Vehicle window automatic installation device and method

Abstract

The present invention provides a vehicle window automatic installation device and method, which belongs to the field of rail vehicle technology, including an AGV transfer vehicle, an AGV magnetic strip, a control cabinet, a manipulator, a glue supply machine, a grabbing component and a glue coating component. The AGV magnetic strip is laid on the ground, the AGV transfer vehicle is placed above the AGV magnetic strip, the manipulator, the control cabinet and the glue supply machine are installed on the AGV transfer vehicle, the control cabinet is electrically connected to the manipulator and the glue supply machine respectively, when a grabbing operation is required, the grabbing component is connected to the mobile end of the manipulator, when a glue coating operation is required, the glue coating component is connected to the mobile end of the manipulator, and the feeding end of the glue coating component is connected to the discharging end of the glue supply machine. The present invention adopts a robot to perform glass installation and glue coating operations, which improves the degree of automation of the vehicle window installation process, reduces the intensity of manual labor, is more flexible in operation, and saves equipment space.

Description

Technical Field

[0001] The invention belongs to the technical field of rail vehicles and relates to automatic window installation equipment and method. Background Art

[0002] The assembly performance of rail vehicle body windows is one of the important indicators to measure vehicle quality. The glass installation process is an important part of vehicle body assembly. It is currently mainly completed manually. Manual operations in this process have problems such as low efficiency and high labor intensity. Glue injection and sealing of windows is one of the important processes of glass installation. Currently, window glue injection is mainly completed manually, which is labor-intensive and the quality of glue injection needs to be improved urgently. With the rapid development of the rail vehicle industry, the demand for vehicles is getting bigger and bigger, and the problem of manual operation is becoming more and more prominent. On the basis of improving production efficiency and ensuring product quality, the development of automated installation technology has important practical significance. Summary of the invention

[0003] The problem to be solved by the present invention is an automatic window installation device and method, which belongs to the technical field of rail vehicles. A robot is used for glass installation and gluing operations, which improves the automation level of the window installation process, reduces manual labor intensity, makes operation more flexible, and saves equipment space.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: automatic window installation equipment and method, which belongs to the field of rail vehicle technology, including AGV transfer vehicle, AGV magnetic strip, control cabinet, manipulator, glue supplier, grabbing component and gluing component, the AGV magnetic strip is laid on the ground, the AGV transfer vehicle is placed above the AGV magnetic strip, the manipulator, control cabinet and glue supplier are installed on the AGV transfer vehicle, the control cabinet is electrically connected to the manipulator and the glue supplier respectively, when grabbing operation is required, the grabbing component is connected to the mobile end of the manipulator, when gluing operation is required, the gluing component is connected to the mobile end of the manipulator, and the feeding end of the gluing component is connected to the discharging end of the glue supplier.

[0005] Furthermore, the grasping assembly includes a first connecting head, a main frame, a main suction cup and a first scanner. The first connecting head is connected to the moving end of the manipulator, the main frame is connected to an end of the first connecting head away from the manipulator, the main suction cup and the first scanner are installed on the main frame, and the first scanner is electrically connected to the control cabinet.

[0006] Furthermore, there are multiple main suction cups, and the multiple main suction cups are symmetrically arranged on the main frame.

[0007] Furthermore, it also includes a wiping assembly, which is installed on the main frame and electrically connected to the control cabinet. The wiping assembly includes a first connecting block, a first cylinder, a first guide rail, a first slider, a movable plate, a buckle plate, a first connecting rod, a first leveling block and a first spring. The first connecting block is vertically installed on the main frame, the first guide rail and the first cylinder are installed on the side of the first connecting block, the first slider is installed on the side of the first guide rail, the first slider is slidably connected to the first guide rail, the movable plate is installed on the side of the first slider away from the first guide rail, the output end of the first cylinder is connected to the upper surface of the movable plate, the buckle plate is installed in the movable plate, the first connecting rod vertically passes through the movable plate and the buckle plate and is slidably connected to the two, the first leveling block is installed at the lower end of the first connecting rod, the first connecting rod and the first spring are coaxially arranged from the inside to the outside, the upper end of the first spring is connected to the lower end of the movable plate, and the lower end of the first spring is connected to the upper end of the first leveling block.

