CN115922297A

CN115922297A - Door panel assembly system

Info

Publication number: CN115922297A
Application number: CN202211481045.6A
Authority: CN
Inventors: 仲华; 唐良昭
Original assignee: Cenwoy Automation Technology Shanghai Co Ltd
Current assignee: Cenwoy Automation Technology Shanghai Co Ltd
Priority date: 2022-11-24
Filing date: 2022-11-24
Publication date: 2023-04-07

Abstract

The invention provides a door plate assembling system which comprises a door plate assembling die device, a die storage 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 and a backflow conveying device. The die device is used for carrying the automobile door panel workpiece to be assembled, so that the automobile door panel workpiece can be kept stable in the processing process, and the automobile door panel workpiece is prevented from being collided during conveying; the processing and conveying device is used for conveying the die device loaded with the automobile door panel workpiece to the screwing device, the riveting device and the buckle mounting device in sequence, so that the automobile door panel workpiece can be screwed, riveted and buckled in sequence; the door plate taking-out device conveys out the assembled automobile door plate workpiece; the backflow conveying device is used for conveying the used and vacant die device back to the door plate placing device for the next automobile door plate workpiece, or conveying the back screw device or the riveting device for the die storage device to recycle and store.

Description

Door panel assembly system

Technical Field

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

Background

The automobile door plate is a common automobile part, and the assembly of the automobile door plate comprises a plurality of processes such as screwing, riveting, installing a buckle and quality inspection. At present, in the assembling process, generally place corresponding workstation with door plant work piece transport by the operation workman on, fixed compress tightly the back, operate each process in proper order, such assembly methods have a plurality of problems: firstly, the automobile door plate workpiece is large in size and heavy in weight, so that the labor intensity of operators is high, and the production efficiency is low; secondly, the automobile door plate workpiece is large in size and easy to collide in the carrying process, so that the quality or the yield of finished products is influenced; thirdly, the operation workers need to switch various processing tools to sequentially carry out a plurality of different procedures, the production efficiency is low, and errors are easily generated in manual operation in the processes of screwing and riveting, so that the quality of finished products is influenced.

Therefore, in order to solve the above problems, a door panel assembly line capable of automatically or semi-automatically assembling the automobile door panel in different positions is required, and in such a door panel assembly line, all the door panel assembly processes such as screwing, welding, installing fasteners, quality inspection and the like are required to be completed in different positions in sequence. In addition, since the types of the automobile door panel products are numerous (such as door panels of different vehicle types, front doors and rear door panels of the same vehicle type), in order to ensure the production efficiency, the door panel assembly line also needs to be capable of coping with the product type switching, and excessive time or excessive manual intervention is not spent on switching the door panel products to be assembled.

Disclosure of Invention

The invention is carried out to solve the problems, and aims to provide a door panel assembly system which can sequentially complete each procedure of door panel assembly by stations, and adopts the following technical scheme:

the present invention provides a door panel assembly system, comprising: the door plate assembly mold device is used for carrying an automobile door plate workpiece to be assembled; the door plate placing device is used for placing the door plate assembling die device; the screw driving device is used for driving screws on the automobile door panel workpiece; the riveting device is used for riveting the automobile door panel workpiece; the buckle mounting device is used for carrying out buckle mounting on the automobile door panel workpiece; the door panel taking-out device is used for conveying the automobile door panel workpiece which is assembled to a preset position; the die storage device is used for storing the die device for assembling the door plate and is arranged beside the screw device or the riveting device; the processing and conveying device is used for conveying the door plate assembling die device loaded with the automobile door plate workpiece to the screwing device, the riveting device and the buckle mounting device in sequence; and a backflow conveying device for conveying the empty mold device for door panel assembly back to the screwing device or the riveting device, wherein the mold storage device comprises: the mould storage module is provided with a plurality of storage parts which are sequentially arranged along the vertical direction and used for storing the mould device for door plate assembly; and a mold transfer device disposed between the mold storage module and the screwing device or the riveting device, for transferring the mold device for door panel assembly therebetween.

