A vehicle glass tab welding apparatus

Abstract

The application discloses a kind of automobile glass tongue welding equipment, it includes: rack, transmission mechanism for conveying glass below rack, for positioning glass and being positioned module being arranged in one side of rack, tongue feeding module for being arranged on rack and being used for automatically feeding tongue, tongue positioning jig for being arranged in the side of tongue feeding module and being used for positioning tongue, feeding manipulator for being arranged on rack and being used for grabbing tongue from tongue feeding module and being transferred to tongue positioning jig on, and material taking welding manipulator for being arranged on rack and being used for grabbing tongue and being moved to glass for welding.The glass is sent to the material taking welding manipulator below by the transmission mechanism, is fixed well by the positioning module on glass, and tongue is sent out by the tongue feeding module, then the tongue is transferred from the tongue feeding module to the tongue positioning jig by the feeding manipulator and is positioned well, finally the tongue is placed on the glass by the material taking welding manipulator and is welded together.

Description

Technical Field

[0001] This invention relates to the field of automotive parts manufacturing technology, and specifically to a welding equipment for automotive glass tongues. Background Technology

[0002] In the automotive glass manufacturing process, different tongue terminals typically need to be welded to the glass to facilitate subsequent glass assembly. Traditional glass-to-tongue welding is usually done manually by workers. During welding, the tongue must first be aligned with the metal coating strip on the glass, and then welded manually using a hand-held welding torch. Because each piece of glass requires welding numerous terminals located on both sides, multiple workers are usually needed for welding, resulting in low welding efficiency and high production costs. Furthermore, since a mistake in the glass-to-tongue welding can render the entire piece of glass unusable, high quality welding requirements are essential, often requiring experienced welders, leading to high labor costs.

[0003] In view of the above, the inventors propose the following technical solution. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automotive glass tongue welding device.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: an automotive glass tongue welding device, comprising: a frame, a transmission mechanism passing under the frame for conveying glass, a positioning module disposed on one side of the frame for positioning the glass, a tongue feeding module disposed on the frame for automatically feeding tongues, a tongue positioning fixture disposed beside the tongue feeding module for positioning the tongues, a feeding robot disposed on the frame for picking up the tongues from the tongue feeding module and transferring them to the tongue positioning fixture, and a material picking and welding robot disposed on the frame for picking up the tongues from the tongue positioning fixture and moving them to the glass for welding.

[0006] Furthermore, in the above technical solution, a first CCD detection device is provided on the frame above the positioning module for detecting the position and tilt angle of the glass, and a second CCD detection device is also provided on the frame above the tongue feeding module for detecting the position and angular direction of the tongue.

[0007] Furthermore, in the above technical solution, the tongue feeding module includes a hopper installed on the frame for storing the tongue and a flexible vibrating plate disposed at the outlet of the hopper. The second CCD detection device is disposed above the flexible vibrating plate, and the feeding robot is disposed above the flexible vibrating plate and located between the flexible vibrating plate and the tongue positioning fixture.

[0008] Furthermore, in the above technical solution, a flux applicator is provided on the side of the tongue positioning fixture for applying flux to the tongue, and an inspection device is provided on the side of the positioning module for detecting the status of the welding torch in the material handling welding robot.

[0009] Furthermore, in the above technical solution, the tongue positioning fixture is provided with positioning grooves for positioning different tongues, and a plurality of positioning cylinders for accurately positioning the tongues are also provided on the side of the tongue positioning fixture; the flux application device includes an oil box, an oil valve for introducing flux into the oil box, a sponge disposed in the oil box, a cover plate covering the oil box, and an opening cylinder disposed on the side of the oil box for pushing the cover plate to open and close the oil box.

[0010] Furthermore, in the above technical solution, the inspection device includes a pressure sensor for contacting the welding torch to detect pressure, a positioning seat sleeved on the pressure sensor, and a buffer spring disposed below the pressure sensor.

[0011] Furthermore, in the above technical solution, the loading robot includes a four-axis mechanical motion module mounted on the frame and a first material handling device that is quickly detached and mounted on the second output shaft of the four-axis mechanical motion module for gripping the tongue. The first material handling device is connected to the second output shaft via a first quick-release structure. The first quick-release structure includes a connecting sleeve shaft connected to the second output shaft, a connecting insert shaft connected to the first material handling device and capable of being inserted into the connecting sleeve shaft, a movable sleeve that is movably sleeved on the connecting sleeve shaft and used to release the connecting insert shaft, a pressure spring for pushing the movable sleeve to keep the connecting insert shaft locked, a plurality of balls disposed between the movable sleeve and the connecting sleeve shaft for fastening the connecting insert shaft, and a first fastening groove formed on the outer wall of the connecting insert shaft and matched and locked with the balls.