[0008] Furthermore, it also includes an auxiliary suction cup assembly, which is installed on the main frame and electrically connected to the control cabinet. The auxiliary suction cup assembly includes a second connecting block, a second cylinder, a second guide rail, a second slider, a support box and an auxiliary suction cup. The second connecting block is vertically installed on the main frame, the second cylinder and the second guide rail are installed on the side of the second connecting block, the second slider is installed on the side of the second guide rail, the second slider is slidably connected to the second guide rail, the support box is installed on the side of the second slider away from the second guide rail, the output end of the second cylinder is connected to the upper end of the support box, and the auxiliary suction cup is installed at the lower end of the support box.

[0009] Furthermore, the glue coating assembly includes a second connecting head, a connecting frame, a glue gun, a second scanner, a connecting sleeve, a second connecting rod, a second leveling block and a second spring. The second connecting head is connected to the moving end of the manipulator, the connecting frame is connected to the end of the second connecting head away from the manipulator, the glue gun and the second scanner are installed on the connecting frame, the feeding end of the glue gun is connected to the discharging end of the glue supply machine, the second scanner is electrically connected to the control cabinet, the connecting sleeve passes through the end of the connecting frame away from the second connecting head and is connected to the connecting frame, the second connecting rod passes through the connecting sleeve, the second leveling block is installed at the lower end of the second connecting rod, the second connecting rod and the second spring are coaxially arranged from the inside to the outside, the upper end of the second spring is connected to the lower end of the connecting sleeve, and the lower end of the second spring is connected to the upper end of the second leveling block.

[0010] Furthermore, it also includes a set screw and a locking nut. The side of the second connecting rod has a flat opening. The set screw passes through the connecting sleeve and enters the flat opening and contacts the second connecting rod. The locking nut is installed on the locking screw and is on the outside of the connecting sleeve.

[0011] Furthermore, the automatic window installation method comprises the following steps:

[0012] S2. Loading the AGV transfer vehicle: Load the control cabinet, manipulator and glue supply machine on the AGV transfer vehicle, place the loaded AGV transfer vehicle on the upper end of the AGV magnetic strip, and the AGV transfer vehicle enters the window installation area;

[0013] S3. Relative positioning of the manipulator and the vehicle body: connecting the grabbing assembly to the mobile end of the manipulator, and the first scanner on the grabbing assembly is positioned with the vehicle body on which the window is to be installed when the AGV transfer vehicle enters the processing station;

[0014] S4. Window profile and depth scanning: The first scanner scans the window profile and depth on the vehicle body;

[0015] S5. Pasting the gasket: The auxiliary suction cup on the auxiliary suction cup assembly absorbs the adhesive gasket under the control of the control cabinet according to the scanning information, and performs bonding of the adhesive gasket;

[0016] S6. Window installation: The first scanner scans and measures the glass to determine the position and size of the glass. The grabbing assembly grabs the glass and installs it at the window position on the vehicle body. The glass is then manually bolted.

[0017] S7. Flatness detection: After the window is installed, the first scanner detects the installation size and flatness of the installed window and generates a detection report;

[0018] S8. Wipe off the active agent: Manually wipe off the protective tape and active agent on the car window after the glass is installed, and decontaminate the glass;

[0019] S9. Gluing: Remove the gripping assembly on the robot and replace it with the gluing assembly. The second scanner on the gluing assembly positions the installed window. The glue supply machine supplies glue to the gluing assembly and performs gluing on the edge of the window.