The door panel assembly system provided by the present invention may also have the technical features wherein the mold transfer device comprises: the transfer mechanism is used for transferring the door panel assembly mold device along the horizontal direction; and a lifting mechanism for lifting the transfer machine, the transfer mechanism including: a support frame; the pair of telescopic arms are arranged below the supporting frame in parallel and can extend out towards two sides relative to the supporting frame; the telescopic driving unit is used for driving the pair of telescopic arms to synchronously extend and retract; the clamping unit is provided with a pair of supporting claws and is used for taking and placing the die device for assembling the door plate; and each belt transmission unit is respectively connected with one side of the support frame, one telescopic arm and one supporting claw and is used for driving the supporting claw to move when the telescopic arm is telescopic.

The door panel assembling system provided by the present invention may further have technical features wherein each of the belt transmission units comprises: a pair of synchronous pulleys mounted at both ends of the telescopic arm; the synchronous belt is sleeved on the pair of synchronous belt wheels; and the engaging pieces are engaged with the synchronous belt, one engaging piece is fixed below the supporting frame, the supporting claw is arranged on the synchronous belt through another engaging pieces, and when the telescopic arm extends to one side to reach the maximum limit, the supporting claw is positioned below the extending end part of the telescopic arm.

The door panel assembling system provided by the present invention may further have technical features wherein each of the storage portions includes: the bracket is used for supporting a plurality of die devices for assembling the door plate; and a storage horizontal movement unit provided on the bracket, for horizontally moving the door panel assembly mold device along the bracket, thereby adjusting a storage position of the door panel assembly mold device.

The door plate assembling system provided by the invention can also have the technical characteristics that the processing and conveying device comprises three upper-layer conveying units which are respectively arranged in the screwing device, the riveting device and the buckle mounting device, the three upper-layer conveying units are arranged at the same height and have the same conveying direction, the door plate placing device is provided with a liftable door plate pushing unit, and the door plate pushing unit can switch the conveying direction.

The door panel assembling system provided by the invention can also have the technical characteristics that the backflow conveying device comprises three lower-layer conveying units which are respectively arranged in the screwing device, the riveting device and the buckle mounting device and are positioned below the corresponding upper-layer conveying units, the three lower-layer conveying units are arranged at the same height and have the same conveying direction, the door panel taking-out device is provided with a liftable door panel taking-out unit, and the door panel taking-out unit can switch the conveying direction.

The door panel assembling system provided by the invention can also have the technical characteristics that the upper layer conveying unit, the lower layer conveying unit, the door panel pushing unit and the door panel receiving unit are all chain type conveying mechanisms.

The door panel assembling system according to the present invention may further include a technical feature in which the door panel assembling mold device includes: the supporting unit is used for carrying the automobile door panel workpiece; and the cover plate is rotatably connected to the supporting unit, a plurality of pressure heads are arranged on the cover plate and used for pressing the automobile door plate workpiece when the cover is closed, and the buckle mounting device comprises: the pressing mechanism for buckle installation is used for pressing the door panel assembly die device in a cover closing state; a clip mounting support section for mounting a clip to be assembled; a clip supply section for sequentially conveying the clips to the clip mounting support section; and a buckle mounting mechanism which uses a manipulator to grab the buckle from the buckle mounting support part and mounts the buckle to a preset buckle mounting position on the automobile door panel workpiece.

