Door panel assembly equipment

Abstract

The present invention provides a door panel assembly device, comprising a door panel assembly mold device, a door panel placement device, a screwing device, a riveting device, a snap-fit installation device, a door panel removal device, a processing and conveying device, a reflux conveying device, and a door panel assembly control device. The door panel assembly control device comprises a processing and conveying control unit, under the control of which the processing and conveying device can sequentially convey the door panel assembly mold device carrying the automobile door panel workpiece to be assembled to the screwing device, the riveting device, the snap-fit installation device, and the door panel removal device for corresponding assembly and removal and inspection after assembly. Therefore, the device can automatically complete each assembly process and save a lot of manpower. The door panel assembly control device also comprises a reflux conveying control unit, under the control of which the reflux conveying device can convey the used mold device back to the door panel placement device for reuse. Therefore, the mold device does not need to be manually transported and recycled, and can achieve automated and efficient door panel assembly.

Description

Technical Field

[0001] The invention belongs to the technical field of automobile component manufacturing, and particularly relates to door panel assembly equipment. Background Art

[0002] The assembly of automotive door panels typically involves multiple processes, including screwing, riveting, installing clips, and quality inspection. Currently, workers typically carry the door panels to a corresponding workbench, secure them, and then perform each step using tools like welding torches. This assembly method presents several challenges: First, the large and heavy workpieces of automotive door panels impose a high labor intensity; second, the large size of these workpieces can easily cause bumps and collisions during handling, impacting the quality and yield of the finished product; and third, workers must switch between multiple tools to perform multiple steps in sequence, resulting in low production efficiency and high operational requirements.

[0003] Therefore, there is an urgent need for a door panel assembly line that can automatically or semi-automatically perform each process and ensure process completion. This requires a mold device to hold the door panels to be assembled, facilitating their transfer between different workstations. Due to the large size of door panels, the mold device is also large and heavy. Therefore, a design that allows the mold device to automatically reflow is also needed to minimize the burden on workers. Summary of the Invention

[0004] The present invention is made to solve the above-mentioned problems. Its purpose is to provide a door panel assembly device that can complete the various steps of automobile door panel assembly in sequence by dividing workstations and automatically reflow the mold used to carry the automobile door panel, thereby realizing fully automatic assembly of automobile door panels and reducing the labor intensity of workers. The present invention adopts the following technical solutions:

[0005] The present invention provides a door panel assembly device, which is characterized by comprising: a door panel assembly mold device for carrying an automobile door panel workpiece to be assembled; a door panel placement device, a screwing device, a riveting device, a snap-fit installation device, and a door panel removal device, which are arranged in sequence and are respectively used to place the door panel assembly mold device, perform screwing, riveting, snap-fit installation on the automobile door panel workpiece, and remove the assembled automobile door panel workpiece; a processing and conveying device, which is arranged below the screwing device, the riveting device, and the snap-fit installation device, and is used to convey the door panel assembly mold device carrying the automobile door panel workpiece; a reflux conveying device, which is arranged below the screwing device, the riveting device, and the snap-fit installation device, and is used to convey the door panel assembly mold device carrying the automobile door panel workpiece; and a backflow conveying device, which is arranged below the screwing device, the riveting device, and the snap-fit installation device. Below the processing and conveying device, there is a device for conveying the empty door panel assembly mold device; and a door panel assembly control device, which controls the assembly process of the automobile door panel workpiece, which at least includes: a processing and conveying control unit, which is used to control the processing and conveying device to convey the door panel assembly mold device carrying the automobile door panel workpiece in sequence along a predetermined processing and conveying direction to the screwing device, the riveting device, the clip installation device, and the door panel removal device; and a reflux conveying control unit, which is used to control the reflux conveying device to convey the empty door panel assembly mold device back to the door panel placement device along a predetermined reflux conveying direction.

[0006] The door panel assembly equipment provided by the present invention may also have such technical features, wherein the reflux conveying device includes three reflux conveying units arranged below the screw driving device, the riveting device, and the snap-on installation device and at the same height, all of which are conveyed along the reflux conveying direction, the door panel placing device has a mold pushing part that can be raised and lowered and the conveying direction can be switched, the door panel removal device has a mold receiving part that can be raised and lowered and the conveying direction can be switched, the reflux conveying control part controls the operation of the mold receiving part, the three reflux conveying units and the mold pushing part, and conveys the door panel assembly mold device back to the mold pushing part.

[0007] The door panel assembly equipment provided by the present invention may also have such technical features, wherein the reflux conveying control part includes: a reflux lifting control unit, used to control the mold pushing part and the mold receiving part to lift and lower to be flush with the reflux conveying unit; a reflux conveying control unit, used to control the mold receiving part, the three reflux conveying units and the mold pushing part to convey after the lifting is completed, thereby conveying the empty door panel assembly mold device back to the mold pushing part.

[0008] The door panel assembly equipment provided by the present invention may also have such technical features, wherein the mold pushing part, the mold receiving part, and the three reflow conveying units all include: two parallel chain conveyor rails for carrying and conveying the door panel assembly mold device; a blocking mechanism, which is arranged between the two chain conveyor rails and close to one end of the chain conveyor rail, for blocking one end of the door panel assembly mold device carried on the chain conveyor rail; and a non-return mechanism, which is arranged between the two chain conveyor rails and close to the other end of the chain conveyor rail, for blocking the door panel assembly mold device carried on the chain conveyor rail. The other end of the door panel assembly mold device is blocked, the blocking mechanisms of the mold pushing part and the mold receiving part are close to the downstream end of the chain conveyor track along the processing conveying direction, and the blocking mechanism of the reflux conveying unit is close to the downstream end of the chain conveyor track along the reflux conveying direction. The reflux conveying control part also includes: a reflux release control unit, which is used to control the non-return mechanism of the mold pushing part and the mold receiving part to release after the mold pushing part and the mold receiving part are lifted and lowered, and control the blocking mechanisms of the three reflux conveying units to release.

[0009] The door panel assembly equipment provided by the present invention may also have such technical features, wherein the processing and conveying device includes three processing and conveying units, which are located below the screwing device, the riveting device, and the clip installation device, and are arranged above the three reflux conveying units. The three processing and conveying units are located at the same height and are all conveyed along the processing and conveying direction. The processing and conveying control part includes: a processing lifting control unit, which is used to control the mold pushing part and the mold receiving part to be lifted and lowered to be flush with the processing and conveying unit; a first processing and conveying control unit, which is used to control the mold pushing part and the processing and conveying unit below the screwing device to convey the door panel assembly mold The tool device is transported to the bottom of the screw driving device; the second processing and conveying control unit is used to control the screw driving device and the two processing and conveying units below the riveting device to transport the door panel assembly mold device to the bottom of the riveting device; the third processing and conveying control unit is used to control the riveting device and the two processing and conveying units below the clip installation device to transport the door panel assembly mold device to the bottom of the clip installation device; the fourth processing and conveying control unit is used to control the processing and conveying unit below the clip installation device and the mold receiving part to transport the door panel assembly mold device to the door panel removal device.

[0010] The door panel assembly equipment provided by the present invention may also have such technical features, wherein the door panel placement device also has an operation terminal, which generates an assembly start signal after the assembly worker confirms the operation, and the door panel assembly control device also includes: a screw driving control unit for controlling the screw driving device and generating a screw driving completion signal when the screw driving operation is completed; a riveting control unit for controlling the riveting device and generating a riveting completion signal when the riveting operation is completed; and a buckle installation control unit for controlling the buckle installation device and generating a buckle installation completion signal when the buckle installation operation is completed. The first processing and conveying control unit receives the assembly signal. When the start signal is received, the mold pushing part and the processing and conveying unit below the screwing device are controlled to convey. When the second processing and conveying control unit receives the screwing completion signal, the screwing device and the two processing and conveying units below the riveting device are controlled to convey. When the third processing and conveying control unit receives the riveting completion signal, the riveting device and the two processing and conveying units below the clip installation device are controlled to convey. When the fourth processing and conveying control unit receives the clip installation completion signal, the processing and conveying unit below the clip installation device and the mold receiving part are controlled to convey.

[0011] The door panel assembly equipment provided by the present invention may also have such technical features, wherein an electronic tag is provided on the mold device for door panel assembly, and the mold pushing part and the three processing and conveying units all have mold detection sensors for reading the electronic tag. When the mold detection sensor of the processing and conveying unit below the screw device reads the electronic tag, the first processing and conveying control unit controls the mold pushing part and the processing and conveying unit below the screw device to stop conveying. When the mold detection sensor of the processing and conveying unit below the riveting device reads the electronic tag, the second processing and conveying control unit controls the two processing and conveying units below the screw device and the riveting device to stop conveying. When the mold detection sensor of the processing and conveying unit below the buckle installation device reads the electronic tag, the third processing and conveying control unit controls the two processing and conveying units below the riveting device and the buckle installation device to stop conveying.

[0012] The door panel assembly equipment provided by the present invention may also have such technical features, wherein the door panel assembly control device also includes: an assembly information storage unit, which stores the workpiece identification number of each of the automobile door panel workpieces and the corresponding assembly information, and the assembly information includes the number and position of screws, the number and position of rivets, and the number and position of snap-on installations. The screw driving control unit controls the screw driving device to perform screw driving operations on each position in turn according to the number and position of screws in the assembly information. The riveting control unit controls the riveting device to perform riveting operations on each position in turn according to the number and position of rivets in the assembly information. The snap-on installation control unit controls the snap-on installation device to perform snap-on installation operations on each position in turn according to the number and position of snap-on installations in the assembly information.