[0020] S10. Glue scraping: After the glue application is completed, the glue applied is scanned using the second scanner, and the second leveling block is used to scrape glue on the uneven positions to complete the glue type trimming and surface smoothing work, and finally the second scanner is used to detect the glue scraping effect.

[0021] Furthermore, in step S1 before step S2, the vehicle window and the vehicle body are placed: the vehicle window to be installed is first placed in the loading operation measurement area, and then moved to the buffer area, and the vehicle body on which the vehicle window is to be installed is placed in the window installation area.

[0022] Furthermore, after step S10, step S11 is performed to remove protection: the protection around the automatic window installation device is removed.

[0023] Compared with the prior art, the present invention has the following advantages and positive effects:

[0024] 1. The present invention adopts robots to perform glass installation and gluing operations, which improves the degree of automation of the vehicle window installation process, reduces manual labor intensity, makes operation more flexible, and saves equipment space.

[0025] 2. In the glass installation process of the present invention, the first scanner is used to perform effective measurement, so that the glass installation accuracy is improved and the safety performance of the vehicle body is improved.

[0026] 3. The present invention has multiple main suction cups, which are symmetrically arranged on the main frame. When the main suction cups grab the glass, the force is evenly applied to avoid damage to the glass.

[0027] 4. The auxiliary suction cup of the present invention is installed at the lower end of the support box, and the auxiliary suction cup is used to absorb the adhesive gasket.

[0028] 5. The second spring of the present invention has a certain preload force. The second scanner performs effective measurement during the process of coating and scraping glue. Before glue injection, the second scanner can scan the window gap position, width, depth and other parameters and automatically calculate the amount of glue. After glue injection, the second scanner can scan the flatness of the coated glue, and decide whether to scrape or repair glue based on the flatness. The glass installation accuracy is improved, and the safety performance of the vehicle body is improved.

[0029] 6. The locking nut of the present invention is used to adjust the contact force between the set screw and the second connecting rod, ensuring that the set screw can clamp the second connecting rod without affecting the movement of the second connecting rod. The flat mouth cooperates with the set screw to play the role of upper and lower limit, preventing the second leveling block from rotating in a circle when the force is uneven. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0031] Figure 1 It is an overall schematic diagram of the automatic window installation device and method of the present invention;

[0032] Figure 2 It is a schematic diagram of the AGV transfer vehicle and the equipment on the vehicle of the automatic window installation device and method of the present invention;

[0033] Figure 3 Schematic diagram of the grabbing assembly of the automatic window installation device and method of the present invention Figure 1 ;

[0034] Figure 4 Schematic diagram of the grabbing assembly of the automatic window installation device and method of the present invention Figure 2 ;

[0035] Figure 5is a schematic diagram of a wiping assembly of a vehicle window automatic installation device and method of the present invention;

[0036] Figure 6 is a schematic diagram of an auxiliary suction cup assembly of the vehicle window automatic installation device and method of the present invention;

[0037] Figure 7 It is a side view schematic diagram of the gluing assembly of the automatic window installation device and method of the present invention;

[0038] Figure 8 It is a side cross-sectional schematic diagram of a glue coating assembly of the vehicle window automatic installation device and method of the present invention;

[0039] Fig. 9 The utility model is an installation flow chart of the automatic window installation device and method of the present invention.

[0040] Reference numerals:

[0041] 1. AGV transfer vehicle; 2. AGV magnetic strip; 3. Control cabinet; 4. Manipulator; 5. Glue supply machine; 6. Grabbing assembly; 7. Gluing assembly; 8. Wiping assembly; 9. Auxiliary suction cup assembly; 61. First connector; 62. Main frame; 63. Main suction cup; 64. First scanner; 71. Second connector; 72. Connecting frame; 73. Glue gun; 74. Second scanner; 75. Connecting sleeve; 76. Second connecting rod; 77. Second whole Flat block; 78, second spring; 79, set screw; 80, locking nut; 81, first connecting block; 82, first cylinder; 83, first guide rail; 84, first slider; 85, moving plate; 86, buckle plate; 87, first connecting rod; 88, first leveling block; 89, first spring; 91, second connecting block; 92, second cylinder; 93, second guide rail; 94, second slider; 95, support box; 96, auxiliary suction cup; 761, flat mouth. DETAILED DESCRIPTION