The door panel assembling system provided by the present invention may further have technical features, wherein the door panel removing device includes: the door panel taking-out mechanism is used for receiving the automobile door panel workpiece which is assembled from the buckle mounting device; the detection camera module is used for shooting and detecting the automobile door panel workpiece which is assembled; the workpiece conveying module is used for conveying the automobile door panel workpiece which is assembled to a preset position; the door plant snatchs the module, is used for snatching the completion assembly the car door plant work piece is shot, and places on the work piece transport module, wherein, it includes to detect with camera module: the upper camera shooting assembly comprises a plurality of cameras arranged above the door panel taking-out mechanism and is used for shooting the automobile door panel workpiece which is assembled from the upper part; and the lower camera shooting assembly comprises a plurality of cameras arranged below and is used for shooting automobile door panel workpieces after assembly, the lower camera shooting assembly and the upper camera shooting assembly are arranged in a staggered mode in the vertical direction, and the door panel grabbing module is used for grabbing the automobile door panel workpieces after assembly and moving to shoot above the lower camera shooting assembly.

The door panel assembling system according to the present invention may further include a technical feature in which the door panel assembling mold device includes: the supporting unit is used for carrying the automobile door panel workpiece; and the cover plate is rotationally connected to the supporting unit, a plurality of pressure heads are arranged on the cover plate and used for pressing the automobile door panel workpiece when the cover is closed, and the screwing device comprises: the pressing mechanism for screwing is used for pressing the door plate assembly mould device in a cover closing state; the screw driving mechanism is used for driving screws on the automobile door panel workpiece; and beat the screw and use moving mechanism for the drive beat screw mechanism and remove to the each predetermined screw position of beating of car door plant work piece, riveting set includes: the pressing mechanism for riveting is used for pressing the door plate assembly die device in a cover closing state; the riveting mechanism is used for riveting the automobile door panel workpiece; and the moving mechanism for riveting is used for driving the riveting mechanism to move to each preset riveting position of the automobile door panel workpiece.

Action and effects of the invention

The door plate assembling system comprises a door plate assembling die device, a die storage device, a door plate placing device, a screwing device, a riveting device, a buckle mounting device, a door plate taking-out device, a processing conveying device and a backflow conveying device. The die device for assembling the door panel is used for carrying automobile door panel workpieces to be assembled, so that the automobile door panel workpieces can be kept stable in the machining process and prevented from being collided when being conveyed among different devices; the processing and conveying device is used for conveying the die device loaded with the automobile door panel workpiece to the screwing device, the riveting device and the buckle mounting device in sequence, so that the operations of screwing, riveting and buckle mounting can be carried out on the automobile door panel workpiece in sequence; the door plate taking-out device conveys out the assembled automobile door plate workpiece; the backflow conveying device is used for conveying the used and vacant die device back to the door plate placing device for the next automobile door plate workpiece to use, or conveying the die device back to the screw driving device or the riveting device for the die storage device to recycle and store. The die storage device comprises a die storage module for storing the die device along the vertical direction and a die transfer module arranged between the die storage module and the screwing device or the riveting device, so that the die device can be transferred between the die storage module and the screwing device or the riveting device, and the vertical space of the die storage device is fully utilized for storing a plurality of die devices.

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

Drawings

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

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

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

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

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

FIG. 6 is a view showing a bottom guide block of the mold device for assembling a door panel in the embodiment of the present invention;

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

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

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

FIG. 10 is a perspective view of a mold apparatus and a door panel assembling locking mechanism according to an embodiment of the present invention;

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

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

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

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

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

FIG. 17 is a perspective view of a moving mechanism for driving screws 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 plan view of a portion of the structure of the snap-fit mounting arrangement in an embodiment of the invention;

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

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

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

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

FIG. 26 is a perspective view of a 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 structural view of a door panel placing device working in cooperation with a processing and conveying device in an embodiment of the invention;

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

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

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

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

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

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

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

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

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

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

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

Detailed Description

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

< example >

Fig. 1 is a block diagram showing the structure of a door panel assembling system according to the present embodiment.

As shown in fig. 1, the door panel assembling system 1000 includes a door panel placing device 10, a door panel assembling mold device 20 (hereinafter, simply referred to as a mold device 20), a screwing device 30, a riveting device 40, a clip attaching device 50, a door panel taking-out device 60, a processing conveyor 71, a reflow conveyor 72, a mold storage device 100, and a door panel assembling control device 110 that controls operations of the above devices.