[0013] The door panel assembly equipment provided by the present invention may also have such technical features, wherein the screw driving device, the riveting device, and the clip installation device all have a clamping mechanism for clamping the door panel assembly mold device carrying the automobile door panel workpiece, and the screw driving control unit, the riveting control unit, and the clip installation control unit also control the corresponding clamping mechanism to clamp the door panel assembly mold device before controlling the corresponding device to start the assembly operation.

[0014] Functions and effects of the invention

[0015] The door panel assembly equipment according to the present invention includes a door panel assembly mold device, a door panel placement device, a screwing device, a riveting device, a snap-fit installation device, a door panel removal device, a processing and conveying device, a reflow conveying device, and a door panel assembly control device. The door panel assembly control device includes a processing and conveying control unit. Under its control, the processing and conveying device can sequentially convey the door panel assembly mold device carrying the automobile door panel workpiece to be assembled to the screwing device, the riveting device, the snap-fit installation device, and the door panel removal device for screwing, riveting, snap-fit installation, and removal and inspection after assembly. Therefore, the equipment of the present invention can automatically complete each process of door panel assembly, eliminating the need for manual handling and processing of automobile door panels, saving a lot of manpower, improving production efficiency and the consistency of the final product. Furthermore, the door panel assembly control device also includes a reflow conveying control unit. Under its control, the reflow conveying device can convey the used and empty mold device back to the door panel placement device for reuse. Therefore, the mold device does not need to be manually handled and recycled, and can achieve automated and efficient automobile door panel assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural block diagram of a door panel assembly device according to an embodiment of the present invention;

[0017] Figure 2 is a perspective view of a door panel placement device according to an embodiment of the present invention;

[0018] Figure 3 is a perspective view of a partial structure of a door panel placement device according to an embodiment of the present invention;

[0019] Figure 4 is a perspective view of a mold device according to an embodiment of the present invention;

[0020] Figure 5 is a perspective view of the mold device in an open state according to an embodiment of the present invention;

[0021] Figure 6 This is a structural diagram of the bottom guide block of the mold device for door panel assembly according to an embodiment of the present invention;

[0022] Figure 7 This is a schematic diagram of the structure of the U-shaped opening and closing arm and the rotation drive mechanism in an embodiment of the present invention;

[0023] Figure 8 3D diagram of a mold pushing portion according to an embodiment of the present invention;

[0024] Figure 9 is a perspective view of a lifting mechanism for placing a door panel in an embodiment of the present invention;

[0025] Figure 10 is a perspective view of a blocking mechanism for placing a door panel according to an embodiment of the present invention;

[0026] Figure 11 is a perspective view of a door panel placement check mechanism according to an embodiment of the present invention;

[0027] Figure 12 Schematic diagram of the positive release of the door panel placement check mechanism according to an embodiment of the present invention;

[0028] Figure 13 Schematic diagram of the reverse release of the door panel placement check mechanism according to an embodiment of the present invention;

[0029] Figure 14 is a perspective view of a screw driving device according to an embodiment of the present invention;

[0030] Figure 15 is a perspective view of a tightening mechanism for screwing in an embodiment of the present invention;

[0031] Figure 16 2. This is a schematic diagram of a state in which a screw pressing mechanism is pressing a door panel assembly mold device in accordance with an embodiment of the present invention;

[0032] Figure 17 is a perspective view of a movable mechanism for screwing in an embodiment of the present invention;

[0033] Figure 18 is a perspective view of a first horizontal moving unit in an embodiment of the present invention;

[0034] Figure 19 is a perspective view of a second horizontal moving unit in an embodiment of the present invention;

[0035] Figure 20 is a perspective view of a lifting unit for screw driving according to an embodiment of the present invention;

[0036] Figure 21 is a top view of a partial structure of a snap-fit installation device according to an embodiment of the present invention;

[0037] Figure 22 yes Figure 21 An enlarged view of the portion within the middle frame C;

[0038] Figure 23 is a perspective view of a support portion for snap-on installation in an embodiment of the present invention;

[0039] Figure 24 is a three-dimensional diagram of a snap-fit installation mechanism according to an embodiment of the present invention;

[0040] Figure 25 is a three-dimensional diagram of a snap-fit mounting member according to an embodiment of the present invention;

[0041] Figure 26 is a three-dimensional diagram of a buckle detection unit in an embodiment of the present invention;

[0042] Figure 27 is a perspective view of a door panel removal device according to an embodiment of the present invention;

[0043] Figure 28 This is a three-dimensional diagram of a door panel grabbing module grabbing an automobile door panel workpiece in an embodiment of the present invention;

[0044] Figure 29 Schematic diagram of a device for conveying a mold along a processing conveying direction according to an embodiment of the present invention;

[0045] Figure 30 Schematic diagram of a mold conveying device along a reflux conveying direction in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the door panel assembly equipment of the present invention is described in detail below with reference to the embodiments and drawings.

[0047] <Example>

[0048] Figure 1 It is a structural block diagram of the door panel assembly equipment in this embodiment.

[0049] like Figure 1As shown, the door panel assembly equipment 1000 of this embodiment is used for the automated assembly of large quantities of automobile door panels of the same model, which includes a door panel placement device 10, a screw driving device 30, a riveting device 40, a snap-on installation device 50, a door panel removal device 60, a processing conveying device 71 and a reflux conveying device 72.

[0050] Among them, the door panel placement device 10 serves as the first station in the system, and is used to receive the automobile door panel workpiece to be assembled. The screw driving device 30 serves as the second station, and is used to perform screw driving operations. The riveting device 40 serves as the third station, and is used to perform riveting operations. The snap-fit installation device 50 serves as the fourth station, and is used to perform snap-fit installation operations. The door panel removal device 60 serves as the fifth station, and is used to transport the assembled automobile door panel workpiece out. The automobile door panel workpiece to be assembled is placed in a door panel assembly mold device (hereinafter referred to as the mold device) to facilitate circulation between various stations. The processing conveying device 71 is arranged in the second to fourth stations, and is used to transport the automobile door panel workpiece to be assembled to these stations in turn for corresponding assembly operations. The reflux conveying device 72 is also arranged in the second to fourth stations, and is used to transport the used mold device back to the first station for reuse. The structure and function of each part will be described in detail below.

[0051] Figure 2 It is a three-dimensional diagram of the door panel placement device in this embodiment.

[0052] Figure 3 It is a three-dimensional diagram of the partial structure of the door panel placement device in this embodiment.

[0053] like Figure 2-3 As shown, the door panel placement device 10 serves as the first workstation in the system, and is used to place the mold device 20. Its structure corresponds to the design of the mold device 20, so the structure and function of the mold device 20 will be described first below.

[0054] Figure 4 It is a three-dimensional diagram of the mold device in this embodiment.

[0055] Figure 5 It is a three-dimensional view of the mold device in the open state in this embodiment.

[0056] like Figure 4-5 As shown, the mold device 20 includes a supporting unit 21 , a cover plate 22 and a connecting unit 23 .

[0057] The support unit 21 includes a support frame 211, a support mold (not shown) and a plurality of mold fixing members 212. The support frame 211 is welded from square steel bars and steel sheets and is used to carry the support mold.

[0058] Figure 61 is a structural diagram of the bottom guide block of the mold device for door panel assembly in this embodiment.

[0059] like Figure 6 As shown, four guide blocks 2111 are provided under the support frame 211, and a downward circular groove is provided in the middle of the guide block 2111. When the mold device 20 is transported to the assembly station, the output ends of the four lifting cylinders on the assembly station can be respectively embedded in the four circular grooves to lift the mold device 20, thereby positioning and fixing the mold device 20.

[0060] The mold fixing members 212 are all L-shaped metal parts, which are respectively installed on the support frame 211 , wherein a structure for installing the supporting mold is formed between the mold fixing members 212 . The supporting mold is clamped between the mold fixing members 212 .

[0061] The cover plate 22 is rotatably connected to the support unit 21 and is used to press the door panel workpiece onto the support unit 21. The cover plate 22 includes a cover plate frame 221 welded from aluminum profiles, a pair of limit members 222, a plurality of pressing heads 223, and a U-shaped opening and closing arm 224.

[0062] A pair of limiting members 222 are both L-shaped metal parts, which are respectively installed on both sides of the cover frame 221. When the cover 22 is rotated toward the support unit 21, the extended ends of the limiting members 222 abut against the square rods on both sides of the cover frame 221, thereby playing a limiting role.

[0063] The pressing head 223 consists of a metal rod and an elastic member wrapped around its end. The other end of the metal rod is welded to the cover frame 221. The metal rod is perpendicular to the surface of the cover frame 221 and extends toward the support unit 21. The arrangement of the multiple pressing heads 223 and the extension length of each pressing head 223 are matched to the surface of the automotive door panel. When the cover 22 is closed, the pressing heads 223 are designed to contact different parts of the surface of the automotive door panel, thereby pressing and securing the automotive door panel.

[0064] Figure 7 It is a structural diagram of the cooperation between the U-shaped opening and closing arm and the rotation drive mechanism in this embodiment.