[0042] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0044] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0045] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0046] like Figures 1 to 9 As shown, the present invention is an automatic window installation device and method, which belongs to the field of rail vehicle technology, including an AGV transfer vehicle 1, an AGV magnetic strip 2, a control cabinet 3, a manipulator 4, a glue supply machine 5, a grabbing component 6 and a glue coating component 7. The AGV magnetic strip 2 is laid on the ground, the AGV transfer vehicle 1 is placed above the AGV magnetic strip 2, the AGV transfer vehicle 1 identifies the AGV magnetic strip 2 through the ribbon navigation technology, the manipulator 4, the control cabinet 3 and the glue supply machine 5 are installed on the AGV transfer vehicle 1, the control cabinet 3 is electrically connected to the manipulator 4 and the glue supply machine 5 respectively, and a plc control system is arranged in the control cabinet 3, and the plc control system controls the movement of the manipulator 4 and the glue discharging of the glue supply machine 5 in real time. When a grabbing operation is required, the grabbing component 6 is connected to the mobile end of the manipulator 4, and when a glue coating operation is required, the glue coating component 7 is connected to the mobile end of the manipulator 4, and the feeding end of the glue coating component 7 is connected to the discharging end of the glue supply machine 5. The model of the glue supply machine 5 is CHECK-MATE D200 or DURA-FLO D200S, etc., can timely adjust the glue output and other parameters under the control of the electric control cabinet.

[0047] Preferably, the grabbing assembly 6 includes a first connecting head 61, a main frame 62, a main suction cup 63 and a first scanner 64. The first connecting head 61 is connected to the moving end of the manipulator 4, the main frame 62 is connected to the end of the first connecting head 61 away from the manipulator 4, the main suction cup 63 and the first scanner 64 are installed on the main frame 62, and the first scanner 64 is electrically connected to the control cabinet 3. The first scanner 64 is used to perform effective measurement during the glass installation process, so as to improve the glass installation accuracy and improve the safety performance of the vehicle body.

[0048] Preferably, there are multiple main suction cups 63, and the multiple main suction cups 63 are symmetrically arranged on the main frame 62. When the main suction cups 63 grab the glass, the force is evenly applied to avoid damage to the glass.

[0049] Preferably, the wiping assembly 8 is electrically connected to the control cabinet 3, the wiping assembly 8 is installed on the main frame 62, and the wiping assembly 8 includes a first connecting block 81, a first cylinder 82, a first guide rail 83, a first slider 84, a movable plate 85, a buckle plate 86, a first connecting rod 87, a first leveling block 88 and a first spring 89. The first connecting block 81 is vertically installed on the main frame 62, the first guide rail 83 and the first cylinder 82 are installed on the side of the first connecting block 81, the first slider 84 is installed on the side of the first guide rail 83, the first slider 84 and the first guide rail 83 are slidably connected, the movable plate 85 is installed on the side of the first slider 84 away from the first guide rail 83, and the output end of the first cylinder 82 is connected to the upper surface of the movable plate 85. Then, the buckle plate 86 is installed in the movable plate 85, the first connecting rod 87 vertically passes through the movable plate 85 and the buckle plate 86 and is slidably connected to the two, the first leveling block 88 is installed at the lower end of the first connecting rod 87, the first connecting rod 87 and the first spring 89 are coaxially arranged from the inside to the outside, the upper end of the first spring 89 is connected to the lower end of the movable plate 85, and the lower end of the first spring 89 is connected to the upper end of the first leveling block 88, the first cylinder 82 drives the first slider 84 to move along the first guide rail 83, after the first leveling block 88 is squeezed, it drives the first connecting rod 87 to move and compresses the first spring 89, and before bonding the gasket, the first leveling block 88 wipes the bonding part of the window gasket to ensure the cleanliness of the surface when the adhesive gasket is bonded.