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.

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

The supporting unit 21 is used for supporting a door panel workpiece to be assembled, and includes a supporting frame 211, a supporting mold (not shown in the figure), and a plurality of mold fixing members 212.

The supporting frame 211 is formed by welding steel square bars and steel sheets, and is reinforced by connecting pieces such as L-shaped metal pieces and screws, and the supporting frame 211 is used for carrying and supporting the mould.

As shown in fig. 6, four guide blocks 2111 are arranged below the supporting frame 211, a circular groove facing downward is formed in the middle of each guide block 2111, and when the mold device 20 is conveyed to the assembling station 40, the output ends of the four jacking cylinders in the assembling station 40 can be respectively embedded into the four circular grooves to jack up the mold device 20, so that the mold device 20 is positioned and fixed, and the assembling operation on the station is facilitated.

The mold fixing members 212 are L-shaped metal members, and the plurality of mold fixing members 212 are respectively installed above the square rods of the supporting frame 211 and face different directions, wherein a structure for installing and supporting a mold is formed among the plurality of mold fixing members 212. The support matrix is clamped between a plurality of matrix fasteners 212 and secured by fasteners such as screws.

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

The cover plate frame 221 is formed by welding aluminum profiles, and is reinforced by connecting pieces such as an L-shaped metal piece and screws, wherein the lengths of the aluminum profiles are different, a part of the aluminum profiles are inclined, and the cover plate frame 221 formed by the aluminum profiles is provided with square holes, triangular holes and special-shaped holes in different sizes. The cover frame 221 is structurally configured to mount the plurality of indenters 223 and to enable the plurality of indenters 223 to be arranged according to a predetermined rule.

The pair of limiting members 222 are L-shaped metal members, and are respectively mounted on two sides (two sides along the conveying direction) of the cover plate frame 221, and when the cover plate 22 rotates in place towards the supporting unit 21, the extended end portions of the limiting members 222 abut against the square rods on two sides of the cover plate frame 221, so that a limiting effect is achieved, and the automobile door panel workpiece is prevented from being damaged.

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 upper surface of an automobile door plate workpiece to be pressed. The pressing heads 223 are used for respectively abutting against different parts of the upper surface of the automobile door panel workpiece when the cover plate 22 is rotated to be closed, so that the automobile door panel workpiece is fixed and is prevented from being collided in the conveying process.

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

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

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

The connection bracket 231 is a metal bracket and is installed at one side of the support frame 211, the rotation shaft 232 is installed on the connection bracket 231, and the extension direction of the rotation shaft 232 is consistent with that of the square rod at the side of the support frame 211. The cover frame 221 is mounted on the rotation shaft 232 by two pairs of bearing assemblies 233 to be rotatable along the rotation shaft 232. The middle part of one side of the cover plate frame 221 is connected to the connecting bracket 231 through the damping component 234, and the damping component 234 can make the cover plate 22 receive a certain resistance when rotating, so as to limit the rotating speed of the cover plate, and prevent the cover plate frame 221 from rotating and pressing down too fast to damage the automobile door panel workpiece when closing.

When the cover plate 22 is turned over and closed towards the supporting unit 21, the automobile door panel workpiece is fixed between the cover plate and the supporting unit, and when the cover plate 22 is turned over and opened towards the opposite direction, the automobile door panel workpiece can be placed, taken out and replaced, or the automobile door panel workpiece is assembled.

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

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

As shown in fig. 2 to 3, the door panel placing device 10 includes a door panel placing mechanism 11, a door panel placing elevating mechanism 15, and a door panel placing blocking mechanism (not shown in fig. 2 to 3 due to structural shielding).