[0065] like Figure 7 As shown, the U-shaped opening and closing arm 224 is a roughly U-shaped metal member, fixedly mounted on the side of the cover frame 221 connected to the support unit 21 via screws or other fasteners. The U-shaped opening faces outward, and an obtuse angle is formed between the U-shaped opening and closing arm 224 and the cover frame 221. When the cover 22 is closed, that is, when the surface direction of the cover frame 221 is roughly aligned with the horizontal direction, the opening of the U-shaped opening and closing arm 224 is tilted upward. The U-shaped opening and closing arm 224 is designed to plug into the rotary drive mechanism in the assembly station, and under its drive, it drives the cover frame 221 to rotate.

[0066] The connecting unit 23 is used to connect the supporting unit 21 and the cover plate 22 . The connecting unit 23 includes a connecting bracket 231 , a rotating shaft 232 , two pairs of bearing assemblies 233 and a damping assembly 234 .

[0067] A connecting bracket 231 is mounted on one side of the support frame 211, and a rotating shaft 232 is mounted on the connecting bracket 231. The cover frame 221 is mounted on the rotating shaft 232 via two pairs of bearing assemblies 233, allowing it to rotate along the rotating shaft 232. A damping assembly 234 is connected to the connecting bracket 231 in the middle of one side of the cover frame 221. The damping assembly 234 is used to limit the rotation speed of the cover 22.

[0068] It should be noted that since there are various models of door panel products, there are corresponding various different mold devices 20, and the structure of the cover frame 221 and the structure and distribution of the pressure head 223 are different, but the overall dimensions of all mold devices 20 are the same, so the same structure of the conveying mechanism can be used to transfer them.

[0069] Furthermore, in this embodiment, an electronic tag (RFID) is provided on the automotive door panel workpiece. Reading this tag can identify the workpiece model. A product detection sensor (not shown) is provided on the mold assembly 20 to read this tag. A wireless energy bar transmits power to the product detection sensor. An electronic tag is also provided on the bottom of the mold assembly 20. Reading this tag can identify the mold assembly 20 model. A mold detection sensor is also provided in the door panel placement device 10 to read this tag.

[0070] like Figure 2-3 As shown, the door panel placement device 10 includes a door panel placement mechanism 11, a door panel placement lifting mechanism 15 and a door panel placement blocking mechanism (not shown due to structural obstruction).

[0071] The door panel placement mechanism 11 is used to position, open, close and push the mold device 20 at the current workstation. The door panel placement mechanism 11 includes a mold pushing portion 12 , a lifting and positioning portion 13 and a rotation driving portion 14 .

[0072] Figure 8 It is a three-dimensional diagram of the mold pushing portion in this embodiment.

[0073] like Figure 8 As shown, the mold pushing portion 12 includes two parallel chain conveying rails 121 , a transmission shaft 122 and a chain rail driving motor 123 .

[0074] The spacing between the two chain conveyor tracks 121 matches the width of the mold assembly 20, and the mold assembly 20 is placed on both sides of the tracks for transportation. In this embodiment, the chain conveyor tracks 121 utilize a double-speed chain to accelerate the conveying cycle. The ends of the drive shaft 122 are connected to the two drive gears of the two chain conveyor tracks 121 through bearing assemblies. Driven by the chain track drive motor 123, the two chain conveyor tracks 121 convey synchronously.

[0075] The lifting and positioning portion 13 includes four lifting cylinders 131, each mounted on a bracket within the door panel placement device 10. The four lifting cylinders 131 are located at the four corners of the rectangle and at a uniform vertical height. The arrangement of the four lifting cylinders 131 corresponds to the arrangement of the four positioning blocks 2111 at the bottom of the mold assembly 20. The output ends of the lifting cylinders 131 mate with and can be embedded in the circular positioning grooves of the positioning blocks 2111. During lifting and positioning, the four lifting cylinders 131 lift simultaneously, their output ends contacting the bottom surface of the circular positioning grooves, thereby steadily lifting the mold assembly 20 and positioning it in the current station.

[0076] like Figure 6 As shown, the rotary drive unit 14 is used to rotate the cover plate 22 of the mold device 20 to open or close. The rotary drive unit 14 includes a rotary drive motor 141 , a rotary transmission assembly 142 and a rotary limit assembly 143 .

[0077] The rotation transmission assembly 142 includes a bearing 1421, an opening and closing rod 1422, and a circular pusher 1423. The opening and closing rod 1422 has two circular ends, one of which is larger than the other. A circular mounting hole is provided on the larger end. The opening and closing rod 1422 is mounted on the output end of the rotation drive motor 141 through the circular mounting hole and the bearing 1421. Under the drive of the rotation drive motor 141, the opening and closing rod 1422 can swing in a vertical plane. The circular pusher 1423 is rotatably mounted on the smaller end of the opening and closing rod 1422 by connecting parts such as bolts and nuts. The diameter of the circular pusher 1423 matches the opening width of the U-shaped opening of the U-shaped opening and closing arm 224 of the mold device 20. The circular pusher 1423 can be inserted into the U-shaped opening and push one side of the U-shaped opening, thereby driving the cover plate 22 to open and close.

[0078] When the mold device 20 is lifted into position by the lifting positioning portion 32 , the circular pushing member 1423 of the opening and closing rod 1422 is embedded in the U-shaped opening of the U-shaped opening and closing arm 224 of the mold device 20 .

[0079] The rotation limit assembly 143 comprises four perforated plates 1431 and four proximity sensors 1432, which are used to limit the maximum travel of the opening and closing rod 1422. Each proximity sensor 1432 is mounted in a slot in the perforated plates 1431. Two proximity sensors 1432 are mounted above the output terminal of the rotation drive motor 141, while the other two are mounted below. When the upper and lower proximity sensors 1432 sense the opening and closing rod 1422, the cover 22 is fully opened or closed.

[0080] Figure 9 It is a three-dimensional diagram of the lifting mechanism for placing the door panel in this embodiment.

[0081] like Figure 2 、 9 As shown, the door panel placement lifting mechanism 15 includes a bracket 151, multiple vertical guide rails 152, a bracket 153, a lifting transmission assembly 154, a lifting drive motor 155 and a counterweight cylinder 156.

[0082] The bracket 151 includes two shorter front support rods 1511 and two longer rear support rods 1512, which provide support for lifting. Four vertical guide rails 152 are respectively installed on the four support rods. The bracket 153 is a metal frame used to support the door panel placement mechanism 11 and the mold device 20 thereon, and drive them to rise and fall. Viewed from the side, the bracket 153 is L-shaped, and a plurality of sliders 1531 are installed on it, which are slidably engaged with the four vertical guide rails 152 to form a guiding fit. In addition, a reader (not shown in the figure) is also provided on the bracket 153 for reading the electronic tag on the mold device 20 placed on the bracket 153.

[0083] The lifting drive motor 155 drives the bracket 153 to move up and down through the lifting transmission assembly 154 .

[0084] The lifting transmission assembly 154 includes a screw rod 1541 extending in the vertical direction between the two rear support rods 1512, a screw nut (not shown in the figure) installed on the screw rod 1541, and an adapter block 1542 installed on the screw rod 1541 and supported by the screw nut. The bracket 153 is set on the screw rod 1541 through the adapter block 1542. Under the drive of the lifting drive motor 155, the screw rod 1541 drives the bracket 153 to rise and fall.

[0085] The counterweight cylinder 156 is provided on the lifting drive motor 155 and is used to lift the lifting drive motor 155 upward, thereby reducing the load on one side of the lifting drive motor 155 .

[0086] A door panel placement blocking mechanism 17 and a door panel placement non-return mechanism 16 are respectively provided at both ends of the mold pushing portion 12 along the conveying direction, for limiting the mold device 20 in the current station after it is conveyed into place to avoid mis-conveying.

[0087] Figure 10 It is a three-dimensional diagram of the blocking mechanism for placing the door panel in this embodiment.

[0088] like Figure 10 As shown, the blocking mechanism 17 for placing the door panel is arranged between the two chain conveying rails 121 and is located on the side close to the next workstation, which is used to prevent the mold device 20 from being transported forward by mistake. The blocking mechanism 17 for placing the door panel includes a blocking support 171, a blocking member 172, a blocking wheel 173, and a blocking cylinder 174.

[0089] The blocking support 171 and the blocking member 172 are both special-shaped metal parts. The blocking support 171 is installed on the upper end of the blocking cylinder 174, and the output end (piston rod) of the blocking cylinder 174 passes through the through hole in the middle of the support 171. The raised part in the middle of the blocking member 172 is hinged to the blocking support 171 and can rotate relative to the blocking support 171. One end of the blocking member 172 is in contact with the output end of the blocking cylinder 174, and a pair of blocking wheels 173 are installed on the other end. Figure 10 In the state, the output end of the blocking cylinder 174 is retracted, and the blocking wheel 173 is higher than the height of the two chain conveyor rails 121, thereby blocking the mold device 20 placed on the chain conveyor rails 121. When the output end of the blocking cylinder 174 is extended, it pushes the blocking member 172 to rotate, driving the blocking wheel 173 at one end thereof to rotate to a height lower than the upper surface of the chain conveyor rails 121, thereby allowing the placed mold device 20 to pass.

[0090] Figure 11 It is a three-dimensional diagram of the non-return mechanism for placing the door panel in this embodiment.

[0091] like Figure 11 As shown, the door panel placement anti-return mechanism 16 is arranged between the two chain conveyor rails 121 and is located on the side close to the previous workstation to prevent the mold device 20 from accidentally backflowing. The door panel placement anti-return mechanism 16 includes a anti-return base 161, a anti-return support 162, a connecting rod 163, a anti-return member 164 and a anti-return driving cylinder 165.