[0050] Preferably, the auxiliary suction cup assembly 9 is electrically connected to the control cabinet 3, and the auxiliary suction cup assembly 9 is installed on the main frame 62. The auxiliary suction cup assembly 9 includes a second connecting block 91, a second cylinder 92, a second guide rail 93, a second slider 94, a support box 95 and an auxiliary suction cup 96. The second connecting block 91 is vertically installed on the main frame 62, the second cylinder 92 and the second guide rail 93 are installed on the side of the second connecting block 91, the second slider 94 is installed on the side of the second guide rail 93, the second slider 94 and the second guide rail 93 are slidably connected, the support box 95 is installed on the side of the second slider 94 away from the second guide rail 93, the output end of the second cylinder 92 is connected to the upper end of the support box 95, the auxiliary suction cup 96 is installed at the lower end of the support box 95, the second cylinder 92 drives the second slider 94 to move along the second guide rail 93, and the auxiliary suction cup 96 is used to adsorb the adhesive gasket.

[0051] Preferably, the glue coating assembly 7 includes a second connecting head 71, a connecting frame 72, a glue gun 73, a second scanner 74, a connecting sleeve 75, a second connecting rod 76, a second leveling block 77 and a second spring 78. The second connecting head 71 is connected to the moving end of the manipulator 4, the connecting frame 72 is connected to the end of the second connecting head 71 away from the manipulator 4, the glue gun 73 and the second scanner 74 are installed on the connecting frame 72, the feeding end of the glue gun 73 is connected to the discharging end of the glue supply machine 5, the second scanner 74 is electrically connected to the control cabinet 3, the connecting sleeve 75 passes through the end of the connecting frame 72 away from the second connecting head 71 and is connected to the connecting frame 72, and the second connecting rod 76 passes through the connecting sleeve 75. The second leveling block 77 is installed at the lower end of the second connecting rod 76. The second connecting rod 76 and the second spring 78 are coaxially arranged from the inside to the outside. The upper end of the second spring 78 is connected to the lower end of the connecting sleeve 75, and the lower end of the second spring 78 is connected to the upper end of the second leveling block 77. The second spring 78 has a certain preload force. The second scanner 74 performs effective measurement during the process of coating and scraping glue. Before glue injection, the second scanner 74 can scan the window seam position, width, depth and other parameters and automatically calculate the amount of glue. After glue injection, the second scanner 74 can scan the flatness of the glue coated, and decide to scrape or repair glue according to the flatness. The glass installation accuracy is improved, and the vehicle safety performance is improved.

[0052] Preferably, there is a flat opening 761 on the side of the second connecting rod 76, and the height of the flat opening 761 determines the distance that the second connecting rod 76 can move. The fixing screw 79 passes through the connecting sleeve 75 and enters the flat opening 761 and contacts the second connecting rod 76. The locking nut 80 is installed on the locking screw. The locking nut 80 is on the outside of the connecting sleeve 75. The locking nut 80 is used to adjust the contact force between the fixing screw 79 and the second connecting rod 76 to ensure that the fixing screw 79 can clamp the second connecting rod 76 without affecting the movement of the second connecting rod 76. The flat opening 761 cooperates with the fixing screw 79 to play the role of upper and lower limit, thereby preventing the second leveling block 77 from rotating in a circle when the force is uneven.