[0012] Furthermore, in the above technical solution, the material handling and welding robot includes a six-axis mechanical motion module mounted on the frame, a mounting bracket mounted on the six-axis mechanical motion module, a second material handling device mounted on the mounting bracket for gripping the tongue and placing it on the glass, a welding torch mounted on the mounting bracket for welding the tongue to the glass, a push cylinder mounted on the mounting bracket for driving the second material handling device to move, and a linear motor module mounted on the mounting bracket for driving the welding torch to move. The welding torch and the second material handling device are arranged at a certain angle and can be driven by the push cylinder and the linear motor module to contact the same point on the glass.

[0013] Furthermore, in the above technical solution, the positioning module includes a lifting mechanism disposed below the transmission mechanism and used to lift the glass, and a pre-pressing mechanism disposed above the transmission mechanism and cooperating with the lifting mechanism to press and clamp the glass. The lifting mechanism includes a support platform disposed below the transmission mechanism, a floating frame mounted on the support platform in a way that can be raised and lowered, a first driving device disposed on the support platform and used to drive the floating frame to move up and down, a support pad mounted on the floating frame in a way that can be rotated and used to lift the glass, a plurality of suction cups disposed on the support pad and used to grip the glass, and a second driving device disposed on the floating frame and used to drive the support pad to rotate.

[0014] Furthermore, in the above technical solution, a support mechanism is also provided on one side of the transmission mechanism to cooperate with the material handling and welding robot to support the welding. The support mechanism includes a third linear motion module disposed on one side of the transmission mechanism, a lifting drive module disposed on the third linear motion module, and a silicone plate mounted on the lifting drive module for contacting and pressing against the bottom of the glass. The third linear motion module can drive the silicone plate to reciprocate along one side of the support mechanism and cooperate with the support mechanism to weld the glass on different sides.

[0015] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: In the present invention, a transmission mechanism passes through the bottom of the frame to feed glass piece by piece to the bottom of the material picking and welding robot. The positioning module positions and fixes the glass, and the tongue feeding module automatically disperses and feeds out the tongue pieces. Then, the loading robot transfers the tongue pieces from the tongue feeding module to the tongue positioning fixture for positioning. Finally, the material picking and welding robot picks up the tongue pieces from the tongue positioning fixture, places them on the glass, and welds them together. This realizes that the welding of tongue pieces to glass is replaced by mechanical means, which greatly improves welding efficiency and reduces production costs. Secondly, in the entire production process, only manual labor is required to place the glass on the carrier of the transmission mechanism and add multiple tongue pieces to the tongue feeding module at the same time. After the equipment completes the welding of the glass and the tongue pieces, the glass is removed from the transmission mechanism. There is no need for manual intervention in the welding process, so no operators with welding experience are required, which can further reduce labor costs. Attached Figure Description

[0016] Figure 1 This is a perspective view of the present invention; Figure 2 This is a structural diagram of the present invention; Figure 3 This is a structural layout diagram of the tongue-shaped feeding module in this invention; Figure 4This is a perspective view of the tongue positioning fixture in this invention; Figure 5 This is a perspective view of the flux application device in this invention; Figure 6 This is a perspective view of the support mechanism in this invention; Figure 7 This is an internal structural diagram of the inspection device in this invention; Figure 8 This is a structural diagram of the first quick-assembly structure in this invention; Figure 9 This is a perspective view of the material handling and welding robot in this invention; Figure 10 This is a perspective view of the positioning module in this invention; Figure 11 This is a structural diagram of the elastic positioning pin in this invention. Detailed Implementation