[0092] The support member 162 for preventing release is a special-shaped metal member, which is mounted on the base 161 by screws or other connecting members. The support member 162 for preventing release has a bevel portion 1621 on one side close to the blocking member 164, and a square groove 1622 is opened on the upper part and passes through in the conveying direction.

[0093] One end of the connecting rod 163 is rotatably connected to the square groove 1622, and the other end is provided with a check member 164. When the connecting rod 163 is horizontal, there is a certain gap between the connecting rod 163 and the lower edge of the square groove 1622.

[0094] The backstop 164 is a shaped metal part having a counterweight portion 1641 and an abutment and blocking portion 1642. The counterweight portion 1641 is located at the bottom, with two counterweight plates 166 mounted on one side. The abutment and blocking portion 1642 extends upward from the top of the counterweight portion 1641, forming a wedge-shaped end that is used to block the mold assembly 20. A through-hole 1643 is formed at the junction of the counterweight portion 1641 and the abutment and blocking portion 1642. The backstop 164 is rotatably mounted on the other end of the connecting rod 163 through the pivot hole 1643 and the rotating shaft.

[0095] Figure 12 This is a schematic diagram of the door panel placement non-return mechanism in the present embodiment when released in the forward direction.

[0096] like Figure 12 As shown, since a counterweight plate 166 is provided on one side of the check member 164, in the initial state (i.e., when the piston rod of the check drive cylinder 165 is retracted), the connecting rod 163 extends downward at a slight tilt, and the uppermost end of the wedge-shaped end of the blocking member 164 is roughly flush with the uppermost end of the support member 162 for preventing release, thereby releasing the mold device 20 in the opposite direction of D1.

[0097] Figure 13 This is a schematic diagram of the door panel placement non-return mechanism in this embodiment when it is released in the reverse direction.

[0098] like Figure 13 As shown, when the piston rod 1651 is extended, when the mold device 20 moves along the D1 direction and passes through the door panel placement blocking mechanism 16, the mold device 20 presses down the abutting blocking portion 1642 of the blocking member 164, and the blocking member 164 rotates counterclockwise to release the mold device 20, that is, it has a one-way release function.

[0099] The door panel placement device 10 also includes an operation terminal. A worker places the door panel workpiece to be assembled into the mold device 20 and can confirm and start the assembly process through the operation terminal.

[0100] Figure 14 It is a three-dimensional diagram of the screw driving device in this embodiment.

[0101] like Figure 14 As shown, the screw driving device 30 serves as the second work station, and includes a screw driving pressing mechanism 31 , a screw driving moving mechanism 32 and a screw driving mechanism.

[0102] Figure 15 It is a three-dimensional diagram of the pressing mechanism for screwing in this embodiment.

[0103] Figure 16 This is a schematic diagram of the state in which the screw-driving pressing mechanism in this embodiment presses the door panel assembly mold device.

[0104] like Figure 15-16As shown, the screw pressing mechanism 31 is mounted on the bracket and can press the mold device 20. The screw pressing mechanism 31 includes a pressing unit 311, a lifting unit 312 and a protective baffle 313.

[0105] The pressing unit 311 includes a plurality of pressing blocks 3111, which can press the cover plate 22. In this embodiment, there are two pressing blocks 3111, which are symmetrically arranged above the cover plate 22 and are used to press the two side edges of the cover plate 22 in the length direction.

[0106] Each compression block 3111 includes a main plate 31111, a bottom plate 31112 disposed at the bottom of the main plate 31111, and reinforcing ribs 31113 connecting the main plate 31111 and the bottom plate 31112. The main plate 31111 is connected to a bracket, and the reinforcing ribs 31113 are disposed on the sides of the main plate 31111. In this embodiment, there are two reinforcing ribs 31113, one at each end of the main plate 31111.

[0107] The lifting unit 312 can push the mold device 20 to rise, and includes a plurality of lifting blocks 3121 and a lifting drive assembly 3122 .

[0108] The lifting blocks 3121 are arranged below the support unit to support the mold device 20. In this embodiment, the lifting blocks 3121 are rectangular blocks, and the four lifting blocks 21 are symmetrically arranged in pairs, which can stably support the four corners of the mold device 20 during lifting.

[0109] As described above, the support unit 21 has four positioning blocks 2111 at its bottom, each of which has a positioning groove. The lifting unit 312 also includes positioning posts 3123, which are located on top of each lifting block 3121 and fit into the positioning groove to position the mold assembly 20. In this embodiment, there are two positioning posts 3123, located on two diagonally aligned lifting blocks 3121.

[0110] The number of lifting drive assemblies 3122 is equal to the number of lifting blocks 3121. The lifting drive assemblies 3122 are connected to the lifting blocks 3121 in a one-to-one manner, and can drive the lifting blocks 3121 to drive the mold device 20 to rise, thereby causing the cover plate 22 to abut against the pressing block 3111. Each lifting drive assembly 3122 includes a cylinder body 31221, a push rod 31222, and two guide rods 31223. Guide channels 31221a are provided on both sides of the cylinder body 31221, which are compatible with the guide rods 31223. One end of the guide rod 31223 is movably inserted into the cylinder body 31221 through the guide channel 31221a, and the other end is connected to the lifting block 3121. The push rod 31222 is parallel to the two guide rods 31223. One end of the push rod 31222 is connected to the cylinder body 31221, and the other end is connected to the lifting block 3121. The push rod 31222 rises and falls under the drive of the cylinder body 31221, thereby driving the lifting block 3121 to rise and fall.

[0111] The protection baffle 313 is located above the cylinder body 31221 and is mounted on the bracket through a plurality of fixings to protect the cylinder body 31221. A lifting hole 3131 adapted to the lifting block 3121 is provided on the protection baffle 313, and the lifting hole 3131 can be used for the lifting block 3121 to pass through when lifting.

[0112] When the mold assembly 20 loaded with an automotive door panel arrives at the current station, the four lifting drive assemblies 3122 drive the four lifting blocks 3121 to rise synchronously. The positioning posts 3123 on the top of the lifting blocks 3121 engage the positioning grooves at the bottom of the support unit 21, thereby positioning the mold assembly 20. The lifting blocks 3121 continue to rise, lifting the mold assembly 202 on the upper conveyor unit 711 until the cover plate 22 abuts the pressing blocks 3111, clamping the mold assembly 20 and the automotive door panel workpiece therein. The screwing operation at this station can then proceed. That is, at the second station, the mold assembly 20 does not need to be opened during screwing operations; instead, the mold assembly 20 can be operated through the gaps between the metal rods of the cover plate 22. Similarly, assembly operations at the third and fourth stations do not require opening the cover. At the first station, however, the cover plate 22 must be opened to place the automotive door panel workpiece, and at the fifth station, the cover plate 22 must be opened to photograph and inspect the assembled automotive door panel.

[0113] The end of the screw driving mechanism is similar in shape to a screwdriver and can be rotated and pressed down to drive the screw in. The screw driving mechanism is a prior art and will not be described in detail.

[0114] Figure 17 It is a three-dimensional diagram of the movable mechanism for screwing in this embodiment.

[0115] like Figure 17As shown, the screw driving moving mechanism 32 is used to drive the screw driving mechanism to move to each predetermined screw driving position. The screw driving moving mechanism 32 includes a first horizontal moving unit 321, a second horizontal moving unit 322 and a screw driving lifting unit 323.

[0116] Figure 18 It is a three-dimensional diagram of the first horizontal moving unit in this embodiment.

[0117] like Figure 18 As shown, the first horizontal moving unit 321 includes a first driving member (motor), a first guide rail 3212, and two first moving members 3213 movably mounted on the same first guide rail 3212. The first driving member is connected to the first moving member 3213 via a lead screw structure, thereby driving the first moving member 3213 to move along the first guide rail 3212. The two second horizontal moving units 322 are respectively mounted on the two first moving members 3213.

[0118] Figure 19 4 is a perspective view of the second horizontal moving unit in this embodiment.

[0119] like Figure 19 As shown, each second horizontal movable unit 322 includes a second driving member 3221, a second guide rail 3222, and a second movable member 3223 movably mounted on the second guide rail 3222. The second driving member 3221 is a motor connected to the second movable member 3223 via a lead screw structure, thereby driving the second movable member 3223 to move along the second guide rail 3222. The length direction of the second guide rail 3222 is perpendicular to the length direction of the first guide rail 3212.

[0120] The two screw driving lifting units 323 are provided on the second moving member 3223 and are respectively mounted on the two second horizontal moving units 322 .

[0121] Figure 20 It is a three-dimensional diagram of the lifting unit for screw driving in this embodiment.

[0122] like Figure 20 As shown, each screw-driving lifting unit 323 includes a lifting drive 3231, a lifting track 3232, and a mounting member 3233 that is liftably disposed on the lifting track 3232. The lifting drive 3231 is a motor connected to the mounting member 3233 via a lead screw structure and is used to drive the mounting member 3233 along the lifting track 3232. The length of the lifting track 3232 is perpendicular to the plane of the first guide rail 3212 and the second guide rail 3222. The mounting member 3233 is used to mount the screw-driving mechanism 33, enabling the screw-driving mechanism 33 to move synchronously with the mounting member 3233, thereby performing screw-driving operations at different points on the automotive door panel workpiece.