The door plate placing mechanism 11 is used for positioning, opening, closing and pushing the mold device 20 at the current station, and the door plate placing mechanism 11 includes a mold pushing portion 12, a jacking positioning portion 13 and a rotation driving portion 14.

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

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

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

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

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

Jacking location portion 13 includes four jacking cylinders 131, all sets up on the bracket in door plant placer 10, and four jacking cylinders 131 distribute on 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 the jacking positioning is performed, the four jacking cylinders 131 simultaneously jack, and the output ends of the four jacking cylinders are abutted against the bottom surface of the circular positioning groove, so that the mold device 20 is stably jacked.

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

As shown in fig. 6, the rotary driving part 14 is used for 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 rotary driving motor 141 is used for driving the cover plate 22 to rotate.

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

Further, the initial position of the opening/closing bar 1422 is set to correspond to the setting of the jack-up position of the jack-up positioning portion 32, and when the mold device 20 is pushed up to a position by the jack-up positioning portion 32, the circular pusher 1423 of the opening/closing bar 1422 is fitted into the U-shaped opening of the U-shaped opening/closing arm 224 of the 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. Two of the slotted plates 1431 are disposed above the output end of the rotary driving motor 141, the other two are disposed below, two proximity sensors 1432 are installed in the slotted holes of the two slotted plates 1431 above through nuts, the other two proximity sensors 1432 are installed below in the same manner, the two proximity sensors 1432 above are horizontally disposed, the uppermost proximity sensor 1432 is farther away from the output end of the rotary driving motor 141, when the opening and closing rod 1422 swings upward, when the two proximity sensors 1432 above sense the opening and closing rod 1422 at the same time, it indicates that the opening and closing rod 1422 has swung upward to a predetermined maximum position, that is, the cover plate 22 has been closed to a position, at this time, the industrial personal computer can timely control the rotary driving motor 141 to stop working according to the signals of the two proximity sensors 1432 above, and prevent the cover plate 22 from further pressing down to damage automobile door panel workpieces. The same applies to the lower two proximity sensors 1432, and the description will not be repeated.

Further, as described above, since the entire width of the mold apparatus 20 of different specifications, the positioning block 2111, and the plug 224 are all the same, the door panel placing mechanism 11 of the present embodiment can be used in common for the mold apparatuses 20 of different specifications, and the door panel placing mechanism 11 does not need to be detached and adjusted when the mold apparatus 20 is replaced.

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 lifting mechanism 15 for placing the door panel is used for lifting the chain type conveying track 121 to a height matched with that of an adjacent station, so that the automobile door panel workpiece can be conveniently conveyed to the next station; in addition, the lifting mechanism 15 for placing the door panel can also be used for lowering the door panel placing mechanism 11 to a position close to the ground, so that an operator can place the automobile door panel workpiece in a station more conveniently.

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

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

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

The lifting driving motor 155 drives the bracket 153 to lift through the lifting transmission assembly 154, thereby driving the door panel placing mechanism 11 and the mold device 20 to lift.

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

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

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

The base 161 is mounted on the bracket 153.

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

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

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

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

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

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

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

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

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

As shown in fig. 15 to 16, a screw-driving pressing mechanism 31 is attached to the 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.

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 drive 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, and the two positioning columns 3123 are disposed at the tops of the two jacking blocks 3121 on the diagonal line, and are adapted to the positioning grooves, so as to position the mold device 20.

The quantity of jacking drive assembly 3122 equals with jacking piece 3121's quantity, and jacking drive assembly 3122 is connected with jacking piece 3121 one-to-one, can drive jacking piece 3121 and drive mould device 20 and rise to make apron 22 and compact heap 3111 butt. Each of the jacking drive assemblies 3122 includes a cylinder main body 31221, a push rod 31222, and two guide rods 31223. The cylinder body 31221 has guide passages 31221a at both sides thereof to be fitted with the guide bar 31223. 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 matched with the jacking block 3121, and the jacking hole 3131 can allow the jacking block 3121 to pass through when lifting.

