A card strip automatic installation device and installation method thereof

Abstract

The present invention discloses an automatic installation device for card strips, comprising an integral propulsion structure fixedly mounted with a manipulator, a gripping structure for gripping the card strip to be gripped, and a rolling installation structure for mounting the card strip on the glass. In the gripping structure, the card strip is gripped by starting the clamp and the auxiliary roller in cooperation. The rolling installation structure is provided by two clamping rollers arranged up and down and two clamping cylinders for driving the two clamping rollers respectively. The automatic installation device for card strips is moved to the card strip station by the manipulator, and after the gripping structure grips the card strip, it is moved to the glass station by the manipulator, and then the card strip is rolled and mounted on the glass by the rolling installation structure. The entire process is controlled by a control program, with high position accuracy and a determined bonding area, which greatly reduces installation deviations caused by human uncertainties and improves production and processing efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of automobile glass processing, and in particular to an automatic mounting device for a clip strip and a mounting method thereof. Background Art

[0002] In the process of automobile glass processing, installing the ELK clip on the automobile windshield is a very important production process. The current installation method is manual installation, bonding the clip to the appropriate position of the glass. Manual installation has many disadvantages, such as uncertainty in the installation position and bonding area, low installation efficiency and increased labor costs. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic installation device for card strips to address the technical defect that manual installation of card strips in the prior art cannot meet the production and processing requirements. The device is used in conjunction with a robot to replace manual installation to improve production and processing efficiency.

[0004] Another object of the present invention is to provide an installation method for the above-mentioned automatic card strip installation device.

[0005] The technical solution adopted to achieve the purpose of the present invention is:

[0006] An automatic installation device for a card strip, comprising an integral propulsion structure fixedly mounted with a manipulator, a grabbing structure for grabbing the card strip to be clamped, and a rolling installation structure for installing the card strip on the glass;

[0007] A vertical connecting plate is fixedly mounted on the integral propulsion structure, and a Z-direction slide rail is fixed on the connecting plate;

[0008] The grabbing structure comprises a bracket slidably connected to the Z-axis slide rail and two groups of grabbing components mounted on the bracket, each group of the grabbing components comprises a pneumatic clamp and an auxiliary roller, the pneumatic clamp comprises a contour clamp and a cylinder for controlling the contour clamp to grab or open, and the clamping strip is clamped between the contour clamp of the pneumatic clamp and the auxiliary roller;

[0009] The rolling installation structure includes an upper clamping roller and a lower clamping roller arranged up and down, a first clamping cylinder for driving the upper clamping roller to move up and down, and a second clamping cylinder for driving the lower clamping roller to move up and down, the upper clamping roller is rotatably connected to the upper sliding bracket, the lower clamping roller is rotatably connected to the lower sliding bracket, the upper sliding bracket is slidably connected to the Z-axis slide rail through an upper slider; the lower sliding bracket is slidably connected to the Z-axis slide rail through a lower slider.

[0010] In the above technical solution, the overall propulsion structure includes a fixed mounting plate fixedly mounted on the manipulator, a mobile frame slidably mounted under the fixed mounting plate, and a pushing cylinder. The pushing cylinder is mounted on the fixed mounting plate, and its push rod pushes the mobile frame to slide along the fixed mounting plate.

[0011] In the above technical solution, the bracket includes a front bracket and a rear bracket, the front bracket and the rear bracket are connected by a rotating shaft, the rear bracket is slidably connected to the Z-axis slide rail, and the pneumatic clamp and the auxiliary roller are installed on the front bracket;

[0012] The front bracket is located inside the two pneumatic clamps and is respectively provided with limit bearings, and the upper sliding bracket is provided with two limit blocks respectively cooperating with the limit bearings for limiting positions;

[0013] The front of the limit block is a stepped surface, with the lower end convex forward and the upper end concave backward. When the limit bearing is level with the lower end, the limit bearing contacts the limit block to limit the front bracket to be fixed on the horizontal plane. When the limit bearing is level with the upper end, there is a gap between the limit bearing and the limit block, allowing the front bracket to rotate within a certain angle in the horizontal plane.

[0014] In the above technical solution, the gripping structure further comprises a pneumatic locking device fixedly mounted on the mobile frame, and the pneumatic locking device cooperates with a locking plate fixed on the rear bracket to lock the gripping structure.