[0123] The riveting device 40 serves as the third workstation, and includes a clamping mechanism for riveting, a moving mechanism for riveting, and a riveting mechanism. The structure of the clamping mechanism for riveting is consistent with the clamping mechanism 31 for screwing, and the structure of the moving mechanism for riveting is consistent with the moving mechanism 32 for screwing. The riveting mechanism is a structure in the prior art, so it will not be described in detail.

[0124] Figure 21 It is a top view of the partial structure of the snap-fit installation device in this embodiment.

[0125] Figure 22 yes Figure 21 Enlarged view of the portion inside frame C.

[0126] like Figure 21-22 As shown, the snap-fit installation device 50 serves as the fourth workstation, and includes a snap-fit installation pressing mechanism 51 , a snap-fit installation support portion 52 , a snap-fit feeding portion 53 , a snap-fit installation mechanism 54 and a plurality of sensors 55 .

[0127] The structure of the clamping mechanism 51 for clip installation is the same as that of the clamping mechanism 31 for screw driving.

[0128] Figure 23 It is a three-dimensional view of the support portion for clip installation in this embodiment.

[0129] like Figure 23 As shown, the buckle mounting support portion 52 is used to carry and support the buckle for the buckle mounting mechanism 54 to grasp. The buckle mounting support portion 52 is a support platform, which has a receiving slot 521 and a clearance slot 522 that are interconnected. The receiving slot 521 is smaller in width and depth than the clearance slot 522, and the receiving slot 521 has two stepped sides in the width direction, which is compatible with the structure of the buckle. The receiving slot 521 is used to receive the buckle delivered by the buckle feeding portion 53, and the clearance slot 522 is used to make way for the corresponding conveying structure of the buckle feeding portion 53. The following will be described in detail in conjunction with the corresponding structure of the buckle feeding portion 53.

[0130] The buckle feeding portion 53 includes a vibration plate 531 , a discharge channel 532 , and a buckle pushing unit 533 .

[0131] The vibration plate 531 arranges a plurality of disordered buckles in order and outputs them in sequence by vibration, which is a prior art and will not be described in detail.

[0132] One end of the discharge channel 532 is connected to the output end of the vibration disk 531, and the other end is connected to the support part 52 for snap-on installation. The width of the discharge channel 532 is slightly wider than the width of a single snap, and is used to transport the arranged snaps one by one to the support part 52 for snap-on installation for the snap-on installation mechanism 54 to grab and install.

[0133] The buckle pushing unit 533 includes a pushing frame 5331 and a pushing cylinder 5332 that drives the pushing frame 5331. It is used to push the buckle on the buckle installation support 52 into place, thereby facilitating its capture by the buckle installation mechanism 54. The clearance groove 522 of the buckle installation support 52 is used to make way for the end of the pushing frame 5331. That is, the end of the pushing frame 5331 can extend into the clearance groove 522 to push the buckle in the receiving groove 521 into place.

[0134] Multiple sensors 55 are respectively installed on the support part 52 for clip installation. Among them, a pair of sensors 55 is used to sense whether the clip has been transported to the receiving slot 521, so that the clip can be pushed into place; a pair of sensors 55 is used to sense whether the clip has been pushed into place, so that the grabbing and installation operation can be performed; other sensors 55 are also used to sense and determine whether the clip has been grabbed away, etc., so as to realize automatic control.

[0135] Figure 24 It is a three-dimensional diagram of the buckle installation mechanism in this embodiment.

[0136] like Figure 24 As shown, the buckle installation mechanism 54 is used to grab the buckle and install it to a predetermined position on the automobile door panel workpiece. It includes a manipulator 541, a buckle installation part 542, a connecting frame 543 for the buckle installation part, and a buckle detection unit 544.

[0137] The manipulator 541 includes a manipulator fixing seat 5411 , a first horizontal rotating unit 5412 for snap-fit installation, a second horizontal rotating unit 5413 for snap-fit installation, and a lifting unit 5414 for snap-fit installation.

[0138] The first horizontal rotation unit 5412 for snap-fit installation is rotatably mounted on the manipulator mounting base 5411 and includes a first horizontal rotation arm 54121 and a first horizontal rotation driver. The first horizontal rotation driver is connected to the first horizontal rotation arm 54121 and is used to drive the first horizontal rotation arm 54121 to rotate.

[0139] The second horizontal rotation unit 5413 for snap-fit installation is rotatably mounted on the first horizontal rotation unit 5412. The second horizontal rotation unit 5413 includes a second horizontal rotation arm 54131 and a second horizontal rotation driver. The second horizontal rotation arm 54131 is rotatably connected to the first horizontal rotation arm 54121, and the second horizontal rotation driver is connected to the second horizontal rotation arm 54131, thereby driving the rotation of the second horizontal rotation arm 54131.

[0140] The buckle installation lifting unit 5414 is provided on the second horizontal rotation unit 5413 for buckle installation, and is used to drive the buckle installation member 542 to move up and down. In this embodiment, the buckle installation lifting unit 5414 includes a buckle installation lifting motor, a buckle installation lifting connecting rod 54142, and a buckle installation lifting guide rod 54143.

[0141] The clip-on mounting lift motor drives the clip-on mounting lift connecting rod 54142 up and down. One end of the clip-on mounting lift connecting rod 54142 is mounted on the second horizontal pivot arm 54131, and the other end is connected to the clip-on mounting member 542 via the clip-on mounting member connecting bracket 543. Two clip-on mounting lift guide rods 54143 are provided, parallel to the clip-on mounting lift connecting rod 54142, to provide guidance and limit positioning during lifting.

[0142] The buckle installation mechanism 54 includes two buckle installation parts 542, which are arranged on the robot 541 and are used to engage with the buckle to move or install the buckle.

[0143] Figure 25 3D is a perspective view of the snap-fit mounting member in this embodiment.

[0144] like Figure 25 As shown, the bottom of the buckle mounting member 542 has a buckle securing cavity 5421, whose shape and size are compatible with the buckle. The buckle securing cavity 5421 and the buckle have an interference fit, securing the buckle through friction. Once the buckle is in place, the buckle mounting member 542 can be separated by raising the buckle mounting member 542 using the buckle mounting lifting unit 5414.

[0145] The buckle mounting member connecting frame 543 is mounted on the buckle mounting lifting connecting rod 54142 for connecting the buckle mounting member 542. In this embodiment, the two buckle mounting members 542 are arranged parallel to each other on the buckle mounting member connecting frame 543 along the length direction of the buckle mounting lifting connecting rod 54142, so that two buckles can be removed at one time.

[0146] Figure 26 3D is a perspective view of the buckle detection unit in this embodiment.

[0147] like Figure 26 As shown, the buckle detection unit 544 is provided on the buckle mounting member connecting frame 543 and is used to detect whether the buckle is installed in place. The buckle detection unit 544 includes a buckle installation detection motor 5441 and a detection transmission assembly 5442.

[0148] The buckle installation detection motor 5441 is connected to the buckle mounting member 542 via the detection transmission assembly 5442, thereby driving the buckle mounting member 542 to rotate. In this embodiment, the buckle installation detection motor 5441 is a servo motor, which can feed back the resistance encountered during rotation to a higher-level device such as a controller, and then further determine whether the buckle is properly installed based on the resistance.

[0149] The detection transmission assembly 5442 includes a driving pulley 54421, two driven pulleys 54422, a synchronous belt 54423, and a tensioning pulley 54424. The driving pulley 54421 is connected to the output of the snap-fit detection motor 5441, while the two driven pulleys 54422 are fixedly connected to the two snap-fit mounting members 542. The tensioning pulley 54424 is used to tension the synchronous belt 54423 to prevent slippage during transmission.

[0150] In this embodiment, the buckle installation point on the automobile door panel workpiece has a buckle installation groove with a side opening. When removing the part, the manipulator 541 moves so that the buckle installation part 542 is located above the buckle to be installed, and the buckle installation lifting unit 5414 descends so that the upper part of the buckle is clamped into the buckle fixing cavity 5421 and fixed. During installation, the manipulator 541 drives the buckle to move so that the lower part of the buckle is clamped into the buckle installation groove from the side opening and fixed. During inspection, under the drive of the buckle installation inspection motor 5441, the driving wheel 54421 drives the driven wheel 54422 to rotate through the synchronous belt 54423, causing the buckle installation part 542 to rotate accordingly, thereby applying a torsional force to the buckle, and then judging whether the buckle is installed in place based on the feedback result of the servo motor.

[0151] After the buckle is installed in place, the buckle installation lifting unit 5414 drives the buckle installation member 542 to rise and separate from the buckle, thereby completing the installation of the buckle.

[0152] Figure 27 It is a three-dimensional diagram of the door panel taking out device in this embodiment.

[0153] like Figure 27 As shown, the door panel taking-out device 60 includes a detection camera module 61 , a door panel grabbing module 62 , a workpiece conveying module 63 , a door panel taking-out mechanism 64 , and a door panel taking-out lifting mechanism 65 .

[0154] The detection camera module 61 includes a shell, an upper camera assembly 612, a lower camera assembly 613, and a lighting unit. The shell is made of black organic glass, which is used to shield external light sources to reduce the impact of light source changes on shooting. The upper camera assembly 612 includes a plurality of cameras arranged above the door panel removal mechanism 64, which are used to shoot the assembled automobile door panel workpiece from above. The lower camera assembly 613 includes a plurality of cameras arranged below (close to the ground), which are used to shoot the automobile door panel workpiece from below. The lower camera assembly 613 and the upper camera assembly 612 are staggered in the vertical direction. The lighting unit includes a plurality of light tubes for providing sufficient lighting for shooting.