When the mold device 20 on which the automobile door panel workpiece is placed is moved to the current station, the four sets of jacking driving assemblies 3122 drive the four jacking blocks 3121 to ascend synchronously, the positioning columns 3123 at the tops of the jacking blocks 3121 are inserted into the positioning grooves at the bottom of the supporting unit 21 to position the mold device 20, and the jacking blocks 3121 continue to ascend to support the mold device 202 on the upper layer conveying unit 711 until the cover plate 22 abuts against the pressing block 3111, so that the mold device 20 and the automobile door panel workpiece therein are pressed. Then, the screw 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. The cover plate 22 needs to be opened at the first station to place the automobile door plate workpiece, and the cover plate 22 needs to be opened at the fifth station to carry out shooting inspection on the assembled automobile door plate workpiece.

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

The end shape of the screw driving mechanism is similar to that of a screwdriver, and the screw driving mechanism can rotate and press down to drive a screw, and the screw driving mechanism is the prior art and is not described in detail.

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

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

The second horizontal moving units 322 are disposed on the first moving members 3213, and the number of the second horizontal moving units 322 is equal to the number of the first moving members 3213. In this embodiment, two second horizontal moving units 322 are respectively and correspondingly installed on the two first moving members 3213.

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

The two screwing elevating units 323 are provided on the second moving member 3223, and are respectively and correspondingly mounted on the two second horizontal moving units 322.

As shown in fig. 20, each screwing elevating unit 323 includes an elevating drive member 3231, an elevating rail 3232, and a mounting member 3233 provided on the elevating rail 3232 so as to be elevatable. The elevating driving member 3231 is a motor, and is connected to the mounting member 3233 through a screw structure, for driving the mounting member 3233 to move along the elevating rail 3232. The length direction of the lifting track 3232 is perpendicular to the plane of the first and

second rails

3212, 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, so that the description is omitted.

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

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

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

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

The vibration disc 531 arranges a plurality of disordered buckles orderly and sequentially outputs the arranged buckles in a vibration mode, which is not described in detail for the prior art.

One end of the discharge channel 532 is connected to the output end of the vibration plate 531, and the other end is connected to the support portion 52 for mounting the buckle, and the width of the discharge channel 532 is slightly wider than the width of a single buckle, so that the arranged buckles are conveyed to the support portion 52 for mounting the buckle one by one, and the buckle mounting mechanism 54 can grab and mount the buckle.

The snap pushing unit 533 includes a pushing rack 5331 and a pushing cylinder 5332 driving the pushing rack 5331 to move, and is used to push the snap on the snap-mounting supporting portion 52 in place, thereby facilitating the gripping by the snap mounting mechanism 54. The 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 clip has been pushed in place, so that the operation of grasping and mounting can be performed; the other sensors 55 are also used for sensing and judging whether the buckle is grabbed away or not, and the like, so that automatic control can be realized.

As shown in fig. 24, the clip mounting mechanism 54 is used for grasping and mounting a clip to a predetermined position on an automobile door panel workpiece, and includes a robot arm 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 manipulator fixing base 5411, and the first horizontal rotation unit 5412 for snap fitting includes a first horizontal rotation arm 54121 and a first horizontal rotation driving 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/lowering 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 bracket 543 for snap fitting. The number of the lifting guide rods 54143 for snap fitting is two, and the two lifting guide rods 54143 are respectively arranged in parallel with the lifting connecting rod 54142 for snap fitting, and are used for guiding and limiting when lifting.

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

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

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

As shown in fig. 26, a buckle detection unit 544 is provided on the buckle-mount connecting frame 543 for detecting whether the buckle is mounted 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 position department on the car door plant work piece has side open-ended buckle mounting groove. When picking up a clip, the robot arm 541 moves so that the clip mounting member 542 is positioned above the clip to be mounted, and the lifting unit 5414 for clip mounting is lowered 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.