[0015] In the above technical solution, the grasping structure also includes a balancing cylinder, which includes two cylinders arranged opposite to each other up and down, and the push rods of the two cylinders are respectively in contact with the rear bracket; the two cylinders are respectively fixed on the upper sliding bracket and the lower sliding bracket.

[0016] In the above technical solution, a protection wheel is installed at the lower end of the profiling fixture to prevent the glass from being scratched.

[0017] In the above technical solution, the first clamping cylinder is fixed on a cylinder bracket, and the cylinder bracket is fixed on the moving frame; a connecting rod is installed on the top of the push rod of the first clamping cylinder, and the connecting rod is fixed on the upper sliding bracket.

[0018] In the above technical solution, the second clamping cylinder is fixed on the upper sliding bracket, and its push rod acts on the lower sliding bracket through a floating joint.

[0019] In the above technical solution, an anti-dropping bolt is fixed to the lower end of the connecting plate, and the end of the anti-dropping bolt is located below the lower sliding bracket.

[0020] Another aspect of the present invention is the installation method of the above-mentioned card strip automatic installation device, characterized in that:

[0021] The manipulator drives the card strip automatic installation device to the card strip station, and the pneumatic clamp is started to grab the card strip;

[0022] The manipulator drives the automatic card strip installation device to the glass station, the upper pressing roller is located above the glass, and the lower pressing roller is located below the glass;

[0023] The pneumatic clamp is closed to place the captured card strip on the glass, and at the same time the first clamping cylinder and the second clamping cylinder are started, the upper clamping roller presses the card strip downward, and the lower clamping roller clamps the glass upward, and the manipulator drives the automatic card strip installation device to move along the edge of the glass, and the upper clamping roller and the lower clamping roller cooperate to install the card strip on the glass.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The automatic card strip installation device provided by the present invention comprises an integral propulsion structure fixedly mounted with a manipulator, a grabbing structure for grabbing the card strip to be clamped, and a rolling installation structure for installing the card strip on the glass. The automatic card strip installation device is moved to the card strip station by the manipulator, and after the grabbing structure grabs the card strip, it is moved to the glass station by the manipulator, and then the card strip is rolled and installed on the glass by the rolling installation structure. The entire process is controlled by a control program, with high position accuracy and a certain bonding area, which greatly reduces installation deviations caused by human uncertainties.

[0026] 2. The automatic installation device for card strips provided by the present invention also includes a pushing cylinder and a moving frame in the overall propulsion structure, so that the device as a whole has a flexible buffer; the front bracket in the grasping structure rotates within a certain angle in the horizontal direction through the limit bearing and the limit block so that the auxiliary roller can better fit the edge of the glass during the rolling installation process, so that it has a flexible buffer in the horizontal direction; in addition, the balancing cylinder provides a Z-direction flexible compensation for the auxiliary roller during the rolling installation process to compensate for the influence of different shapes of glass on the moving trajectory of the manipulator, avoid cracking, and ensure smooth installation. Through the above flexible buffer structures, the device as a whole can adapt well to the shape of the glass and successfully complete the grasping and installation work. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The figure shows an axonometric view of the automatic installation device for the card strip;

[0028] Figure 2 The figure shows a front view of the automatic card strip installation device;

[0029] Figure 3The figure shows a left side view of the automatic card strip installation device;

[0030] Figure 4 The figure shows a top view of the automatic card strip installation device;

[0031] Figure 5 The figure shows a schematic diagram of the overall propulsion structure, wherein A is a rear view and B is a top view;

[0032] Figure 6 The figure shows a schematic diagram of the structure of the rolling installation structure, wherein A is a front view and B is a right view;

[0033] Figure 7 The figure shows a schematic diagram of the structure of the grabbing structure, wherein A is a left side view, B is a front view, and C is a top view.