[0053] Preferably, the vehicle window automatic installation method comprises the following steps:

[0054] S2. Loading the AGV transfer vehicle 1: Load the control cabinet 3, the manipulator 4 and the glue supply machine 5 on the AGV transfer vehicle 1, place the loaded AGV transfer vehicle 1 on the upper end of the AGV magnetic strip 2, and the AGV transfer vehicle 1 enters the window installation area. The control cabinet 3 is electrically connected to the manipulator 4 and the glue supply machine 5 respectively;

[0055] S3. Relative positioning of the manipulator 4 and the vehicle body: connecting the grabbing assembly 6 to the mobile end of the manipulator 4, and positioning the first scanner 64 on the grabbing assembly 6 with the vehicle body on which the window is to be installed when the AGV transfer vehicle 1 enters the processing station;

[0056] S4. Window profile and depth scanning: The first scanner 64 scans the window profile and depth of the vehicle body;

[0057] S5. Paste gasket: The auxiliary suction cup 96 on the auxiliary suction cup assembly 9 absorbs the adhesive gasket under the control of the control cabinet 3 according to the scanning information, and the adhesive gasket is bonded;

[0058] S6. Window installation: The first scanner 64 scans and measures the glass to determine the position and size of the glass. The grabbing assembly 6 grabs the glass and installs the glass at the window position on the vehicle body, and then manually bolts the glass;

[0059] S7. Flatness detection: After the window is installed, the first scanner 64 detects the size and flatness of the installed window and generates a test report;

[0060] S8. Wipe off the active agent: Manually wipe off the protective tape and active agent on the car window after the glass is installed, and decontaminate the glass;

[0061] S9. Gluing: The manipulator 4 automatically removes the gripping assembly 6 on the manipulator 4 and automatically replaces the gluing assembly 7. The second scanner 74 on the gluing assembly 7 positions the installed window. The glue supply machine 5 supplies glue to the gluing assembly 7 to apply glue to the edge of the window.

[0062] S10. Glue scraping: After the gluing operation is completed, the second scanner 74 is used to scan the applied glue, and the second leveling block 77 is used to scrape glue on the uneven position. The second leveling block 77 is fitted with the glue surface to compress the second spring 78 to make the second leveling block 77 close to the connecting sleeve 75. The second leveling block 77 scrapes away excess glue along the glue track to complete the glue pattern trimming and surface smoothing work, and finally the second scanner 74 is used to detect the glue scraping effect.

[0063] Preferably, in step S1 before step S2, the vehicle window and the vehicle body are placed: the vehicle window to be installed is first placed in the loading operation measurement area, and then moved to the buffer area, and the vehicle body on which the vehicle window is to be installed is placed in the window installation area.

[0064] Preferably, after step S10, step S11 is performed: removing protection: removing protection around the vehicle window automatic installation device.

