylinders at the assembling station can be respectively inserted into the four circular grooves to jack up the mold device 20, so as to position and fix the mold device 20.
The mold fixing members 212 are all L-shaped metal members, and are respectively mounted on the supporting frame 211, wherein a structure for mounting and supporting the mold is formed between the mold fixing members 212. The support matrix is clamped between a plurality of matrix fasteners 212.
The cover plate 22 is rotatably connected to the support unit 21 for pressing the door panel workpiece against the support unit 21. The cover plate 22 includes a cover plate frame 221 formed by welding aluminum profiles, a pair of stoppers 222, a plurality of press heads 223, and a U-shaped opening and closing arm 224.
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 are in contact with the square rods on two sides of the cover frame 221, so as to limit the position.
The pressure heads 223 are composed of metal round rods and elastic pieces wrapped at the end parts 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 extension length of each pressure head 223 are matched with the surface of an automobile door plate workpiece. The pressing heads 223 are used for respectively abutting against different parts of the surface of the automobile door panel workpiece when the cover plate 22 is closed, so that the automobile door panel workpiece is pressed and fixed.
Fig. 7 is a schematic structural view of the U-shaped opening and closing arm and the rotation driving mechanism in this embodiment.
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 rotary driving mechanism in the assembling station, and drives the cover plate frame 221 to rotate under the driving of the rotary driving mechanism.
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 connection bracket 231 is installed at one side of the support frame 211, and the rotation shaft 232 is installed at the connection bracket 231. 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 has a side middle portion connected to the connection bracket 231 through a damping member 234, and the damping member 234 serves to limit the rotational speed of the cover 22.
It should be noted that, since the door panel product has various models, and there are various different mold devices 20 corresponding to the door panel product, the structure of the cover plate frame 221, the structure and distribution of the press heads 223 are different, but the overall size of all the mold devices 20 is the same, so that the door panel product can be transferred by using the conveying mechanism with the same structure.
In addition, in this embodiment, be provided with electronic tags (RFID) on the car door plant work piece, read the type of this electronic tags identifiable work piece. A product detection sensor (not shown) for reading the electronic tag is provided on the die device 20, and electric power is transmitted to the product detection sensor through a wireless energy 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 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 part 12, a jacking positioning part 13 and a rotation driving part 14.
Fig. 8 is a perspective view of the mold pushing portion in this embodiment.
As shown in fig. 8, the mold pushing section 12 includes two parallel chain conveyor rails 121, a transmission shaft 122, and a chain rail drive motor 123.
The distance between the two chain conveying rails 121 is adapted to the width of the mold device 20, and the mold device 20 is placed on the rails on both sides for conveying. In this embodiment, the chain conveying track 121 adopts a double-speed chain, which can accelerate the conveying beat. Two ends of the transmission shaft 122 are respectively connected to two driving gears of the two chain type conveying tracks 121 through bearing assemblies, and the two chain type conveying tracks 121 are synchronously conveyed under the driving of a chain type track 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 rectangular four angles, and lie in unified vertical height, and four jacking cylinders 131 arrange with four locating piece 2111's of mold device 20 bottom arrange corresponding, and jacking cylinder 131's output and locating piece 2111's circular positioning groove phase-match can imbed in the circular positioning groove. When jacking positioning is performed, the four jacking cylinders 131 perform jacking simultaneously, and the output ends of the jacking cylinders are abutted to the bottom surface of the circular positioning groove, so that the mold device 20 is stably jacked and positioned in the current station.
As shown in fig. 6, the rotary driving part 14 is used for rotating the cover plate 22 of the mold device 20 to open or close, and the rotary driving part 14 includes a rotary driving motor 141, a rotary transmission assembly 142, and a rotary limiting assembly 143.
The rotation transmission assembly 142 includes a bearing 1421, an opening and closing bar 1422, and a circular pushing member 1423. The opening and closing bar 1422 has two circular ends, one end of which is larger than the other end, and a circular mounting hole is opened on the larger end, the opening and 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 and closing bar 1422 can swing in a vertical plane under the driving of the rotary driving motor 141. The circular pushing member 1423 is rotatably mounted on the smaller end of the opening/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.
When the mold device 20 is lifted by the lift positioning portion 32, the circular pushing member 1423 of the opening/closing lever 1422 is inserted into the U-shaped opening of the U-shaped opening/closing arm 224 of the mold device 20.
The rotation limiting assembly 143 includes four louvers 1431 and four proximity sensors 1432 for limiting the maximum travel of the opening and closing bar 1422. The proximity sensors 1432 are all installed in the slot of the slot plate 1431, two proximity sensors 1432 are installed above the output end of the rotation driving motor 141, and the other two proximity sensors are installed below. When the upper and lower proximity sensors 1432 sense the open/close bar 1422, it indicates that the cover 22 is opened or closed.
Fig. 9 is a perspective view of the door panel placement elevating mechanism in the present embodiment.