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

The detection camera module 61 includes a housing (not shown), an upper camera assembly 612, a lower camera assembly 613, and an illumination unit (not shown). Wherein, the casing is black organic glass for shield, reduce the influence of external light source to shooing. 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 taking a picture of the automobile door panel workpiece from below, and the lower camera assembly 613 and the upper camera assembly 612 are arranged to be vertically offset from each other. The lighting unit includes a plurality of lamps for providing sufficient lighting for photographing.

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

The door panel grabbing and moving portion 621 includes a plurality of driving motors, and drives the clamping assembly 622 to move along the 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 structure of the door panel taking-out mechanism 64 is substantially identical to that of the door panel placing mechanism 11, and the structure of the door panel taking-out elevating mechanism 65 is substantially identical to that of the door panel placing elevating mechanism 14, and therefore, the description thereof will not be repeated. That is, like the door panel placing device 10, the door panel removing device 60 has a chain type conveying structure capable of switching the conveying direction, and can drive the mold device 20 to move up and down so as to cooperate with the processing conveying device 71 or the return conveying device 72.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Fig. 35 is a perspective view of the mold transfer module of this embodiment, showing two mold transfer modules 80 having mirror image structures, and the mold device 20 carried on the mold transfer modules 80.

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

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

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

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

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

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

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

The gripping unit 824 includes a pair of supporting claws 8241, the pair of supporting claws 8241 is movably installed below the pair of telescopic arms 822, the supporting claws 8241 includes a connecting plate 82411 and two supporting ends 82412 installed on the connecting plate 82411 and extending downward from the connecting plate 82411 in an L shape, and the distribution of the two supporting ends 82412 is the same as that of the two hooks 225 at one side of the mold device 20.

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

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

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

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

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

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

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

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

Claims

1. A door panel assembly system, comprising:

the door plate assembly mold device is used for carrying an automobile door plate workpiece to be assembled;

the door plate placing device is used for placing the door plate assembling die device;

the screw driving device is used for driving screws on the automobile door panel workpiece;

the riveting device is used for riveting the automobile door panel workpiece;

the buckle mounting device is used for carrying out buckle mounting on the automobile door panel workpiece;

the door panel taking-out device is used for conveying the automobile door panel workpiece which is assembled to a preset position;

the die storage device is used for storing the die device for door plate assembly and is arranged beside the screw device or the riveting device;

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

the backflow conveying device is used for conveying the vacant die device for assembling the door panel back to the screwing device or the riveting device,

wherein the mold storage device comprises:

a mold storage module having a plurality of storage sections sequentially arranged in a vertical direction for storing the door panel assembly mold device; and

and the mould transfer device is arranged between the mould storage module and the screwing device or the riveting device and is used for transferring the mould device for assembling the door plate between the mould storage module and the screwing device or the riveting device.

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

wherein the mold transfer device comprises:

the transfer mechanism is used for transferring the door plate assembly die device along the horizontal direction; and

a lifting mechanism for lifting the transfer machine,

the transfer mechanism includes:

a support frame;

the pair of telescopic arms are arranged below the supporting frame in parallel and can extend towards two sides relative to the supporting frame;

the telescopic driving unit is used for driving the pair of telescopic arms to synchronously extend and retract;

the clamping unit is provided with a pair of supporting claws and is used for taking and placing the die device for assembling the door plate; and

and each belt transmission unit is respectively connected with one side of the support frame, one telescopic arm and one support claw and is used for driving the support claws to move when the telescopic arms are telescopic.

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

wherein each of the belt drive units includes:

a pair of synchronous pulleys mounted at both ends of the telescopic arm;

the synchronous belt is sleeved on the pair of synchronous belt wheels; and

a plurality of meshing pieces which are meshed with the synchronous belt,

wherein one of the engaging members is fixed below the supporting frame,

the supporting claw is arranged on the synchronous belt through a plurality of other engaging pieces,

when the telescopic arm extends to one side to reach the maximum journey, the supporting claw is positioned below the extending end part of the telescopic arm.