[0065] In the actual working process, the car window to be installed is first placed in the loading operation measurement area, and then moved to the buffer area, the car body to be installed with the car window is placed in the window installation area, the control cabinet 3, the manipulator 4 and the glue supply machine 5 are loaded on the AGV transfer vehicle 1, and then the loaded AGV transfer vehicle 1 is placed on the upper end of the AGV magnetic strip 2. The AGV transfer vehicle 1 recognizes the AGV magnetic strip 2 and moves. The AGV transfer vehicle 1 enters the car window installation area, the control cabinet 3 is electrically connected to the manipulator 4 and the glue supply machine 5 respectively, and the PLC control system controls the movement of the manipulator 4 and the glue supply machine 5 respectively, and the grabbing group The first scanner 64 on the grasping component 6 is connected to the mobile end of the manipulator 4. When the AGV transfer vehicle 1 enters the processing station, the first scanner 64 is used to locate the vehicle body to be installed with the vehicle window. The first scanner 64 scans the contour and depth of the vehicle window on the vehicle body. The auxiliary suction cup 96 on the auxiliary suction cup component 9 absorbs the adhesive gasket under the control of the control cabinet 3 according to the scanning information to bond the adhesive gasket. The first scanner 64 scans and measures the glass to determine the position and size information of the glass. After the grasping component 6 grasps the glass, it installs the glass at the vehicle window position on the vehicle body. The adhesive gasket is between the vehicle window and the glass. The glass is then manually bolted. After the window is installed, the first scanner 64 detects the installation size and flatness of the installed window and generates a test report. The protective tape and active agent of the window after the glass is installed are manually wiped off to decontaminate the glass. Then the gripping assembly 6 on the manipulator 4 is removed and replaced with the glue coating assembly 7. The second scanner 74 on the glue coating assembly 7 positions the installed window. The second scanner 74 can scan the window gap position, width, depth and other parameters and automatically calculate the glue amount. The data is fed back to the control cabinet 3, and the control cabinet 3 controls the glue supply machine 5. Glue is supplied to the glue coating component 7, and glue is applied to the edge of the vehicle window. After the gluing operation is completed, the second scanner 74 is used to scan the applied glue and the data is fed back to the control cabinet 3. The control cabinet 3 controls the second leveling block 77 to scrape glue on the uneven position. The second leveling block 77 fits with the glue surface and compresses the second spring 78 to make the second leveling block 77 close to the connecting sleeve 75. The second leveling block 77 scrapes away excess glue along the glue track to complete the glue type trimming and smoothing the surface. Finally, the second scanner 74 is used to detect the glue scraping effect, and finally the protection around the automatic window installation equipment is removed.

[0066] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. Automatic window installation equipment, characterized by: It includes an AGV transfer vehicle, an AGV magnetic strip, a control cabinet, a manipulator, a glue supply machine, a grabbing component and a glue coating component. The AGV magnetic strip is laid on the ground, the AGV transfer vehicle is placed above the AGV magnetic strip, the manipulator, the control cabinet and the glue supply machine are installed on the AGV transfer vehicle, and the control cabinet is electrically connected to the manipulator and the glue supply machine respectively. When the grabbing operation is required, the grabbing component is connected to the mobile end of the manipulator, and when the glue coating operation is required, the glue coating component is connected to the mobile end of the manipulator, and the feeding end of the glue coating component is connected to the discharging end of the glue supply machine; The automatic window installation device also includes a wiping assembly, which is electrically connected to the control cabinet and is installed on the main frame. The wiping assembly includes a first connecting block, a first cylinder, a first guide rail, a first slider, a movable plate, a pinch plate, a first connecting rod, a first leveling block and a first spring. The first connecting block is vertically installed on the main frame, the first guide rail and the first cylinder are installed on the side of the first connecting block, the first slider is installed on the side of the first guide rail, the first slider is slidably connected to the first guide rail, the movable plate is installed on the side of the first slider away from the first guide rail, the output end of the first cylinder is connected to the upper surface of the movable plate, the pinch plate is installed in the movable plate, the first connecting rod vertically passes through the movable plate and the pinch plate and is slidably connected to the two, the first leveling block is installed at the lower end of the first connecting rod, the first connecting rod and the first spring are coaxially arranged from the inside to the outside, the upper end of the first spring is connected to the lower end of the movable plate, and the lower end of the first spring is connected to the upper end of the first leveling block; The glue coating assembly includes a second connecting head, a connecting frame, a glue gun, a second scanner, a connecting sleeve, a second connecting rod, a second leveling block and a second spring. The second connecting head is connected to the moving end of the manipulator, the connecting frame is connected to the end of the second connecting head away from the manipulator, the glue gun and the second scanner are installed on the connecting frame, the feeding end of the glue gun is connected to the discharging end of the glue supply machine, the second scanner is electrically connected to the control cabinet, the connecting sleeve passes through the end of the connecting frame away from the second connecting head and is connected to the connecting frame, the second connecting rod passes through the connecting sleeve, the second leveling block is installed at the lower end of the second connecting rod, the second connecting rod and the second spring are coaxially arranged from the inside to the outside, the upper end of the second spring is connected to the lower end of the connecting sleeve, and the lower end of the second spring is connected to the upper end of the second leveling block.