[0017] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0018] See Figures 1 to 11 As shown, an automotive glass tongue welding device includes: a frame 1; a transmission mechanism 2 passing under the frame 1 for conveying glass 10; a positioning module 3 disposed on one side of the frame 1 for positioning the glass 10; a tongue feeding module 4 disposed on the frame 1 for automatically feeding tongues; a tongue positioning fixture 5 disposed beside the tongue feeding module 4 for positioning the tongues; a loading robot 6 disposed on the frame 1 for picking up the tongues from the tongue feeding module 4 and transferring them to the tongue positioning fixture 5; and a material picking and welding robot 7 disposed on the frame 1 for picking up the tongues from the tongue positioning fixture 5 and moving them onto the glass 10 for welding. The conveying mechanism 2 passes under the frame 1 to deliver glass 10 pieces one by one to the welding robot 7. The positioning module 3 positions and fixes the glass 10, and the tongue feeding module 4 automatically breaks up and sends out the tongues. The loading robot 6 then transfers the tongues from the tongue feeding module 4 to the tongue positioning fixture 5 for positioning. Finally, the welding robot 7 picks up the tongues from the tongue positioning fixture 5, places them on the glass 100, and welds them together. This mechanical process replaces manual welding of the tongues onto the glass 10, greatly improving welding efficiency and reducing production costs. Furthermore, the entire production process only requires manual placement of the glass 10 onto the carrier of the conveying mechanism 2 and simultaneous addition of multiple tongues to the tongue feeding module 4. After the equipment completes the welding of the glass 100 and the tongues, the glass 100 is removed from the conveying mechanism 2. No manual intervention is required during the welding process, thus eliminating the need for experienced welders and further reducing labor costs.

[0019] The frame 1 is equipped with a first CCD detection device 11 located above the positioning module 3 for detecting the position and tilt angle of the glass 10. The frame 1 is also equipped with a second CCD detection device 12 located above the tongue feeding module 4 for detecting the position and angle of the tongue. By using the second CCD detection device 12 above the tongue feeding module 4 to detect the position and angle of the tongue, the loading robot 6 can accurately locate the appropriate tongue fed by the tongue feeding module 4 and move the tongue with the correct angle and direction into the tongue positioning fixture 5. Furthermore, by using the first CCD detection device 11 above the positioning module 3 to detect the position and tilt angle of the glass 10, the material handling and welding robot 7 can accurately align the tongue with the welding position on the glass 10, ensuring that the tilt arc of the tongue is consistent with the welding position on the glass 10, thus guaranteeing welding quality.

[0020] The tongue feeding module 4 includes a hopper 41 installed on the frame 1 for storing the tongue and a flexible vibrating plate 42 disposed at the outlet of the hopper 41. The second CCD detection device 12 is disposed above the flexible vibrating plate 42. The loading robot 6 is disposed above the flexible vibrating plate 42 and located between the flexible vibrating plate 42 and the tongue positioning fixture 5.

[0021] A flux application device 50 for applying flux to the tongue is provided beside the tongue positioning fixture 5, and an inspection device 70 for detecting the status of the welding torch 74 in the material handling welding robot 7 is provided beside the positioning module 3. By providing the flux application device 50 beside the tongue positioning fixture 5, after the material handling welding robot 7 grasps the tongue, it first moves the tongue to the flux application device 50, applies flux to the bottom of the tongue, and then aligns the tongue with the welding position of the glass 10, thereby improving the welding effect between the tongue and the glass 10.

[0022] The tongue positioning fixture 5 is provided with positioning grooves 51 for positioning different tongues, and multiple positioning cylinders 52 for precisely positioning the tongues are also provided on the side of the tongue positioning fixture 5. When the loading robot 6 moves the tongue into the positioning groove 51 in the tongue positioning fixture 5, the positioning cylinders 52 push the tongue of that type into its corresponding positioning groove 51 to achieve precise positioning. The flux application device 50 includes an oil box 501, an oil valve 502 for introducing flux into the oil box 501, a sponge 503 disposed in the oil box 501, a cover plate 504 covering the oil box 501, and a cover-opening cylinder 505 disposed on the side of the oil box 501 for pushing the cover plate 504 to open and close the oil box 501. A sponge 503 is placed inside the oil box 501 to store flux. When the material handling welding robot 7 picks up the tongue and moves it above the oil box 501 to apply flux, the cover cylinder 505 pushes the cover plate 504 to open the oil box 501. Then, the material handling welding robot 7 inserts the bottom of the tongue into the sponge 503 in the oil box 501 to apply flux. Utilizing the elasticity and absorbency of the sponge 503, the bottom of the tongue can be partially sunk into the sponge 503 after being pressed against it. The sponge 503 is squeezed to overflow the flux and apply it to the tongue, thereby ensuring that the bottom of the tongue is completely immersed in the flux, achieving the effect of applying flux to the tongue. Meanwhile, the use of sponge 503 to absorb flux can reduce flux volatilization. When the tongue is not coated with flux, the cover cylinder 505 pushes the cover plate 504 to close the oil box 501, further reducing flux volatilization. Reducing flux volatilization not only reduces waste, but also reduces the impact of flux volatilization on workers' health.