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 stand 151 includes two shorter front support rods 1511 and two longer rear support rods 1512 to provide support for lifting. Four vertical guide rails 152 are mounted on the four support rods, respectively. The bracket 153 is a metal frame for supporting the door panel placing mechanism 11 and the mold device 20 thereon and driving them to ascend and descend. The bracket 153 is L-shaped when viewed from the side, and a plurality of sliders 1531 are mounted thereon and slidably engaged with the four vertical guide rails 152, respectively, to form a guiding 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 pressed against by the screw nut, the bracket 153 is disposed on the screw 1541 through the switching block 1542, and the screw 1541 drives the bracket 153 to lift under the driving of the lifting driving motor 155.
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.
Two ends of the mold pushing part 12 in the conveying direction are respectively provided with a door plate placing blocking mechanism 17 and a door plate placing check mechanism 16, and the door plate placing blocking mechanism and the door plate placing check mechanism are used for limiting the mold device 20 in the current station after the mold device is conveyed in place, so that the condition of mistaken conveying is avoided.
Fig. 10 is a perspective view of the door panel placement blocking mechanism in the present embodiment.
As shown in fig. 10, the door panel placing blocking mechanism 17 is provided between the two chain conveyor rails 121 and on a side close to the next station for preventing the mold device 20 from being conveyed forward by mistake, and the door panel placing blocking mechanism 17 includes a blocking support 171, a blocking member 172, a blocking wheel 173, and a blocking air cylinder 174.
The supporting member 171 for blocking and the blocking member 172 are both formed of a special-shaped metal, the supporting member 171 for blocking is mounted on the upper end of the cylinder 174 for blocking, and the output end (piston rod) of the cylinder 174 for blocking is passed through the through hole in the middle of the supporting member 171. A protruding portion of the middle of the stopper 172 is hinged to the stopping support 171 to be rotatable with respect to the stopping support 171, and one end of the stopper 172 abuts against an output end of the stopping cylinder 174 and the other end thereof is mounted with a pair of stopping wheels 173. In the state of fig. 10, the output end of the blocking cylinder 174 is retracted, and the blocking wheel 173 is higher than the height of the two chain conveying rails 121, so that the mold devices 20 placed on the chain conveying rails 121 can be blocked. When the output end of the blocking cylinder 174 is extended, the blocking member 172 is pushed to rotate, and the blocking wheel 173 at one end thereof is driven to rotate to a height lower than the upper surface of the chain conveying rail 121, so that the loaded mold device 20 can be released.
Fig. 11 is a perspective view of the check mechanism for door panel placement in this embodiment.
As shown in fig. 11, the door panel placing check mechanism 16 is disposed between the two chain conveying rails 121 and on a side close to the previous station for preventing the mold device 20 from erroneously flowing back, and the door panel placing check mechanism 16 includes a check base 161, a check support 162, a link 163, a check 164, and a check drive cylinder 165.
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 sloping edge 1621 on the side close to the blocking member 164, and a rectangular groove 1622 penetrating in the conveying direction is formed on the upper portion.
The connecting rod 163 has one end rotatably connected in the square groove 1622 and the other end mounted with the check member 164. When the connecting rod 163 is horizontal, there is a certain gap between the connecting rod 163 and the lower edge of the square groove 1622.
The check 164 is a contoured metal piece having a weight portion 1641 and an abutment stop portion 1642. The weight portion 1641 is located below, and two weight plates 166 are attached to one side thereof. An abutment stop portion 1642 extends obliquely upward from above the weight portion 1641 forming a wedge-shaped end portion for stopping the die arrangement 20. A through pivot hole 1643 is formed at the connection point of the weight portion 1641 and the abutting stop portion 1642, and the check member 164 is rotatably mounted at the other end of the connecting rod 163 through the pivot hole 1643 and the rotating shaft.
Fig. 12 is a schematic view of the door panel placement check mechanism of the present embodiment when it is released in the forward direction.
As shown in fig. 12, since the check member 164 is provided at one side thereof with the weight plate 166, in an initial state (i.e., when the piston rod of the check driving cylinder 165 is retracted), the link 163 is slightly extended obliquely downward, and the uppermost end of the wedge-shaped end portion of the check member 164 is substantially flush with the uppermost end of the blocking support member 162, thereby releasing the mold apparatus 20 in the reverse direction of D1.
Fig. 13 is a schematic view of the reverse release of the check mechanism for door panel placement in the present embodiment.
As shown in fig. 13, when the piston rod 1651 is extended, when the mold device 20 moves in the direction D1 past the door panel placing barrier mechanism 16, the mold device 20 presses the abutting barrier portion 1642 of the barrier 164 downward, and the barrier 164 rotates counterclockwise to release the mold device 20, that is, the mold device 20 has a one-way release function.
The door panel placing device 10 further includes an operation terminal, and a worker places the door panel workpiece to be assembled into the mold device 20, and can confirm and start the assembly process through the operation terminal.
Fig. 14 is a perspective view of the screwing device in the present embodiment.
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.
Fig. 15 is a perspective view of the pressing mechanism for screwing in the present embodiment.
Fig. 16 is a schematic view showing a state in which the screw-driving hold-down mechanism presses the door panel assembling mold device in this embodiment.