[0155] Figure 28 This is a stereoscopic diagram of the door panel grabbing module grabbing an automobile door panel workpiece in this embodiment.

[0156] like Figures 27-28 As shown, the door panel grabbing module 62 includes a grabbing moving portion 621 and two sets of clamping components 622, which can grab both sides of the automobile door panel workpiece and move it.

[0157] The door panel grabbing and moving part 621 includes a guide rail and a plurality of driving motors, which can drive the clamping assembly 622 installed on the guide rail to move along the x, y, and z axes.

[0158] The clamping assembly 622 includes a support arm 6221, a support block 6222 arranged at the end of the support arm 6221, and a clamping cylinder 6223 arranged above the support block 6222. The support block 6222 can support both sides of the automobile door panel workpiece, and the output end of the clamping cylinder 6223 can press both sides of the automobile door panel workpiece on the support block 6222. The four clamping assemblies 622 simultaneously clamp four positions on both sides of the automobile door panel workpiece, thereby clamping the automobile door panel workpiece and moving it stably.

[0159] The workpiece conveying module 63 is a belt-type conveyor line, which is used to convey the automobile door panel workpiece that has completed the shooting inspection to a predetermined position.

[0160] Therefore, after the mold device 20 is opened, the upper surface of the automobile door panel workpiece can be photographed by the upper camera assembly 612. Then, the door panel grasping module 62 grasps the automobile door panel workpiece and moves it above the lower camera assembly 613. At this time, the lower camera assembly 613 can photograph the lower surface of the automobile door panel workpiece. Then, based on the photographic results of the two surfaces, the assembly of the automobile door panel workpiece can be tested to determine whether it is properly assembled. The door panel grasping module 62 then places the automobile door panel workpiece on the workpiece conveying module 63, which conveys the automobile door panel workpiece to a predetermined location.

[0161] The structure of the door panel removal mechanism 64 is essentially the same as that of the door panel placement mechanism 11, namely, it includes a mold receiving portion having the same structure as the mold pushing portion 121, and a lifting mechanism for raising and lowering the mold receiving portion. The structure of the door panel removal lifting mechanism 65 is essentially the same as that of the door panel placement lifting mechanism 14, and therefore, a detailed description thereof will not be repeated. In other words, like the door panel placement device 10, the mold receiving portion is a chain-type conveyor track that is liftable and can switch the conveying direction.

[0162] Figure 14 Also shown is a double-layer conveying track installed below the screw driving device 30, and the same is also provided below the riveting device 40 and the snap-fit installation device 50.

[0163] The processing conveying device 71 includes three processing conveying units 711 arranged at the second to fourth stations. The three processing conveying units 711 are arranged at the same height and in the same conveying direction, i.e., the D1 direction. The reflow conveying device 72 includes three reflow conveying units 721 arranged at the second to fourth stations. The three reflow conveying units 721 are arranged at the same height and in the same conveying direction, i.e., the D2 direction. Moreover, the three reflow conveying units 721 are respectively arranged directly below the three processing conveying units 711. In this embodiment, the structure of the processing conveying unit 711 and the reflow conveying unit 721 is consistent with that of the mold pushing part 12, and is also a chain conveying track. In this embodiment, the chain conveying track adopts a double-speed chain to speed up the conveying rhythm. In addition, both ends of the three processing conveying units 711 and the three reflow conveying units 721 are also provided with a blocking mechanism and a non-return mechanism, and the structures are respectively the same as the above-mentioned blocking mechanism 17 for door panel placement and the non-return mechanism 16 for door panel placement. At the reflux conveying unit 721 , the blocking mechanism is provided downstream along the reflux conveying direction, and the non-return mechanism is provided upstream along the reflux conveying direction.

[0164] The corresponding control parts will be described in detail below.

[0165] like Figure 1 As shown, the door panel assembly equipment 1000 also includes a door panel assembly control device, which includes: a production information storage unit 1001, an assembly information storage unit 1002, a mold information storage unit 1003, a door panel to be assembled information acquisition unit 1004, a door panel placement control unit 1005, a current door panel information acquisition unit 1006, a door panel information comparison and judgment unit 1007, a screw driving control unit 1008, a riveting control unit 1009, a snap-on installation control unit 1010, a processing and conveying control unit 1011, a door panel removal control unit 1012, a reflux conveying control unit 1013 and a door panel assembly control unit 1014 that controls the above-mentioned units.

[0166] The production information storage unit 1001 stores production information, including workpiece identification numbers, quantities, and production sequences of automobile door panel workpieces to be assembled.

[0167] The assembly information storage unit 1002 stores information on various models of automobile door panel workpieces to be assembled and corresponding assembly information, including workpiece identification number, workpiece model, workpiece size information, etc. It also stores various information required for assembly, including the number and position information of screws, the number and position information of rivets, the number and position information of mounting clips, etc.

[0168] The mold information storage unit 1003 stores information of each model of mold device 20, including mold identification number, mold model, mold size information, etc., and stores the workpiece identification number of the automobile door panel workpiece corresponding to each mold device 20.

[0169] The door panel to be assembled information acquiring unit 1004 acquires the workpiece identification number and corresponding assembly information of the next automobile door panel to be assembled from the assembly information storage unit 1001 .

[0170] When the assembly worker confirms through the operation terminal that the mold device 20 has been placed at the first workstation, the door panel placement control unit 1005 controls the door panel placement mechanism 11 to rotate open the cover 22 of the mold device 20 at the current workstation; and when the assembly worker confirms through the operation terminal that the corresponding automobile door panel workpiece has been placed in the opened mold device 20, the door panel placement control unit 1005 controls the door panel placement mechanism 11 to rotate close the cover 22 of the mold device 20 at the current workstation.

[0171] When the assembler confirms through the operation terminal that the workpiece has been placed in the mold device 20 at the first station, the door panel information acquisition unit 1006 controls the workpiece detection sensor at the first station to read the electronic tag on the automobile door panel workpiece and obtain the workpiece identification number.

[0172] The door panel information comparison and judgment unit 1007 compares the workpiece identification number obtained by the door panel information acquisition unit 1004 to the workpiece identification number obtained by the current door panel information acquisition unit 1006 to determine whether the two are consistent. If the two are consistent, the inserted workpiece model is correct and automatic assembly can begin.

[0173] The screwing control unit 1008 is used to control the screwing process and issue a screwing completion signal upon completion. It includes a first clamping control unit and a screwing control unit. The clamping control unit controls the screwing clamping mechanism 31 within the mold assembly 20 to clamp the mold assembly 20 in the current workstation. After the mold assembly 20 is clamped, the screwing control unit controls the screwing movement mechanism 32 to sequentially move the screwing mechanism to various screwing positions for screwing, based on the number and positions of screws received from the assembly information.

[0174] The riveting control unit 1009 is used to control the riveting process and issue a riveting completion signal upon completion. It includes a second clamping control unit and a riveting control unit. The second clamping control unit controls the riveting clamping mechanism to clamp the mold assembly 20 in the current station. After the mold assembly 20 is clamped, the riveting control unit controls the riveting movement mechanism to sequentially move the riveting mechanism to each riveting position for riveting, based on the number and location of rivets obtained from the assembly information.

[0175] The buckle installation control unit 1010 is used to control the buckle installation process and issue a buckle installation completion signal after buckle installation is complete. It includes a third pressing control unit, a feeding control unit, a buckle grabbing control unit, a buckle installation control unit, and a buckle detection control unit. The third pressing control unit controls the buckle installation clamping mechanism to clamp the mold device 20 in the current workstation. After the sensor 55 senses that the buckle on the buckle installation support 52 has been grabbed, the feeding control unit controls the vibration plate 531 and the buckle pushing unit 533 to output the buckle and push it into place. The buckle grabbing control unit controls the buckle installation mechanism 54 to grab the buckle from the buckle installation support 52. The buckle installation control unit controls the buckle installation mechanism 54 to sequentially install the grabbed buckles in various locations based on the number of buckles and installation positions specified in the assembly information. After each buckle is installed, the buckle detection control unit controls the buckle installation mechanism 54 to detect the installed buckles.

[0176] The processing and conveying control unit 1011 controls the processing and conveying process of the mold device 20, and includes: a processing lifting control unit 10115, a first processing and conveying control unit 10111, a second processing and conveying control unit 10112, a third processing and conveying control unit 10113, and a fourth processing and conveying control unit 10114.

[0177] When the assembler confirms that the workpiece has been placed through the operation terminal of the first workstation, the processing lifting control unit 10115 controls the mold pushing part 12 and the mold receiving part to be raised and lowered to be flush with the processing conveying unit 711.

[0178] After the lifting is completed, the first processing and conveying control unit 10111 controls the mold pushing unit 12 and the processing and conveying unit 711 below the screw driving device 30 to convey the mold device 20 from the first station to the second station. Specifically, the following control operations are performed in sequence:

[0179] Control the blocking mechanism of the mold pushing part 12 to release;

[0180] Control the mold pushing unit 12 and the chain conveyor track of the processing and conveying unit 711 to work simultaneously, convey the mold device 20 to the processing and conveying unit 711, and stop conveying when the mold detection sensor at the second station reads the electronic tag at the bottom of the mold device 20;

[0181] The blocking mechanism at the mold pushing portion 12 is controlled to perform blocking.

[0182] When receiving the screw driving completion signal, the second processing and conveying control unit 10112 controls the two processing and conveying units 711 below the screw driving device 30 and below the riveting device 40 to convey the mold device 20 from the second station to the third station.