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

wherein each of the storage sections includes:

the bracket is used for supporting a plurality of die devices for assembling the door plate; and

and the storage horizontal moving unit is arranged on the bracket and used for enabling the door plate assembly mould device to horizontally move along the bracket so as to adjust the storage position of the door plate assembly mould device.

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

wherein the processing and conveying device comprises three upper-layer conveying units which are respectively arranged below the screwing device, the riveting device and the buckle mounting device,

the three upper layer conveying units are arranged at the same height and have the same conveying direction,

the door plate placing device is provided with a liftable door plate pushing unit, and the conveying direction of the door plate pushing unit can be switched.

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

wherein the backflow conveying device comprises three lower-layer conveying units which are respectively arranged in the screwing device, the riveting device and the buckle mounting device and are positioned below the corresponding upper-layer conveying units,

the three lower-layer conveying units are arranged at the same height and have the same conveying direction,

the door plate taking-out device is provided with a door plate taking-out unit capable of lifting, and the door plate taking-out unit can switch the conveying direction.

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

the upper-layer conveying unit, the lower-layer conveying unit, the door plate pushing unit and the door plate receiving unit are all chain type conveying mechanisms.

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

wherein, door plant for the assembly die set includes:

the supporting unit is used for carrying the automobile door panel workpiece; and

the cover plate is rotatably connected to the supporting unit, a plurality of pressing heads are arranged on the cover plate and used for pressing the automobile door panel workpiece when the cover is closed,

the snap-fit mounting device comprises:

the pressing mechanism for buckle installation is used for pressing the door panel assembly die device in a cover closing state;

a clip mounting support section for mounting a clip to be assembled;

a clip supply section for sequentially conveying the clips to the clip mounting support section; and

and the buckle mounting mechanism adopts a manipulator to grab the buckle from the buckle mounting supporting part and mount the buckle on a preset buckle mounting position on the automobile door panel workpiece.

9. The door panel assembly system according to claim 1, wherein:

wherein, door plant remove device includes:

the door panel taking-out mechanism is used for receiving the automobile door panel workpiece which is assembled from the buckle mounting device;

the detection camera module is used for shooting and detecting the automobile door panel workpiece which is assembled;

the workpiece conveying module is used for conveying the automobile door panel workpiece which is assembled to a preset position;

the door panel grabbing module is used for grabbing the automobile door panel workpiece which is assembled to shoot and placing the automobile door panel workpiece on the workpiece conveying module,

wherein the detection camera module includes:

the upper camera shooting assembly comprises a plurality of cameras arranged above the door panel taking-out mechanism and is used for shooting the automobile door panel workpiece which is assembled from the upper part; and

a lower camera component which comprises a plurality of cameras arranged at the lower part and is used for shooting the automobile door panel workpiece which is assembled from the lower part, the lower camera component and the upper camera component are arranged in a staggered way in the vertical direction,

the door panel grabbing module is used for grabbing the automobile door panel workpiece after assembly and moving the automobile door panel workpiece to the position above the camera shooting assembly below the camera shooting assembly to shoot.

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

wherein, door plant for the assembly die set includes:

the screw driving device comprises:

the pressing mechanism for screwing is used for pressing the door plate assembly mold device in a cover closing state;

the screw driving mechanism is used for driving screws on the automobile door panel workpiece; and

the screw driving moving mechanism is used for driving the screw driving mechanism to move to each preset screw driving position of the automobile door panel workpiece,

the riveting device includes:

the pressing mechanism for riveting is used for pressing the door plate assembly die device in a cover closing state;

the riveting mechanism is used for riveting the automobile door panel workpiece; and

and the moving mechanism for riveting is used for driving the riveting mechanism to move to each preset riveting position of the automobile door panel workpiece.