As shown in fig. 15 to 16, a screw-driving pressing mechanism 31 is attached to the holder and can press the die assembly 20. The screw driving 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 comprises positioning columns 3123, wherein the positioning columns 3123 are disposed at the top of each jacking block 3121, and are adapted to the positioning grooves 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 diagonal jacking blocks 3121.
Drive assembly 3122's quantity and jacking piece 3121's quantity is equal for the jacking, and drive assembly 3122 and jacking piece 3121 one-to-one are connected for the jacking, can drive jacking piece 3121 and drive die set 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 main body 31221, and is attached to the bracket by a plurality of fasteners, thereby protecting the cylinder main body 31221. The protective baffle 313 is provided with a jacking hole 3131 adapted to the jacking block 3121, and the jacking hole 3131 can allow the jacking block 3121 to pass through when lifting.
When the mold device 20 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 driving 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 in the first station, the cover plate 22 needs to be opened to place the automobile door plate workpiece, and in the fifth station, the cover plate 22 needs to be opened to carry out shooting inspection on the assembled automobile door plate.
The end shape of the screw driving mechanism is similar to that of a screwdriver, and the screw driving mechanism can rotate and press down to drive a screw, and the screw driving mechanism is the prior art and is not described in detail.
Fig. 17 is a perspective view of the moving mechanism for screwing in the present embodiment.
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.
Fig. 18 is a perspective view of the first horizontal moving unit in the present embodiment.
As shown in fig. 18, the first horizontal moving unit 321 includes a first driving member (motor), a first guide rail 3212, and two first moving members 3213 movably mounted on the same first guide rail 3212. The first driving member is connected to the first moving member 3213 through a screw structure, so as to drive the first moving member 3213 to move along the first guide rail 3212. The two second horizontal moving units 322 are respectively and correspondingly mounted on the two first moving members 3213.
Fig. 19 is a perspective view of the second horizontal moving unit in the present embodiment.
As shown in fig. 19, each second horizontal moving unit 322 includes a second driving member 3221, a second guide rail 3222, and a second moving member 3223 movably fitted over the second guide rail 3222. The second driving element 3221 is a motor, and is connected to the second moving element 3223 through a lead screw structure, so as to drive the second moving element 3223 to move along the second guiding track 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 provided on the second moving member 3223, and are respectively and correspondingly mounted on the two second horizontal moving units 322.
Fig. 20 is a perspective view of the screw driving elevating unit in the present embodiment.
As shown in fig. 20, each of the screwing elevating units 323 includes an elevating driver 3231, an elevating rail 3232, and a mounting member 3233 liftably provided on the elevating rail 3232. 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.
Fig. 21 is a plan view of a part of the structure of the snap fitting means in the present embodiment.
Fig. 22 is an enlarged view of a portion within box C of fig. 21.
As shown in fig. 21 to 22, the snap-fitting device 50 as a fourth station includes a pressing mechanism 51 for snap-fitting, a supporting portion 52 for snap-fitting, a snap feeder 53, a snap-fitting mechanism 54, and a plurality of inductors 55.
The structure of the clip-mounting pressing mechanism 51 is identical to that of the screwing pressing mechanism 31.
Fig. 23 is a perspective view of the clip attaching support portion in the present embodiment.
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 clips conveyed by the clip supply portion 53, and the avoiding groove 522 is used for avoiding the corresponding conveying structure of the clip supply portion 53, which will be described in detail below with reference to the corresponding structure of the clip supply portion 53.
The clip supply part 53 includes a vibration plate 531, a discharging channel 532, and a clip pushing unit 533.
The vibration disc 531 arranges a plurality of unordered buckles in order and outputs the buckles in sequence in a vibration manner, which is not described in detail for 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 buckle pushing unit 533 includes a pushing frame 5331 and a pushing cylinder 5332 for driving the pushing frame 5331 to move, and is used for pushing the buckle on the supporting portion 52 for buckle installation in place, so as to facilitate the grabbing of the buckle mounting mechanism 54. The yielding groove 522 of the support part 52 for mounting the buckle is used for yielding the end part of the pushing frame 5331, namely the end part of the pushing frame 5331 can extend into the yielding groove 522 to push the buckle in the receiving groove 521 to a proper position.
A plurality of sensors 55 are respectively mounted on the clip mounting support portions 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 performed; a pair of sensors 55 for sensing whether the buckle has been pushed in place, so that the operation of grabbing 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.
Fig. 24 is a perspective view of the clip mounting mechanism in the present embodiment.
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-fitting is rotatably provided on the robot holder 5411, and the first horizontal rotation unit 5412 for snap-fitting includes a first horizontal rotation arm 54121 and a first horizontal rotation driving member. The first horizontal rotation driving member is connected to the first horizontal rotation arm 54121, and is configured to drive the first horizontal rotation arm 54121 to rotate.
The second horizontal rotation unit 5413 for snap fitting is rotatably provided on the first horizontal rotation unit 5412 for snap fitting. The second horizontal rotation unit 5413 for snap-fitting includes a second horizontal rotation arm 54131 and a second horizontal rotation driver. The second horizontal rotation arm 54131 is rotatably connected to the first horizontal rotation arm 54121, and the second horizontal rotation driving member is connected to the second horizontal rotation arm 54131 to drive the second horizontal rotation arm 54131 to rotate.