[0183] When receiving the riveting completion signal, the third processing and conveying control unit 10113 controls the two processing and conveying units 711 below the riveting device 40 and below the snap-fit installation device 50 to convey the mold device 20 from the third station to the fourth station.

[0184] When the fourth processing and conveying control unit 10114 receives the signal that the buckle installation is completed, it controls the mold receiving part of the fifth station to rise and fall to be flush with the processing and conveying unit 711, and controls the processing and conveying unit 711 and the mold receiving part below the buckle installation device 50 to convey the mold device 20 from the fourth station to the fifth station.

[0185] The specific control processes of the second to fourth processing and conveying control units are basically the same as those of the first processing and conveying control unit, and will not be repeated here.

[0186] The door panel removal control unit 1012 controls the operation of the door panel removal device 60, thereby photographing and inspecting the assembled automobile door panel workpiece and transporting it off the assembly line. It also generates a workpiece removal signal when the workpiece is removed from the mold device 20. Specifically, the following control operations are performed in sequence:

[0187] Control the door panel removal mechanism 64 to rotate and open the cover plate 22 of the mold device 20;

[0188] Control the upper camera assembly 612 to photograph the automobile door panel workpiece in the mold device 20 from above;

[0189] Control the door panel grabbing mechanism 62 to grab the automobile door panel workpiece from the opened mold device 20 and drive the workpiece to move directly above the lower camera assembly 613;

[0190] Control the lower camera assembly 613 to photograph the workpiece from below;

[0191] The door panel grabbing mechanism 62 is controlled to place the photographed workpiece onto the door panel conveying module 63 , and the workpiece is conveyed to a predetermined position.

[0192] The reflux conveying control unit 1013 controls the mold reflow process, and includes: a reflux lifting control unit 10131, a reflux release control unit 10132, a reflux conveying control unit 10133, and a reflux blocking control unit 10134.

[0193] When receiving the workpiece removal signal, the reflux lifting control unit 10131 controls the mold pushing part 12 and the mold receiving part to rise and fall until they are flush with the reflux conveying unit 721 on the lower layer.

[0194] After the lifting is completed, the first blocking and releasing control unit 10132 controls the non-return mechanisms of the mold pushing part 12 and the mold receiving part to release in the reverse direction, and controls the blocking mechanisms of the three reflux conveying units 721 to release.

[0195] After the corresponding blocking mechanism and the non-return mechanism are released, the reflux conveying control unit 10133 controls the mold receiving part, the three reflux conveying units 721 and the mold pushing part 12 to convey along the reflux conveying direction, so that the used mold device 20 at the fifth station flows back to the first station for reuse.

[0196] When the reflow is completed and the reader of the first station reads the electronic tag, the reflow blocking control unit 10134 controls the non-return mechanism of the mold pushing part 12 and the mold receiving part to block again, and controls the blocking mechanism of the three reflow conveying units 721 to block.

[0197] Figure 29 Schematic diagram of the mold conveying device along the processing conveying direction in this embodiment.

[0198] Figure 30 Schematic diagram of the mold conveying device along the backflow conveying direction in this embodiment, Figures 29-30 The direction indicated by D1 is the processing conveying direction, and the direction indicated by D2 is the return conveying direction.

[0199] like Figures 29-30 As shown, based on the above structure and control method, in this embodiment, the process of automatically assembling the automobile door panel workpiece specifically includes the following steps:

[0200] Step S1, the door panel placement control unit 1005 controls the door panel placement mechanism 11 to rotate and open the cover plate 22 of the mold device 20 thereon;

[0201] Step S2: The assembler places the next automobile door panel workpiece to be assembled into the opened mold device 20 and confirms the placement of the workpiece through the operation terminal;

[0202] Step S3, the current door panel information acquisition unit 1006 acquires the workpiece identification number of the current workpiece;

[0203] In step S4, the door panel information comparison and judgment unit 1007 judges whether the workpiece identification number of the current workpiece matches the information to be assembled. If it is judged to be consistent, the process proceeds to step S6. If it is judged to be inconsistent, a corresponding warning message is generated and the process enters the end state.

[0204] After the assembler checks and replaces the workpiece with the correct model according to the warning information, the assembly worker can return to step S2.

[0205] Step S5: the door panel placement control unit 1005 controls the door panel placement mechanism 11 to rotate and close the cover plate 22;

[0206] Step S6: The processing lifting control unit 10115 controls the mold pushing unit 12 and the mold receiving unit to rise and fall until they are flush with the processing conveying unit 711;

[0207] Step S7: The first processing and conveying control unit 10111 controls the mold pushing unit 12 and the processing and conveying unit 711 of the second station to convey the mold device 20 to the second station along the direction D1;

[0208] Step S8, the screw driving control unit 1008 controls the screw driving device 30 to press the mold device 20 at the current station, and drives screws at each position in sequence according to the assembly information;

[0209] Step S9: The second processing and conveying control unit 10112 controls the two processing and conveying units 711 of the second and third workstations to convey the mold device 20 to the third workstation.

[0210] Step S10, the riveting control unit 1009 controls the riveting device 40 to press the mold device 20 at the current station, and performs riveting at each position in sequence according to the assembly information;

[0211] Step S11: The third processing and conveying control unit 10113 controls the two processing and conveying units 711 of the third and fourth stations to convey the mold device 20 to the fourth station.

[0212] Step S12: The buckle installation control unit 1010 controls the buckle installation device 50 to press the mold device 20 at the current station, and performs buckle installation at each position in sequence according to the assembly information;

[0213] Step S13: the fourth processing and conveying control unit 10114 controls the processing and conveying unit 711 and the mold receiving unit of the fourth station to convey the mold device 20 to the fifth station;

[0214] Step S14: the door panel removal control unit 1012 controls the door panel removal device 60 to remove the assembled automobile door panel from the mold device 20 and photograph and inspect it;

[0215] Step S15: The reflux lifting control unit 10131 controls the mold pushing unit 12 and the mold receiving unit to rise and fall until they are flush with the reflux conveying unit 721.

[0216] Step S16: The backflow release control unit 10132 controls the corresponding blocking mechanism and the non-return mechanism to release the backflow;

[0217] In step S17 , the reflux conveying control unit 10133 controls the mold receiving portion, the three reflux conveying units 721 , and the mold pushing portion 12 to convey the mold device 20 along the direction D2 to return to the first station.

[0218] Afterwards, the process returns to step S1 to start assembling the next workpiece.

[0219] In the above steps, for ease of explanation, there is only one mold device 20 and workpiece in the five stations. In fact, it can be understood that multiple mold devices 20 and workpieces can exist in the five stations at the same time, thereby improving production efficiency. When one mold device 20 is transported to the second station, the first station is vacant to receive another mold device 20 that is returning.

[0220] Example Function and Effect

[0221] The door panel assembly equipment 1000 provided in this embodiment includes a door panel assembly mold device 20, a door panel placement device 10, a screwing device 30, a riveting device 40, a snap-fit installation device 50, a door panel removal device 60, a processing and conveying device 71, a reflow conveying device 72, and a door panel assembly control device. The door panel assembly control device includes a processing and conveying control unit. Under its control, the processing and conveying device 71 can sequentially convey the mold device 20 carrying the automobile door panel workpiece to be assembled to the screwing device 30, the riveting device 40, the snap-fit installation device 50, and the door panel removal device 60 for screwing, riveting, snap-fit installation, and post-assembly removal and inspection. Therefore, the equipment 1000 can automatically complete each door panel assembly process, eliminating the need for manual handling and processing of automobile door panels, saving a lot of manpower and improving production efficiency and the consistency of the final product. Furthermore, the door panel assembly control device also includes a reflux conveying control unit. Under its control, the flow conveying device 72 can convey the used and empty mold device 20 back to the door panel placement device 10 for reuse. Therefore, the mold device 20 does not need to be manually transported and recycled, and can realize fully automated and efficient automobile door panel assembly.

[0222] In the embodiment, the processing and conveying control unit 1011 includes first to fourth processing and conveying control units, which are respectively used to control the conveying process between each workstation. Taking the first processing and conveying control unit 10111 as an example, when it receives the assembly start signal, it controls the mold pushing unit 12 to rise and fall until it is flush with the processing and conveying unit 711, and then controls the blocking mechanism at the mold pushing unit 12 to release it. Thereafter, it controls the mold pushing unit 12 and the processing and conveying unit 711 to convey simultaneously, and stops conveying when the mold detection sensor of the processing and conveying unit 711 detects the electronic tag at the bottom of the mold device 20, and then controls the blocking mechanism to block it. Therefore, not only can the mold device 20 be stably conveyed between each workstation, but the mold device 20 can also be conveyed to a specified position in the workstation. After being conveyed to the designated position, the mold device 20 and the workpiece therein will not be displaced during the assembly process due to the limiting of the blocking mechanisms and the non-return mechanism at both ends, thereby facilitating automated assembly.

[0223] Furthermore, the return conveying control unit 1013 first controls the mold pushing unit 12 and the mold receiving unit to raise and lower them to be flush with the return conveying unit 721 below, forming a relatively continuous return conveying track. It then controls the corresponding blocking and releasing mechanisms and the return mechanism to release the mold. It then controls the mold pushing unit 12, the three return conveying units 721, and the mold receiving unit to convey the mold, thereby automatically transporting the used mold assembly 20 back to the first workstation for reuse. This processing, conveying, and automatic mold reflow method enables automated assembly of large quantities of the same model of automotive door panels, achieving a high degree of automation and significantly reducing the workload of workers.