[0023] The inspection device 70 includes a pressure sensor 701 for detecting pressure in contact with the welding torch 74, a positioning seat 702 sleeved on the pressure sensor 701, and a buffer spring 703 disposed below the pressure sensor 701. An optical fiber 704 for detecting the welding torch 74 is disposed on one side of the positioning seat 702. Two pressure sensors 701 are provided. After each welding operation, the material handling welding robot 7 moves above the inspection device 70, and then slowly presses the pressure sensor 701 with the welding torch 74. The pressure sensor 701 feeds back the reading to the main unit of the equipment. When the pressure value is less than the safe range, it indicates that the welding torch 74 spring is fatigued and needs to be replaced; when the pressure value is greater than the safe range, it indicates that the welding torch head may be stuck and has lost its spring function. At this time, the equipment alarms, and manual intervention is required. The welding torch 74 is a resistance welding torch.

[0024] The loading robot 6 includes a four-axis mechanical motion module 61 mounted on the frame 1 and a first material handling device 62 mounted on the second output shaft 610 of the four-axis mechanical motion module 61 in a quick-release manner for gripping the tongue. The first material handling device 62 is connected to the second output shaft 610 via a first quick-connect structure 63. The first quick-connect structure 63 includes a connecting sleeve shaft 631 connecting to the second output shaft 610, and a connecting sleeve shaft 631 connecting to the first material handling device 62 and capable of being inserted into the connecting sleeve shaft 631. The first material handling device 62 includes a connecting insert shaft 632 inside the connecting sleeve shaft 631, a movable sleeve 633 movably sleeved on the connecting sleeve shaft 631 for releasing the connecting insert shaft 632, a pressure spring for pushing the movable sleeve 633 to maintain the locking of the connecting insert shaft 632, multiple balls disposed between the movable sleeve 633 and the connecting sleeve shaft 631 for fastening the connecting insert shaft 632, and a first fastening groove 634 formed on the outer wall of the connecting insert shaft 632 and matching and locking with the balls. The first material handling device 62 includes a clamp cylinder and a material handling suction cup. The inner diameter of the lower end of the movable sleeve 633 is larger than the inner diameter of the upper end. When the lower end of the movable sleeve 633 is located outside the balls, the balls can be pushed away from limiting the connection insert shaft 634. Since each piece of glass 10 uses a large number of tongues with varying shapes, two types of first material handling devices 62 are required: a clamp cylinder and a suction cup. By using a first quick-release structure 63 to connect the first material handling device 62 with the four-axis mechanical motion module 61, rapid switching between the clamp cylinder and the suction cup can be achieved, solving the complex work of disassembling and reassembling connecting screws required for traditional replacements, improving replacement efficiency, saving downtime, and increasing production efficiency. During installation, first push the movable sleeve 633 upwards to compress the pressure spring, causing the lower end of the movable sleeve 633 to move upwards to the outer periphery of the ball bearing. Then, insert the connecting shaft 634, equipped with a clamp cylinder or suction cup, into the connecting sleeve shaft 631. Since the outer periphery of the ball bearing corresponds to the lower end of the movable sleeve 633, when the connecting shaft 634 is inserted into the connecting sleeve shaft 631, it can push the ball bearing outwards, allowing the connecting shaft 634 to smoothly insert into the connecting sleeve shaft. Inside 631, when the connecting shaft 632 is inserted into place, the first snap-fit ​​groove 634 on the outer wall will move to correspond with the ball. At this time, the movable sleeve 633 is released, and the pressure spring pushes the movable sleeve 633 to move downward and reset, so that the upper inner wall of the movable sleeve 633 corresponds with the ball, and then pushes the ball to lock with the first snap-fit ​​groove 634, thereby locking the connecting shaft 634 onto the connecting sleeve shaft 631, completing the connection between the first material handling device 62 and the four-axis mechanical motion module 61.When replacing the first material handling device 62, the same steps are performed: first, push the movable sleeve 633 upward to compress the compression spring, so that the lower end of the movable sleeve 633 moves upward to the outer edge of the ball bearing; then, pull the connecting shaft 634 with the clamp cylinder or material handling suction cup out of the connecting sleeve shaft 631; then, insert the connecting shaft 634 with another type of first material handling device 62 into the connecting sleeve shaft 631; finally, release the movable sleeve 633.