The lifting unit 5414 for snap fitting is provided on the second horizontal rotation unit 5413 for snap fitting, and drives the snap fitting member 542 to lift. In this embodiment, the lifting unit 5414 for snap fitting includes a lifting motor for snap fitting, a lifting connection rod 54142 for snap fitting, and a lifting 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 pivoting 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 lift guide rods 54143 for snap-fitting is two, and the two lift guide rods 54143 are provided in parallel with the lift connection rod 54142 for snap-fitting, respectively, for guiding and limiting when lifting.
The snap mounting mechanism 54 comprises two snap mounts 542 provided on the robot 541 for engaging with the snaps to move or mount the snaps.
Fig. 25 is a perspective view of the snap mount in this embodiment.
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 snap fixing cavity 5421 and the snap are in interference fit, and the snap is fixed through friction. 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.
Fig. 26 is a perspective view of the click detection unit in the present embodiment.
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 snap detection unit 544 includes a snap-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 comprises a driving wheel 54421, two driven wheels 54422, a synchronous belt 54423 and a tension wheel 54424. The driving wheel 54421 is connected to an output end of the detection motor 5441 for mounting the buckle, and the two driven wheels 54422 are respectively and fixedly connected to the two buckle mounting members 542. Tensioning wheel 54424 is used for tensioning hold-in range 54423, skids when avoiding the transmission and influences the transmission effect.
In this embodiment, buckle mounting point 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 mechanical arm 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, torsion force is applied to the buckle, and whether the buckle is mounted in place 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.
Fig. 27 is a perspective view of the door panel extracting apparatus in the present embodiment.
As shown in fig. 27, the door panel pickup device 60 includes a detection camera module 61, a door panel grasping module 62, a work conveying module 63, a door panel pickup mechanism 64, and a door panel pickup 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. The shell is made of black organic glass and is used for shielding an external light source so as to reduce the influence of light source change on shooting. The upper camera assembly 612 includes a plurality of cameras disposed above the door panel take-out mechanism 64 for capturing assembled automobile door panel workpieces 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.
Fig. 28 is a perspective view of the door panel gripping module gripping the automobile door panel workpiece in the present embodiment.
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 plate placing device 10, the mold receiving portion is a chain type conveying rail which can be lifted and which can switch the conveying direction.
Fig. 14 also shows a double-deck conveyor track mounted below the screwing device 30, as well as below the riveting device 40 and the snap-fit mounting device 50.
The processing and conveying device 71 includes three processing and conveying units 711 disposed at the second to fourth stations, and the three processing and conveying units 711 are disposed at the same height and in the same conveying direction, i.e., the D1 direction. The return conveyance device 72 includes three return conveyance units 721 provided at the second to fourth stations, and the three return conveyance units 721 are provided at the same height and in the same conveyance direction, that is, the D2 direction. The three return conveyance units 721 are provided directly below the three processing conveyance units 711, respectively. In this embodiment, the processing and conveying unit 711 and the reflow conveying unit 721 are identical in structure to the mold pushing unit 12, and are also chain conveying rails, and in this embodiment, the chain conveying rails all adopt double-speed chains to accelerate the speed conveying beat. In addition, the two ends of the three processing and conveying units 711 and the two ends of the three return conveying units 721 are also provided with a blocking mechanism and a non-return mechanism, and the structures of the blocking mechanism 17 and the non-return mechanism 16 for placing the door panel are respectively the same as those of the blocking mechanism 17 and the non-return mechanism 16 for placing the door panel. At the backward flow conveying unit 721, the blocking mechanism is disposed downstream in the backward flow conveying direction, and the check mechanism is disposed upstream in the backward flow conveying direction.
The corresponding control section will be described in detail below.
As shown in fig. 1, the door panel assembling apparatus 1000 further includes a door panel assembling control device including: a production information storage part 1001, an assembly information storage part 1002, a mold information storage part 1003, a door panel information acquisition part 1004 to be assembled, a door panel placing control part 1005, a current door panel information acquisition part 1006, a door panel information comparison determination part 1007, a screwing control part 1008, a riveting control part 1009, a buckle mounting control part 1010, a machining conveyance control part 1011, a door panel taking out control part 1012, a reflow conveyance control part 1013, and a door panel assembly control part 1014 that controls the above parts.
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 door panel placement control section 1005 controls the door panel placement mechanism 11 to rotate open the cover plate 22 of the mold device 20 of the current station when the assembler confirms through the operation terminal that the mold device 20 has been placed at the first station; and controlling the door panel placing mechanism 11 to close the cover plate 22 of the mold device 20 at the current station in a rotating manner when the assembling worker confirms through the operation terminal that the corresponding automobile door panel workpiece has been placed in the opened mold device 20.
When the assembling worker confirms through the operation terminal that the workpiece is placed in the mold device 20 at the first station, the front door panel information acquisition unit 1006 controls the workpiece detection sensor at the first station to read the electronic tag on the automobile door panel workpiece, and acquires the workpiece identification number.