[0034] In the figure:

[0035] 1-fixed mounting plate, 2-moving frame, 3-pushing cylinder, 4-connecting plate, 5-Z-direction slide rail, 6-bracket, 6-1-front bracket, 6-2-rear bracket, 6-3-rotating shaft, 7-balancing cylinder, 8-pneumatic clamp, 8-1-contact clamp, 8-2-cylinder, 9-auxiliary roller, 10-upper clamping roller, 11-lower clamping roller, 12-first clamping cylinder, 13-second clamping cylinder, 14-pneumatic locking device, 15-upper sliding bracket, 16-upper slider, 17-lower sliding bracket, 18-lower slider, 19-connecting rod, 20-anti-dropping bolt, 21-cylinder bracket, 22-locking plate, 23-floating joint, 24-limit bearing, 25-limit block, 26-protection wheel. DETAILED DESCRIPTION

[0036] The present invention is further described in detail below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0037] Example 1

[0038] A card strip automatic installation device, such as Figure 1-4 As shown, it includes an integral propulsion structure fixedly mounted with a manipulator, a grabbing structure for grabbing the strip to be clamped, and a rolling installation structure for mounting the clamping strip on the glass;

[0039] like Figure 5As shown, the overall propulsion structure includes a fixed mounting plate 1 fixedly mounted on the manipulator, a mobile frame 2 slidably mounted below the fixed mounting plate 1, and a pushing cylinder 3, wherein the pushing cylinder 3 is mounted on the side wall of the fixed mounting plate 1, and its push rod pushes the mobile frame 2 to slide along the fixed mounting plate 1, and a vertical connecting plate 4 is fixedly mounted on the overall propulsion structure, and a Z-direction slide rail 5 is fixed on the connecting plate 4;

[0040] The pushing cylinder and the moving frame provide a flexible compensation device for the whole device, so that the installation process can better fit the shape of the glass.

[0041] like Figure 7 As shown, the grabbing structure includes a bracket 6 slidably connected to the Z-direction slide rail 5 and two groups of grabbing components installed on the bracket 6, each group of grabbing components includes a pneumatic clamp 8 and an auxiliary roller 9, the pneumatic clamp 8 includes a contour clamp 8-1 and a cylinder 8-2 for controlling the contour clamp 8-1 to grab or open, and the clamping strip is clamped between the contour clamp 8-1 of the pneumatic clamp 8 and the auxiliary roller 9; the bracket 6 includes a front bracket 6-1 and a rear bracket 6-2, the front bracket 6-1 and the rear bracket 6-2 are connected by a rotating shaft 6-3, the rear bracket 6-2 is slidably connected to the Z-direction slide rail 5, and the front bracket 6-1 can rotate in the horizontal direction. Two cylinders 8-2 and two auxiliary rollers 9 are installed on the front bracket 6-1;

[0042] In this embodiment, the pneumatic clamp 8 is of DESTACO-1808 model, and the profiling fixture 8-1 at the lower end cooperates with the auxiliary roller 9 to grab the card strip. A protective wheel 26 is installed at the lower end of the profiling fixture 8-1 to prevent the metal profiling fixture 8-1 from scratching the glass during the process of grabbing, positioning and bonding the card strip.

[0043] The inner sides of the two pneumatic clamps 8 on the front bracket 6-1 are respectively installed with limit bearings 24, and the upper sliding bracket 15 is installed with two limit blocks 25 respectively cooperating with the limit bearings 24. The front of the limit block 25 is a stepped surface, the lower end is convex forward, and the upper end is concave backward. When the limit bearing 24 is level with the lower end, the limit bearing 24 contacts the limit block 25 to limit the position so that the front bracket 6-1 is fixed on the horizontal plane. When the limit bearing 24 is level with the upper end, there is a gap between the limit bearing 24 and the limit block 25 so that the front bracket 6-1 rotates within a certain angle in the horizontal plane.

[0044] The grabbing structure also includes a pneumatic locking device 14 fixedly mounted on the mobile frame 2, and the pneumatic locking device 14 cooperates with the locking plate 22 fixed on the bracket 6 to lock the grabbing structure. In this embodiment, the pneumatic locking device 14 is of model FESTO K908. During the card strip grabbing process, the pneumatic locking device 14 cooperates with the locking plate 22 for pneumatic locking, so that the limit bearing 24 is flush with the lower end to ensure that the auxiliary roller 9 and the pneumatic clamp 8 can clamp the card strip. During the card strip rolling installation process, the pneumatic locking device 14 is closed, the upper sliding bracket 15 is downward, and the limit bearing 24 is flush with the upper end of the limit block 25. Due to the gap between the limit bearing 24 and the upper end of the limit block 25, a certain angle of rotation can occur in the horizontal direction, so that it can better fit the glass surface.