[0025] The material handling and welding robot 7 includes a six-axis mechanical motion module 71 mounted on the frame 1, a mounting bracket 72 mounted on the six-axis mechanical motion module 71, a second material handling device 73 mounted on the mounting bracket 72 for gripping the tongue and placing it on the glass 10, a welding torch 74 mounted on the mounting bracket 72 for welding the tongue to the glass 10, a push cylinder 75 mounted on the mounting bracket 72 for driving the second material handling device 73 to move, and a linear motor module 76 mounted on the mounting bracket 72 for driving the welding torch 74 to move. The welding torch 74 is set at a certain angle to the second material handling device 73 and can be driven by the push cylinder 75 and the linear motor module 76 to contact the same point on the glass 10. The welding torch 74 has a built-in cooling function, and a smoke collection pipe is provided on the side of the welding torch 74. At the same time, the welding torch head is made into a spring-loaded structure, which can ensure that the welding head is pressed flat on the tongue when welding the tongue, and also avoid uneven heating of the tongue due to wear caused by uneven length of the welding head.

[0026] Both the four-axis mechanical motion module 61 and the six-axis mechanical motion module 71 are conventional robots available on the market.

[0027] The second material handling device 73 is connected to the push cylinder 75 by a second quick-connect structure 77, which has the same structure as the first quick-connect structure 63.

[0028] The positioning module 3 includes a lifting mechanism 31 disposed below the transmission mechanism 2 for lifting the glass 10, and a pre-pressing mechanism 32 disposed above the transmission mechanism 2 and cooperating with the lifting mechanism 31 to press and clamp the glass 10. The lifting mechanism 31 includes a support platform 311 disposed below the transmission mechanism 2, a floating frame 312 mounted on the support platform 311 in a lifting and moving manner, a first driving device 313 disposed on the support platform 311 for driving the floating frame 312 to move up and down, a support pad 314 rotatably mounted on the floating frame 312 for lifting the glass 10, a plurality of suction cups 315 disposed on the support pad 314 for gripping the glass 10, and a second driving device 316 disposed on the floating frame 312 for driving the support pad 314 to rotate. The first driving device 313 is a cylinder, and the second driving device 316 is a servo motor.

[0029] The bottom circumference of the support pad 314 is provided with a plurality of eyelets 331 for rolling contact and support with the floating frame 312, and a positioning seat 332 for positioning the eyelets 331. The upper end face of the floating frame 312 is provided with an annular gasket 34 for contacting and pressing against the eyelets 331. The annular gasket 34 is provided with a plurality of positioning holes 341 for positioning. The support pad 314 is also equipped with elastic positioning pins 35 for matching and positioning with the positioning holes 341. It includes a positioning pin sleeve 351 installed on the support pad 314, a positioning pin rod 352 installed through the positioning pin sleeve 351 and able to be inserted into the positioning hole 341, a positioning spring 353 installed in the positioning pin sleeve 351 and used to push the positioning pin rod 352 to maintain a downward insertion tendency, a fixing cover plate 354 installed on the positioning pin sleeve 351 and used to limit the positioning spring 353, and a nut block 355 installed on the upper end of the positioning pin rod 352 for easy removal.

[0030] The pre-compression mechanism 32 includes a spring block 321 disposed above the transmission mechanism 2 and used to press against the center of the glass 10, a second linear drive module 322 for driving the spring block 321 to move up and down, and a support arm 323 mounted on the frame 1 for supporting the second linear drive module 322. The second linear drive module 322 is a linear motor.

[0031] A support mechanism 8 is also provided on one side of the transmission mechanism 2 to support the welding of the material handling and welding robot 7. This support mechanism 8 includes a third linear motion module 81 located on one side of the transmission mechanism 2, a lifting drive module 82 mounted on the third linear motion module 81, and a silicone plate 83 mounted on the lifting drive module 82 for contacting and pressing against the bottom of the glass 10. The third linear motion module 81 can drive the silicone plate 83 to reciprocate along one side of the lifting mechanism 31, cooperating with the lifting mechanism 31 to weld the glass 10 on different sides. The lifting drive module 82 raises the silicone plate 83, supporting the glass 10 from the bottom. This is to ensure that the support mechanism 8 at the bottom of the glass 10 can bear the force when the material handling and welding robot 7 welds the tongue, preventing the glass 10 from tilting under force. The third linear motion module 81 is a linear motor module.