The door panel information comparison and determination unit 1007 compares the workpiece identification number acquired by the door panel information acquisition unit 1004 to be assembled with the workpiece identification number acquired by the current door panel information acquisition unit 1006, and determines whether the two are identical. The workpiece models are correct when the two workpieces are identical, and automatic assembly can be started.
The screwing control portion 1008 is used for controlling the screwing process and sending a screwing completion signal after the screwing operation is completed. The device comprises a first pressing control unit and a screwing control unit. The pressing control unit controls the screwing pressing mechanism 31 to press the mold device 20 in the current station on the mold device 20. After the mold device 20 is pressed, the screwing control unit controls the screwing moving mechanism 32 to drive the screwing mechanism to move to each screwing position in sequence to perform screwing operation according to the number and positions of screws in the acquired assembly information.
The riveting control part 1009 is configured to control the riveting process and send a riveting completion signal after the riveting operation is completed. The riveting device comprises a second pressing control unit and a riveting control unit. The second pressing control unit controls the riveting pressing mechanism to press the mold device 20 in the current station. And after the die device 20 is tightly pressed, the riveting control unit controls the riveting moving mechanism to drive the riveting mechanism to sequentially move to each riveting position for riveting operation according to the riveting number and position in the acquired assembly information.
The buckle installation control part 1010 is used for controlling the buckle installation process and sending a buckle installation completion signal after the buckle installation is completed. The clamping device comprises a third pressing control unit, a feeding control unit, a clamping buckle grabbing control unit, a clamping buckle installation control unit and a clamping buckle detection control unit. The third pressing control unit controls the pressing mechanism for snap mounting to press the mold device 20 in the current station. The feed control unit controls the vibration plate 531 and the clip pushing unit 533 to output the clip and push it in place after the sensor 55 senses that the clip on the clip mounting support portion 52 has been caught. The clip catching control unit controls the clip mounting mechanism 54 to catch the clip from the clip mounting support portion 52. The clip mounting control unit controls the clip mounting mechanism 54 to sequentially mount the grasped clips to the respective positions in accordance with the number of clips and the mounting positions in the fitting information. The buckle detection control unit controls the buckle mounting mechanism 54 to detect the installed buckle after each buckle is mounted.
The processing and conveying control unit 1011 controls the processing and conveying process of the mold apparatus 20, and includes: a processing lifting control unit 10115, a first processing conveyance control unit 10111, a second processing conveyance control unit 10112, a third processing conveyance control unit 10113, and a fourth processing conveyance control unit 10114.
The processing elevation control unit 10115 controls the mold pushing part 12 and the mold receiving part to be elevated to be flush with the processing conveying unit 711 when the assembling worker confirms that the workpiece is placed through the operation terminal of the first station.
After the first processing and conveying control unit 10111 is lifted, the first processing and conveying control unit 10111 controls the mold pushing part 12 and the processing and conveying unit 711 below the screwing device 30, and conveys the mold device 20 from the first station to the second station, specifically, sequentially performs the following control operations:
controlling the release of the blocking mechanism of the mold pushing part 12;
controlling the chain type conveying tracks of the mold pushing part 12 and the processing conveying unit 711 to work simultaneously, conveying the mold device 20 to the processing conveying unit 711, and stopping conveying when the mold detection sensor at the second station reads the electronic tag at the bottom of the mold device 20;
controlling the blocking mechanism at the mold pushing part 12 to block.
The second processing and conveying control unit 10112, upon receiving the screw-driving completion signal, controls the two processing and conveying units 711 below the screw-driving device 30 and below the riveting device 40 to convey the die device 20 from the second station to the third station.
The third processing and conveying control unit 10113, upon receiving the riveting completion signal, controls the two processing and conveying units 711 below the riveting device 40 and below the snap-fit attachment device 50 to convey the mold device 20 from the third station to the fourth station.
When receiving the buckle installation completion signal, the fourth processing and conveying control unit 10114 controls the mold receiving portion at the fifth station to ascend and descend to be flush with the processing and conveying unit 711, controls the processing and conveying unit 711 and the mold receiving portion below the buckle installation device 50, and conveys the mold device 20 from the fourth station to the fifth station.
The specific control processes of the second to fourth processing and conveying control units are basically consistent with those of the first processing and conveying control unit, and the description is not repeated.
The door panel take-out control section 1012 controls the operation of the door panel take-out device 60 so that the assembled automobile door panel workpiece is subjected to imaging inspection and conveyed away from the assembly line, and a workpiece take-out signal is generated when the workpiece is taken out of the die device 20, specifically, the following control operations are sequentially performed:
controlling the door panel take-out mechanism 64 to rotate the cover plate 22 of the mold apparatus 20 open;
controlling the upper camera assembly 612 to shoot the automobile door panel workpiece in the mold device 20 from the upper side;
the door panel grabbing mechanism 62 is controlled to grab the automobile door panel workpiece from the opened mold device 20 and drive the workpiece to move to a position right above the lower camera component 613;
controlling the lower camera assembly 613 to photograph the workpiece from below;
the door panel grabbing mechanism 62 is controlled to place the shot workpiece on the door panel conveying module 63, and the workpiece is conveyed to a preset position.