[0224] The above embodiments are only used to illustrate specific implementations of the present invention, and the present invention is not limited to the description scope of the above embodiments.

Claims

1. A door panel assembly device, characterized in that: include: A door panel assembly mold device is used to carry the automobile door panel workpiece to be assembled; The door panel placement device, screwing device, riveting device, snap-fit installation device, and door panel removal device are arranged in sequence, and are respectively used to place the door panel assembly mold device, perform screwing, riveting, snap-fit installation on the automobile door panel workpiece, and remove the assembled automobile door panel workpiece; a processing and conveying device, disposed below the screwing device, the riveting device, and the buckle installation device, for conveying the door panel assembly mold device carrying the automobile door panel workpiece; a reflux conveying device, disposed below the processing conveying device, for conveying the empty door panel assembly mold device; as well as The door panel assembly control device controls the assembly process of the automobile door panel workpiece, which at least includes: a processing and conveying control unit, configured to control the processing and conveying device to sequentially convey the door panel assembly mold device carrying the automobile door panel workpiece along a predetermined processing and conveying direction to the screw driving device, the riveting device, the clip installation device, and the door panel removal device; and A reflux conveying control unit is used to control the reflux conveying device to convey the empty door panel assembly mold device back to the door panel placement device along a predetermined reflux conveying direction, The reflux conveying device includes three reflux conveying units arranged below the screwing device, the riveting device, and the buckle installation device and at the same height, all of which convey along the reflux conveying direction. The door panel placement device has a mold pushing part that can be raised and lowered and can switch the conveying direction. The door panel removal device has a mold receiving part that can be raised and lowered and can switch the conveying direction. The reflux conveying control unit controls the mold receiving unit, the three reflux conveying units, and the mold pushing unit to operate, and conveys the door panel assembly mold device back to the mold pushing unit. Wherein, the reflux conveying control unit includes: A reflux lifting control unit, used for controlling the mold pushing portion and the mold receiving portion to rise and fall to be flush with the reflux conveying unit; The reflux conveying control unit is used to control the mold receiving portion, the three reflux conveying units and the mold pushing portion to convey the empty door panel assembly mold device back to the mold pushing portion after the lifting is completed. Wherein, the mold pushing part, the mold receiving part, and the three reflux conveying units all include: Two parallel chain conveyor tracks for carrying and conveying the door panel assembly mold device; a blocking mechanism, disposed between the two chain conveyor tracks and close to one end of the chain conveyor track, for blocking one end of the door panel assembly mold device placed on the chain conveyor track; and The non-return mechanism is provided between the two chain conveyor tracks and close to the other end of the chain conveyor track, and is used to block the other end of the door panel assembly mold device placed on the chain conveyor track. The blocking mechanism of the mold pushing part and the mold receiving part is close to the downstream end of the chain conveying track along the processing conveying direction, The blocking mechanism of the reflux conveying unit is close to the downstream end of the chain conveying track along the reflux conveying direction, The reflux conveying control unit further includes: The reflux release control unit is used to control the mold push part and the mold receiving part after the mold push part and the mold receiving part are lifted and lowered. The mold pushing part and the non-return mechanism of the mold receiving part are released, and the blocking mechanisms of the three reflux conveying units are controlled to release. The blocking mechanism includes a blocking support, a blocking member, a blocking wheel and a blocking cylinder. The blocking support and the blocking member are both special-shaped metal members. The blocking support is mounted on the upper end of the blocking cylinder, and the output end of the blocking cylinder passes through the through hole in the middle of the support. The raised portion in the middle of the blocking member is hinged to the blocking support. A pair of blocking wheels are mounted on the other end of the blocking member. When the piston rod of the blocking cylinder is retracted, the blocking wheel is higher than the height of the two chain conveyor tracks. When the piston rod of the blocking cylinder is extended, it pushes the blocking member to rotate, driving the blocking wheel to rotate to a height lower than the upper surface of the chain conveyor track. The non-return mechanism includes a non-return base, a non-return support member, a connecting rod, a non-return member and a non-return driving cylinder. The anti-return support and the anti-return member are both special-shaped metal parts, which are installed on the anti-return base. The anti-return support has a beveled edge on the side close to the blocking member, and a square groove is opened on the upper part of the anti-return support and passes through in the conveying direction. One end of the connecting rod is rotatably connected to the square groove, and the other end of the connecting rod is installed with the check piece. When the connecting rod is horizontal, there is a gap between the connecting rod and the lower edge of the square groove. The backstop comprises a counterweight portion and an abutting blocking portion, the counterweight portion being located at the bottom, a counterweight plate being installed on one side of the counterweight portion, the abutting blocking portion extending obliquely upward from above the counterweight portion to form a wedge-shaped end portion for blocking the door panel assembly mold device, a through pivot hole being provided at the connection between the counterweight portion and the abutting blocking portion, the backstop being rotatably mounted on the other end of the connecting rod through the pivot hole and the rotating shaft, When the piston rod of the non-return driving cylinder is retracted, the connecting rod extends downward at an angle, and the uppermost end of the wedge-shaped end of the blocking member is flush with the uppermost end of the non-return support member. When the piston rod of the non-return driving cylinder is extended, when the door panel assembly mold device passes through the non-return mechanism, the door panel assembly mold device presses down the abutting blocking part of the blocking member, and the blocking member rotates counterclockwise to release the door panel assembly mold device.

2. The door panel assembly equipment according to claim 1, Its characteristics are: in, The processing and conveying device includes three processing and conveying units, which are arranged below the screwing device, the riveting device, and the buckle installation device, and above the three reflux conveying units. The three processing and conveying units are located at the same height and convey along the processing and conveying direction. The processing and conveying control unit includes: A processing lifting control unit, used for controlling the mold pushing portion and the mold receiving portion to rise and fall until they are flush with the processing conveying unit; a first processing and conveying control unit, configured to control the mold pushing portion and the processing and conveying unit below the screw driving device to convey the door panel assembly mold device to below the screw driving device; a second processing and conveying control unit, configured to control the screw driving device and the two processing and conveying units below the riveting device to convey the door panel assembly mold device to below the riveting device; a third processing and conveying control unit, configured to control the riveting device and the two processing and conveying units below the clip installation device to convey the door panel assembly mold device to below the clip installation device; The fourth processing and conveying control unit is used to control the processing and conveying unit below the clip installation device and the mold receiving part to convey the door panel assembly mold device to the door panel removal device.

3. The door panel assembly equipment according to claim 2, Its characteristics are: in, The door panel placement device also has an operation terminal, which generates an assembly start signal after the assembly worker confirms the operation. The door panel assembly control device also includes: a screw driving control unit, configured to control the screw driving device and generate a screw driving completion signal when the screw driving operation is completed; a riveting control unit, configured to control the riveting device and generate a riveting completion signal when the riveting operation is completed; and The buckle installation control unit is used to control the buckle installation device and generate a buckle installation completion signal when the buckle installation operation is completed. When the first processing and conveying control unit receives the assembly start signal, it controls the mold pushing part and the processing and conveying unit below the screw driving device to convey. When the second processing and conveying control unit receives the screwing completion signal, it controls the screwing device and the two processing and conveying units below the riveting device to convey. When the third processing and conveying control unit receives the riveting completion signal, it controls the riveting device and the two processing and conveying units below the buckle installation device to convey. When receiving the buckle installation completion signal, the fourth processing and conveying control unit controls the processing and conveying unit below the buckle installation device and the mold receiving part to perform conveying.

4. The door panel assembly equipment according to claim 3, characterized in that: in, The door panel assembly mold device is provided with an electronic tag. The mold pushing part and the three processing and conveying units are each provided with a mold detection sensor for reading the electronic tag. When the mold detection sensor of the processing and conveying unit below the screw device reads the electronic tag, the first processing and conveying control unit controls the mold pushing part and the processing and conveying unit below the screw device to stop conveying. When the mold detection sensor of the processing and conveying unit below the riveting device reads the electronic tag, the second processing and conveying control unit controls the two processing and conveying units below the screw device and the riveting device to stop conveying. When the mold detection sensor of the processing and conveying unit below the buckle installation device reads the electronic tag, the third processing and conveying control unit controls the two processing and conveying units below the riveting device and the buckle installation device to stop conveying.

5. The door panel assembly equipment according to claim 3, characterized in that: in, The door panel assembly control device also includes: The assembly information storage unit stores the workpiece identification number of each automobile door panel workpiece and the corresponding assembly information, the assembly information including the number and position of screws, the number and position of rivets, and the number and position of snap-fit installations. The screw driving control unit controls the screw driving device to perform screw driving operations at each position in sequence according to the number and position of the screws in the assembly information. The riveting control unit controls the riveting device to perform riveting operations on each position in sequence according to the number and position of riveting in the assembly information. The buckle installation control unit controls the buckle installation device to perform buckle installation operations on each position in sequence according to the number and position of the buckle installation in the assembly information.

6. The door panel assembly equipment according to claim 5, characterized in that: in, The screwing device, the riveting device, and the snap-fit installation device all have a pressing mechanism for pressing the door panel assembly mold device carrying the automobile door panel workpiece. Before controlling the corresponding devices to start the assembly operation, the screw driving control unit, the riveting control unit, and the buckle installation control unit also control the corresponding pressing mechanisms to press the door panel assembly mold device.

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