[0045] The gripping structure further includes a balancing cylinder, and the balancing cylinder 7 includes two cylinders arranged opposite to each other up and down, and the push rods of the two cylinders are respectively in contact with the bracket 6; the two cylinders are respectively fixed on the upper sliding bracket 15 and the lower sliding bracket 17. The balancing cylinder 7 provides a Z-direction flexible compensation for the auxiliary roller during the rolling installation process to compensate for the influence of different shapes of glass on the moving trajectory of the robot, avoid cracking, and ensure smooth installation.

[0046] The rolling installation structure includes an upper clamping roller 10 and a lower clamping roller 11 arranged up and down, a first clamping cylinder 12 for driving the upper clamping roller 10 to move up and down, and a second clamping cylinder 13 for driving the lower clamping roller 11 to move up and down. The upper clamping roller 10 is rotatably connected to the upper sliding bracket 15, and the lower clamping roller 11 is rotatably connected to the lower sliding bracket 17. The upper sliding bracket 15 is slidably connected to the Z-direction slide rail 5 through an upper slider 16; the lower sliding bracket 17 is slidably connected to the Z-direction slide rail 5 through a lower slider 18.

[0047] The first clamping cylinder 12 is fixed on a cylinder bracket 21 , and the cylinder bracket 21 is fixed on the moving frame 2 ; a connecting rod 19 is installed on the top of the push rod of the first clamping cylinder 12 , and the connecting rod 19 is fixed on the upper sliding bracket 15 .

[0048] The second clamping cylinder 13 is fixed on the upper sliding bracket 15, and its push rod acts on the lower sliding bracket 17 through the floating joint 23. The floating joint 23 can effectively reduce the influence of machining errors on linear motion and ensure the smooth operation of the device.

[0049] Preferably, an anti-dropping bolt 20 is fixed to the lower end of the connecting plate 4 , and the end of the anti-dropping bolt 20 is located below the lower sliding bracket 17 to prevent the lower sliding bracket 17 from sliding off.

[0050] Example 2

[0051] This embodiment introduces the installation method based on the embodiment 1.

[0052] The installation method of the above-mentioned card strip automatic installation device mainly includes the following steps:

[0053] The manipulator drives the automatic card strip installation device to the card strip station, the pneumatic clamp 8 is started, and the contour clamp 8-1 moves downward to cooperate with the auxiliary roller 9 to grab the card strip;

[0054] The manipulator drives the automatic installation device of the card strip to the glass station, the upper pressing roller 10 is located above the glass, and the lower pressing roller 11 is located below the glass;

[0055] The pneumatic clamp 8 is closed, the contour clamp 8-1 is lifted upward, and the captured card strip is placed on the glass. At the same time, the first clamping cylinder 12 and the second clamping cylinder 13 are started, the upper clamping roller 10 presses the card strip downward, and the lower clamping roller 11 clamps the glass upward. The manipulator drives the automatic card strip installation device to move along the edge of the glass, and the upper clamping roller 10 and the lower clamping roller 11 cooperate to install the card strip on the glass.