The return conveyance control unit 1013 controls a mold return process, and includes: a backflow elevating control unit 10131, a backflow releasing control unit 10132, a backflow conveying control unit 10133, and a backflow blocking control unit 10134.
When receiving the workpiece pickup signal, the reflow lift control unit 10131 controls the mold pushing part 12 and the mold pickup part to lift to be flush with the lower reflow transport unit 721.
The first release control unit 10132 controls the non-return mechanisms of the mold pushing part 12 and the mold receiving part to release in the reverse direction after the lifting is completed, and controls the blocking mechanisms of the three backflow conveying units 721 to release.
After the corresponding blocking mechanism and the non-return mechanism are released, the backflow conveying control unit 10133 controls the mold receiving part, the three backflow conveying units 721 and the mold pushing part 12 to convey along the backflow conveying direction, so that the used mold device 20 at the fifth station flows back to the first station for reuse.
When the backflow is completed and the reader at the first station reads the electronic tag, the backflow prevention control unit 10134 controls the non-return mechanisms of the mold pushing part 12 and the mold receiving part to perform the prevention again, and controls the prevention mechanisms of the three backflow conveying units 721 to perform the prevention.
Fig. 29 is a schematic view of the die apparatus conveyed in the machining conveying direction in the present embodiment.
Fig. 30 is a schematic view of the mold device of this embodiment, which is transported in the reflow transport direction, where D1 in fig. 29-30 is the processing transport direction, and D2 is the reflow transport direction.
As shown in fig. 29-30, based on the above structure and control method, the process of automatically assembling the automobile door panel workpiece in this embodiment specifically includes the following steps:
step S1, the door panel placing control section 1005 controls the door panel placing mechanism 11 to rotate the cover plate 22 of the mold device 20 thereon to open;
s2, an assembling worker puts the next automobile door panel workpiece to be assembled into the opened die device 20 and confirms the workpiece putting through the operation terminal;
step S3, the current door panel information acquisition part 1006 acquires the workpiece identification number of the current workpiece;
step S4, the door panel information comparison judgment part 1007 judges whether the workpiece identification number of the current workpiece is consistent with the information to be assembled, if so, the step S6 is carried out, if not, corresponding warning information is generated, and the step S is carried out;
and the assembly worker can return to the step S2 after checking and replacing the workpiece with the correct model according to the warning information.
Step S5, the door panel placing control section 1005 controls the door panel placing mechanism 11 to close the cover plate 22 in a rotating manner;
step S6, the processing elevation control unit 10115 controls the mold pushing part 12 and the mold receiving part to be elevated to be flush with the processing conveying unit 711;
step S7, the first processing and conveying control unit 10111 controls the mold pushing part 12 and the processing and conveying unit 711 of the second station to convey in the direction D1, and convey the mold device 20 to the second station;
step S8, the screwing control part 1008 controls the screwing device 30 to tightly press the die device 20 at the current station, and screws are sequentially screwed at each position according to the assembly information;
step S9, the second processing and conveying control unit 10112 controls the two processing and conveying units 711 of the second station and the third station to convey the mold device 20 to the third station;
step S10, the riveting control part 1009 controls the riveting device 40 to press the die device 20 at the current station, and rivets the die device at each position in sequence according to the assembly information;
step S11, the third processing and conveying control unit 10113 controls the two processing and conveying units 711 of the third station and the fourth station to convey the mold device 20 to the fourth station;
step S12, the snap-fit control section 1010 controls the snap-fit device 50 to press the mold device 20 at the current station, and sequentially performs snap-fit mounting at each position according to the assembly information;
step S13, the fourth processing and conveying control unit 10114 controls the processing and conveying unit 711 and the mold receiving portion of the fourth station to convey the mold apparatus 20 to the fifth station;
step S14, the door panel take-out control unit 1012 controls the door panel take-out device 60 to take out the assembled automobile door panel from the mold device 20 and to perform photographing detection thereon;
step S15, the backflow lift control unit 10131 controls the mold pushing portion 12 and the mold receiving portion to lift to be flush with the backflow conveying unit 721;
step S16, the backflow releasing control unit 10132 controls the corresponding blocking mechanism and the non-return mechanism to release;
in step S17, the reflow conveyance control unit 10133 controls the mold receiving unit, the three reflow conveyance units 721, and the mold pushing unit 12 to convey in the direction D2, and conveys the mold device 20 back to the first station.
Then, the process returns to step S1 to start assembling the next workpiece.
In the above steps, for convenience of illustration, only one mold device 20 and workpiece are provided in the five stations, and it is actually understood that a plurality of mold devices 20 and workpieces may be provided in the five stations at the same time, so that the production efficiency is improved, and when one mold device 20 is conveyed to the second station, the first station is left empty to receive another mold device 20 which reflows.