[0032] Protective covers 15 are installed around the perimeter of the frame 1 where the operating mechanism is located. When the protective cover 15 is in place, the equipment automatically stops. A touch screen operating interface 16 is also installed on the frame 1 for convenient manual operation.

[0033] In summary, during operation, the glass 10 is manually clamped onto the fixture of the transmission mechanism 2, which then transfers the glass 10 towards the frame 1. When the sensor detects that the glass 10 has reached below the material handling and welding robot 7, the transmission mechanism 2 stops, and the suction cup 315 in the lifting mechanism 31 holds the glass 10. The first drive device 313 then lifts the glass 10. Furthermore, a manual feeder places enough tongues for continuous production for 3 hours into the hopper 41 of the tongue feeding module 4. The hopper 41 then feeds the tongues into the flexible vibrating plate 42, where the vibrations break up the tongues. Finally, the second CCD detection device 12 selects the correctly positioned tongues and feeds the position back to the loading robot 6, which then grips or picks up the flexible vibrating plate 4. The tongue piece is placed inside the tongue piece positioning fixture 5 for precise positioning. Next, the second material handling device 73 of the material handling welding robot 7 removes the positioned tongue piece and applies flux to its bottom. The first CCD detection device 11 then detects the position and tilt angle of the glass 10 and feeds the coordinates back to the material handling welding robot 7. Next, the second material handling device 73 of the material handling welding robot 7 places the tongue piece at the welding position on the glass. The pre-pressing mechanism 32 and the supporting mechanism 8 simultaneously hold the glass 10 in place. Then, the material handling welding robot 7 drives the welding torch 74 to weld the tongue piece onto the glass 10. Finally, after welding, the first CCD detection device 11 checks whether the tongue piece position is correct. If a defective product is detected, an equipment alarm is triggered, and manual handling is required.

[0034] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A welding device for automotive glass tongues, characterized in that, include: The frame (1), the conveying mechanism (2) passing under the frame (1) and used to convey the glass (10), the positioning module (3) set on one side of the frame (1) and used to position the glass (10), the tongue feeding module (4) set on the frame (1) and used to automatically feed the tongue, the tongue positioning fixture (5) set on the side of the tongue feeding module (4) and used to position the tongue, the loading robot (6) set on the frame (1) and used to grab the tongue from the tongue feeding module (4) and transfer it to the tongue positioning fixture (5), and the material picking and welding robot (7) set on the frame (1) and used to grab the tongue from the tongue positioning fixture (5) and move it to the glass (10) for welding, and an inspection device (70) is set on the side of the positioning module (3) for detecting the status of the welding torch (74) in the material picking and welding robot (7); the inspection device ( 70) includes a pressure sensor (701) for contacting the welding torch (74) to detect pressure, a positioning seat (702) sleeved on the pressure sensor (701), and a buffer spring (703) set below the pressure sensor (701). The positioning seat (702) is provided with an optical fiber (704) for detecting the welding torch (74) on one side. There are two pressure sensors (701). The head of the welding torch (74) is made into a spring-loaded structure. After each welding, the material handling welding robot (7) moves to the inspection device (70) and then slowly presses the pressure sensor (701) with the welding torch (74). The pressure sensor (701) feeds back the reading value to the host equipment. When the pressure value is less than the safe value range, it proves that the welding torch (74) spring is fatigued and needs to be replaced. When the pressure value is greater than the safe value, it indicates that the welding torch head may be stuck and lose its spring-loaded function. At this time, the equipment alarms and is handled manually.

2. The automotive glass tongue welding equipment according to claim 1, characterized in that: The frame (1) is provided with a first CCD detection device (11) located above the positioning module (3) and used to detect the position and tilt angle of the glass (10). The frame (1) is also provided with a second CCD detection device (12) located above the tongue feeding module (4) and used to detect the position and angle direction of the tongue.

3. The automotive glass tongue welding equipment according to claim 2, characterized in that: The tongue feeding module (4) includes a hopper (41) installed on the frame (1) for storing the tongue and a flexible vibrating plate (42) located at the outlet of the hopper (41). The second CCD detection device (12) is located above the flexible vibrating plate (42). The loading robot (6) is located above the flexible vibrating plate (42) and between the flexible vibrating plate (42) and the tongue positioning fixture (5).