2. The automatic window installation device according to claim 1, characterized in that: The grabbing assembly includes a first connecting head, a main frame, a main suction cup and a first scanner. The first connecting head is connected to the moving end of the manipulator, the main frame is connected to an end of the first connecting head away from the manipulator, the main suction cup and the first scanner are installed on the main frame, and the first scanner is electrically connected to the control cabinet.

3. The automatic window installation device according to claim 2, characterized in that: There are multiple main suction cups, and the multiple main suction cups are symmetrically arranged on the main frame.

4. The automatic window installation device according to claim 2, characterized in that: It also includes an auxiliary suction cup assembly, which is installed on the main frame and electrically connected to the control cabinet. The auxiliary suction cup assembly includes a second connecting block, a second cylinder, a second guide rail, a second slider, a support box and an auxiliary suction cup. The second connecting block is vertically installed on the main frame, the second cylinder and the second guide rail are installed on the side of the second connecting block, the second slider is installed on the side of the second guide rail, the second slider is slidably connected to the second guide rail, the support box is installed on the side of the second slider away from the second guide rail, the output end of the second cylinder is connected to the upper end of the support box, and the auxiliary suction cup is installed at the lower end of the support box.

5. The automatic window installation device according to claim 1, characterized in that: It also includes a set screw and a locking nut. The side of the second connecting rod has a flat opening. The set screw passes through the connecting sleeve and enters the flat opening and contacts the second connecting rod. The locking nut is installed on the locking screw and is outside the connecting sleeve.

6. A method for automatically installing a vehicle window, characterized in that: The following steps are involved: S2. Loading the AGV transfer vehicle: Load the control cabinet, manipulator and glue supply machine on the AGV transfer vehicle, place the loaded AGV transfer vehicle on the upper end of the AGV magnetic strip, and the AGV transfer vehicle enters the window installation area; S3. Relative positioning of the manipulator and the vehicle body: connecting the grabbing assembly to the mobile end of the manipulator, and the first scanner on the grabbing assembly is positioned with the vehicle body on which the window is to be installed when the AGV transfer vehicle enters the processing station; S4. Window profile and depth scanning: The first scanner scans the window profile and depth on the vehicle body; S5. Pasting the gasket: The auxiliary suction cup on the auxiliary suction cup assembly absorbs the adhesive gasket under the control of the control cabinet according to the scanning information, and performs bonding of the adhesive gasket; S6. Window installation: The first scanner scans and measures the glass to determine the position and size of the glass. The grabbing assembly grabs the glass and installs it at the window position on the vehicle body. The glass is then manually bolted. S7. Flatness detection: After the window is installed, the first scanner detects the installation size and flatness of the installed window and generates a detection report; S8. Wipe off the active agent: Manually wipe off the protective tape and active agent on the car window after the glass is installed, and decontaminate the glass; S9. Gluing: Remove the gripping assembly on the robot and replace it with the gluing assembly. The second scanner on the gluing assembly positions the installed window. The glue supply machine supplies glue to the gluing assembly and performs gluing on the edge of the window. S10. Glue scraping: After the glue application is completed, the glue applied is scanned using the second scanner, and the second leveling block is used to scrape glue on the uneven positions to complete the glue type trimming and surface smoothing work, and finally the second scanner is used to detect the glue scraping effect.

7. The automatic window installation method according to claim 6, characterized in that: The following steps are also included: Step S1 before step S2: placing the vehicle window and the vehicle body: first placing the vehicle window to be installed in the loading operation measurement area, and then moving it to the buffer area, and placing the vehicle body on which the vehicle window is to be installed in the window installation area.

8. The automatic window installation method according to claim 6, characterized in that: The following steps are also included: Step S11 after step S10 is to remove protection: remove the protection around the automatic window installation device.

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