Effects and effects of the embodiments
The door panel assembling apparatus 1000 according to the present embodiment includes a door panel assembling die device 20, a door panel placing device 10, a screwing device 30, a riveting device 40, a snap-fitting device 50, a door panel taking-out device 60, a processing conveying device 71, a reflow conveying device 72, and a door panel assembling control device. Door plant assembly controlling means includes processing transport control portion, under its control, processing conveyor 71 can carry the mould device 20 that carries the car door plant work piece that waits to assemble in proper order to beat screw device 30, riveting set 40, buckle installation device 50, door plant remove device 60 department beat the screw, the riveting, buckle installation and assembly are accomplished after taking out and the inspection, consequently, this equipment 1000 can accomplish each process of door plant assembly automatically, need not artifical transport car door plant again and process, can save a large amount of manpowers, and improve the uniformity of production efficiency and final product. Further, the door panel assembly control device further comprises a backflow conveying control part, and under the control of the backflow conveying control part, the flow adding conveying device 72 can convey the used and empty mold device 20 back to the door panel placing device 10 for reuse, so that the mold device 20 does not need to be carried and recovered manually, and full-automatic and efficient automobile door panel assembly can be achieved.
In an embodiment, the processing and conveying control unit 1011 includes first to fourth processing and conveying control units respectively configured to control a conveying process between stations, and for example, the first processing and conveying control unit 10111 controls the mold pushing unit 12 to ascend and descend to be flush with the processing and conveying unit 711 when receiving an assembly start signal, controls the blocking mechanism at the mold pushing unit 12 to release, controls the mold pushing unit 12 and the processing and conveying unit 711 to convey simultaneously, stops conveying when the mold detection sensor of the processing and conveying unit 711 detects the electronic tag at the bottom of the mold device 20, and controls the blocking mechanism to block the electronic tag. Therefore, the mold device 20 can be stably conveyed between the stations, the mold device 20 can be conveyed to the appointed position in the stations, and after the mold device is conveyed in place, the mold device 20 and the workpieces in the mold device cannot be displaced in the assembling process through the limiting of the blocking mechanisms and the non-return mechanisms at the two ends, so that the automatic assembling is facilitated.
Further, the backflow conveying control unit 1013 controls the mold pushing unit 12 and the mold receiving unit to ascend and descend to be flush with the lower backflow conveying unit 721 to form a relatively coherent backflow conveying track, and then controls the corresponding blocking mechanism and the corresponding backflow mechanism to release, and then controls the mold pushing unit 12, the three backflow conveying units 721 and the mold receiving unit to convey, so that the used mold device 20 is automatically conveyed back to the first station for reuse. By adopting the processing and conveying and automatic mold backflow mode, the automatic assembly of automobile door plates of the same type and in large batch can be realized, the automation degree is high, and the labor burden of workers is greatly reduced.
The above-described embodiments are merely illustrative of specific embodiments of the present invention, and the present invention is not limited to the description of the above-described embodiments.

Claims (9)

1. A door panel assembly apparatus, comprising:
the door plate assembly mold device is used for carrying an automobile door plate workpiece to be assembled;
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 processing and conveying device is arranged below the screwing device, the riveting device and the buckle mounting device and is used for conveying the door plate assembling die device loaded with the automobile door plate workpiece;
the backflow conveying device is arranged below the processing conveying device and is used for conveying the vacant die device for the door plate device; and
door plant assembly controlling means, right the assembly process of car door plant work piece controls, and it includes at least:
a machining and conveying control unit for controlling the machining and conveying device to sequentially convey the door panel assembly mold device on which the automobile door panel workpiece is placed to the screwing device, the riveting device, the buckle mounting device, and the door panel removing device in a predetermined machining and conveying direction; and
and the backflow conveying control part is used for controlling the backflow conveying device to convey the vacant door plate assembly mold device back to the door plate placing device along a preset backflow conveying direction.
2. The door panel assembly apparatus of claim 1, wherein:
wherein the backflow conveying device comprises three backflow conveying units which are arranged below the screwing device, the riveting device and the buckle mounting device and have the same height, and the three backflow conveying units are conveyed along the backflow 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 door plate taking-out device is provided with a mould receiving part which can be lifted and can switch the conveying direction,
the backflow conveying control part controls the mould receiving part, the backflow conveying unit and the mould pushing part to work, and the mould device for door plate assembly is conveyed back to the mould pushing part.
3. The door panel assembly apparatus of claim 2, wherein:
wherein the backflow conveyance control portion includes:
the backflow lifting control unit is used for controlling the mould pushing part and the mould receiving part to lift to be flush with the backflow conveying unit;
and the backflow conveying control unit is used for controlling the mould receiving part, the backflow conveying unit and the mould pushing part to convey after the lifting is finished, so that the vacant mould device for door plate assembly is conveyed back to the mould pushing part.
4. A door panel assembly apparatus as claimed in claim 3, wherein:
wherein, mould propelling movement portion, mould portion, three the backward flow conveying unit all includes:
the two parallel chain type conveying rails are used for carrying and conveying the door plate assembling die device;
the blocking mechanism is arranged between the two chain type conveying tracks and close to one end of each chain type conveying track and used for blocking one end of the door plate assembling mold device which is arranged on the chain type conveying tracks; and
a non-return mechanism which is arranged between the two chain-type conveying tracks and is close to the other end of the chain-type conveying track and is used for blocking the other end of the door plate assembly mold device which is arranged on the chain-type conveying track,
the blocking mechanisms of the mold pushing part and the mold receiving part are close to one end of the chain type conveying track at the downstream in the processing and conveying direction,
the blocking mechanism of the backflow conveying unit is close to one end of the chain type conveying track downstream along the backflow conveying direction,
the return flow conveyance control unit further includes:
and the backflow release control unit is used for controlling the mold pushing part and the mold receiving part to release the non-return mechanism and controlling the backflow conveying unit to release the blocking mechanism after the mold pushing part and the mold receiving part are lifted and lowered.