4. The automotive glass tongue welding equipment according to claim 1, characterized in that: The tongue positioning fixture (5) is provided with a flux applicator (50) for applying flux to the tongue.

5. The automotive glass tongue welding equipment according to claim 4, characterized in that: The tongue positioning fixture (5) is provided with positioning grooves (51) for positioning different tongues, and a plurality of positioning cylinders (52) for accurately positioning the tongues are also provided on the side of the tongue positioning fixture (5); the flux application device (50) includes an oil box (501), an oil valve (502) for introducing flux into the oil box (501), a sponge (503) provided in the oil box (501), a cover plate (504) covering the oil box (501), and a cover opening cylinder (505) provided on the side of the oil box (501) for pushing the cover plate (504) to open and close the oil box (501).

6. The automotive glass tongue welding equipment according to any one of claims 1-5, characterized in that: The loading robot (6) includes a four-axis mechanical motion module (61) mounted on the frame (1) and a first picking device (62) mounted on the second output shaft (610) of the four-axis mechanical motion module (61) in a quick-release manner for gripping the tongue. The first picking device (62) is connected to the second output shaft (610) via a first quick-connect structure (63). The first quick-connect structure (63) includes a connecting sleeve shaft (631) connecting the second output shaft (610), and a connecting sleeve shaft (631) connecting the first picking device (62) and capable of being inserted into the tongue. The connecting sleeve shaft (631) includes a connecting insert shaft (632), a movable sleeve (633) that is movably sleeved on the connecting sleeve shaft (631) and used to release the connecting insert shaft (632), a pressure spring for pushing the movable sleeve (633) to keep the connecting insert shaft (632) locked, a plurality of balls disposed between the movable sleeve (633) and the connecting sleeve shaft (631) and used to fasten the connecting insert shaft (632), and a first fastening groove (634) formed on the outer wall of the connecting insert shaft (632) and matched and locked with the balls.

7. The automotive glass tongue welding equipment according to any one of claims 1-5, characterized in that: The material handling and welding robot (7) includes a six-axis mechanical motion module (71) mounted on the frame (1), a mounting bracket (72) mounted on the six-axis mechanical motion module (71), a second material handling device (73) mounted on the mounting bracket (72) for gripping the tongue and placing it on the glass (10), a welding torch (74) mounted on the mounting bracket (72) for welding the tongue to the glass (10), a push cylinder (75) mounted on the mounting bracket (72) for driving the second material handling device (73) to move, and a linear motor module (76) mounted on the mounting bracket (72) for driving the welding torch (74) to move. The welding torch (74) is set at a certain angle to the second material handling device (73) and can be driven by the push cylinder (75) and the linear motor module (76) to contact the same point on the glass (10).

8. The automotive glass tongue welding equipment according to any one of claims 1-5, characterized in that: The positioning module (3) includes a lifting mechanism (31) disposed below the transmission mechanism (2) and used to lift the glass (10), and a pre-pressing mechanism (32) disposed above the transmission mechanism (2) and cooperating with the lifting mechanism (31) to press and clamp the glass (10). The lifting mechanism (31) includes a support platform (311) disposed below the transmission mechanism (2), a floating frame (312) mounted on the support platform (311) in a way that can be lifted and moved, and a setting The first drive device (313) is mounted on the support platform (311) and used to drive the floating frame (312) to move up and down; the support pad (314) is rotatably mounted on the floating frame (312) and used to support the glass (10); a plurality of suction cups (315) are disposed on the support pad (314) and used to grip the glass (10); and the second drive device (316) is disposed on the floating frame (312) and used to drive the support pad (314) to rotate.

9. The automotive glass tongue welding equipment according to claim 8, characterized in that: The transmission mechanism (2) is also provided with a support mechanism (8) on one side for supporting the welding with the material picking and welding robot (7). The support mechanism (8) includes a third linear motion module (81) on one side of the transmission mechanism (2), a lifting drive module (82) on the third linear motion module (81), and a silicone plate (83) installed on the lifting drive module (82) for contacting and pressing against the bottom of the glass (10). The third linear motion module (81) can drive the silicone plate (83) to move back and forth along one side of the lifting mechanism (31) and cooperate with the lifting mechanism (31) to weld the glass (10) on the other side.

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