[0056] The above is only a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A card strip automatic installation device, characterized in that: It includes an integral propulsion structure fixedly mounted with the manipulator, a grabbing structure for grabbing the card strip, and a rolling mounting structure for mounting the card strip on the glass; A vertical connecting plate (4) is fixedly mounted on the integral propulsion structure, and a Z-direction sliding rail (5) is fixed on the connecting plate (4); The gripping structure comprises a bracket (6) slidably connected to the Z-axis slide rail (5) and two groups of gripping components mounted on the bracket (6), each group of the gripping components comprises a pneumatic clamp (8) and an auxiliary roller (9), the pneumatic clamp (8) comprises a contour clamp (8-1) and a cylinder (8-2) for controlling the contour clamp (8-1) to grip or open, and the clamping strip is clamped between the contour clamp (8-1) of the pneumatic clamp (8) and the auxiliary roller (9); The rolling installation structure comprises an upper clamping roller (10) and a lower clamping roller (11) which are arranged up and down, and a first clamping cylinder (12) for driving the upper clamping roller (10) to move up and down, and a second clamping cylinder (13) for driving the lower clamping roller (11) to move up and down, the upper clamping roller (10) is rotatably connected to the upper sliding bracket (15), and the lower clamping roller (11) is rotatably connected to the lower sliding bracket (17), and the upper sliding bracket (15) is slidably connected to the Z-direction slide rail (5) through an upper slider (16); the lower sliding bracket (17) is slidably connected to the Z-direction slide rail (5) through a lower slider (18); In the installation method of the automatic card strip installation device, the manipulator drives the automatic card strip installation device to the card strip station, and the pneumatic clamp (8) is started to grab the card strip; The robot drives the automatic clamping strip installation device to reach the glass station, the upper clamping roller (10) is located above the glass, and the lower clamping roller (11) is located below the glass; The pneumatic clamp (8) is closed and the captured card strip is placed on the glass. At the same time, the first clamping cylinder (12) and the second clamping cylinder (13) are started, the upper clamping roller (10) presses the card strip downward, and the lower clamping roller (11) clamps the glass upward. The robot drives the automatic card strip installation device to move along the edge of the glass, and the upper clamping roller (10) and the lower clamping roller (11) cooperate to install the card strip on the glass.

2. The automatic card strip installation device according to claim 1, characterized in that: The integral propulsion structure comprises a fixed mounting plate (1) fixedly mounted on the manipulator, a mobile frame (2) slidably mounted below the fixed mounting plate (1), and a pushing cylinder (3); the pushing cylinder (3) is mounted on the fixed mounting plate (1), and its push rod pushes the mobile frame (2) to slide along the fixed mounting plate (1).

3. The automatic card strip installation device according to claim 2, characterized in that: The support (6) comprises a front support (6-1) and a rear support (6-2), wherein the front support (6-1) and the rear support (6-2) are connected via a rotating shaft (6-3), the rear support (6-2) is slidably connected to the Z-direction slide rail (5), and the pneumatic clamp (8) and the auxiliary roller (9) are mounted on the front support (6-1); The front bracket (6-1) is located inside the two pneumatic clamps (8) and is respectively equipped with limit bearings (24); the upper sliding bracket (15) is equipped with two limit blocks (25) respectively cooperating with the limit bearings (24) to limit the position; The front of the limit block (25) is a stepped surface, the lower end of which is convex forward and the upper end of which is concave backward. When the limit bearing (24) is level with the lower end, the limit bearing (24) contacts the limit block (25) to limit the front bracket (6-1) so that it is fixed on the horizontal plane. When the limit bearing (24) is level with the upper end, a gap exists between the limit bearing (24) and the limit block (25) so that the front bracket (6-1) rotates within a certain angle on the horizontal plane.

4. The automatic card strip installation device according to claim 3, characterized in that: The gripping structure also includes a pneumatic locking device (14) fixedly mounted on the mobile frame (2), and the pneumatic locking device (14) cooperates with a locking plate (22) fixed on the rear bracket (6-2) to lock the gripping structure.

5. The automatic card strip installation device according to claim 4, characterized in that: The gripping structure also includes a balancing cylinder (7), which includes two cylinders arranged opposite to each other up and down, and the push rods of the two cylinders are respectively in contact with the rear bracket (6-2); the two cylinders are respectively fixed on the upper sliding bracket (15) and the lower sliding bracket (17).

6. The automatic card strip installation device according to claim 4, characterized in that: A protection wheel (26) is installed at the lower end of the profiling fixture (8-1) to prevent the glass from being scratched.

7. The automatic card strip installation device according to claim 5, characterized in that: The first clamping cylinder (12) is fixed on a cylinder bracket (21), and the cylinder bracket (21) is fixed on the moving frame (2); a connecting rod (19) is installed on the top of the push rod of the first clamping cylinder (12), and the connecting rod (19) is fixed on the upper sliding bracket (15).

8. The automatic card strip installation device according to claim 5, characterized in that: The second clamping cylinder (13) is fixed on the upper sliding bracket (15), and its push rod acts on the lower sliding bracket (17) through a floating joint (23).

9. The automatic card strip installation device according to claim 5, characterized in that: An anti-drop bolt (20) is fixed to the lower end of the connecting plate (4), and the end of the anti-drop bolt (20) is located below the lower sliding bracket (17).

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