5. The door panel assembly apparatus of claim 2, wherein:
wherein the processing and conveying device comprises three processing and conveying units, the screw driving device, the riveting device and the buckle mounting device are arranged below the three backflow conveying units, the three processing and conveying units are positioned at the same height and are all conveyed along the processing and conveying direction,
the processing and conveying control part comprises:
the processing lifting control unit is used for controlling the lifting of the mould pushing part and the mould receiving part to be flush with the processing conveying unit;
the first processing and conveying control unit is used for controlling the processing and conveying unit below the die pushing part and the screwing device to convey the die device for the door plate device to the position below the screwing device;
a second processing and conveying control unit for controlling the two processing and conveying units below the screwing device and the riveting device to convey the die device for the door plate device to the position below the riveting device;
the third processing and conveying control unit is used for controlling the riveting device and the two processing and conveying units below the buckle mounting device to convey, and conveying the die device for the door plate device to the position below the buckle mounting device;
and a fourth processing and conveying control unit for controlling the processing and conveying unit and the mold receiving part below the buckle mounting device to convey the mold device for door panel assembly to the door panel taking-out device.
6. The door panel assembly apparatus of claim 5, wherein:
wherein the door panel placing device further has an operation terminal for generating an assembling start signal after the operation of the assembling worker is confirmed,
the door panel assembly control device further includes:
the screw driving control part is used for controlling the screw driving device and generating a screw driving completion signal when the screw driving operation is completed;
a riveting control section for controlling the riveting device and generating a riveting completion signal when the riveting operation is completed; and
a buckle installation control part for controlling the buckle installation device and generating a buckle installation completion signal when the buckle installation operation is completed,
the first processing and conveying control unit controls the die pushing part and the processing and conveying unit below the screwing device to convey when receiving the assembling start signal,
the second processing and conveying control unit controls the two processing and conveying units below the screw driving device and the riveting device to convey when receiving the screw driving completion signal,
the third processing and conveying control unit controls the two processing and conveying units below the riveting device and the buckle installation device to convey when receiving the riveting completion signal,
and the fourth processing and conveying control unit controls the processing and conveying unit and the die receiving part below the buckle mounting device to convey when receiving the buckle mounting completion signal.
7. The door panel assembly apparatus of claim 6, wherein:
wherein the die device for assembling the door panel is provided with an electronic tag,
the mould pushing part and the three processing and conveying units are respectively provided with a mould detection sensor for reading the electronic label,
the first processing and conveying control unit controls the die pushing part and the processing and conveying unit below the screw device to stop conveying when the die detection sensor of the processing and conveying unit below the screw device reads the electronic tag,
the second processing and conveying control unit controls the two processing and conveying units below the screw device and the riveting device to stop conveying when the die detection sensor of the processing and conveying unit below the riveting device reads the electronic tag,
and the third processing and conveying control unit controls the two processing and conveying units below the riveting device and the buckle mounting device to stop conveying when the mold detection sensor of the processing and conveying unit below the buckle mounting device reads the electronic tag.
8. The door panel assembly apparatus of claim 6, wherein:
wherein, door plant assembly controlling means still includes:
an assembly information storage part for storing the workpiece identification number of each automobile door panel workpiece and corresponding assembly information, wherein the assembly information comprises the number and the position of screwing, the number and the position of riveting and the number and the position of buckle installation,
the screwing control part controls the screwing device to carry out screwing operation on each position in sequence according to the number and the positions of the screws in the assembly information,
the riveting control part controls the riveting device to sequentially rivet each position according to the number and the position of riveting in the assembly information,
and the buckle installation control part controls the buckle installation device to carry out buckle installation operation on each position in sequence according to the number and the positions of buckle installation in the assembly information.
9. The door panel assembly apparatus of claim 8, wherein:
wherein the screwing device, the riveting device and the buckle mounting device are all provided with a pressing mechanism for pressing the die device for assembling the door panel loaded with the automobile door panel workpiece,
the screwing control part, the riveting control part and the buckle installation control part also control the corresponding pressing mechanism to press the door plate assembly die device before controlling the corresponding device to start assembly operation.
CN202211481000.9A 2022-11-24 2022-11-24 Door plant rigging equipment Pending CN115743367A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211481000.9A CN115743367A (en) 2022-11-24 2022-11-24 Door plant rigging equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211481000.9A CN115743367A (en) 2022-11-24 2022-11-24 Door plant rigging equipment

Publications (1)

Publication Number Publication Date
CN115743367A true CN115743367A (en) 2023-03-07

Family

ID=85336895

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211481000.9A Pending CN115743367A (en) 2022-11-24 2022-11-24 Door plant rigging equipment

Country Status (1)

Country Link
CN (1) CN115743367A (en)

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