Door panel assembly system

Abstract

The application provides a door plate assembly system, which comprises a mold device for door plate assembly, a mold storage device, a door plate placing device, a screwing device, a riveting device, a buckle mounting device, a door plate taking-out device, a processing conveying device and a return conveying device. The automobile door plate workpiece is placed in the mold device for flow transfer, the mold device loaded with the workpiece is conveyed to the screwing device, the riveting device and the buckle mounting device in sequence by the processing conveying device, so that the automobile door plate workpiece can be sequentially subjected to the screwing, riveting and buckle mounting processes; the door plate taking-out device conveys the assembled automobile door plate out; and the return conveying device conveys the used mold device back to the door plate placing device for use by the next workpiece. The mold storage device comprises a plurality of storage conveying units arranged behind the door plate placing device, two conveying tracks are used to load and convey the mold device, the mold device can be stored behind the last work station, and the structure is simple and easy to deploy and maintain.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automobile part manufacturing, and particularly relates to a door panel assembly system. BACKGROUND

[0002] The assembly of an automobile door panel generally includes multiple procedures such as screwing, riveting, installing buckles, quality inspection, etc. At present, in the assembly process, an operator generally places the door panel workpiece on the corresponding workbench, fixes and presses it, and then sequentially operates each procedure. Such an assembly mode has multiple problems: first, the door panel workpiece is large in size and heavy in weight, so the operator has a high labor intensity and low production efficiency; second, the door panel workpiece is large in size, and is prone to bumps during the carrying process, which affects the quality or yield of the finished product; third, the operator needs to switch multiple processing tools to sequentially perform multiple different procedures, which is low in production efficiency, and manual operation is prone to errors during screwing and riveting, which affects the quality of the finished product.

[0003] Therefore, there is an urgent need for a door panel assembly line that can automatically or semi-automatically perform each procedure to improve production efficiency and reduce labor intensity. Accordingly, a mold device is needed, in which the automobile door panel workpiece to be assembled can be placed and transferred to avoid bumps during the transfer process. To avoid manual carrying and switching of the mold device, a mold storage device that can transport and store the mold device is also needed. SUMMARY

[0004] The present application is made to solve the above problems, and aims to provide a door panel assembly system that can sequentially complete each assembly procedure in different stations and can transport and store the mold device. The present application adopts the following technical solutions:

[0005] The application provides a door panel assembly system, characterized in that the system comprises: a door panel assembly mold device for placing a door panel workpiece to be assembled; a door panel placing device for placing the door panel assembly mold device; a screwing device for screwing the door panel workpiece; a riveting device for riveting the door panel workpiece; a buckle mounting device for mounting buckles on the door panel workpiece; a door panel taking-out device for conveying the completed door panel workpiece to a predetermined position; a mold storage device arranged behind the door panel taking-out device, comprising a plurality of storage conveying units arranged in sequence, for taking and storing the idle door panel assembly mold device from the door panel taking-out device; a processing conveying device for conveying the door panel assembly mold device with the door panel workpiece to the screwing device, the riveting device and the buckle mounting device in sequence; and a return conveying device for conveying the idle door panel assembly mold device back to the screwing device or the riveting device, wherein each storage conveying unit comprises two parallel conveying tracks with a spacing suitable for the width of the door panel assembly mold device, for placing and conveying the door panel assembly mold device.

[0006] The door panel assembly system provided by the application can also have the following technical features: the spacing between two adjacent storage conveying units is less than the length of the door panel assembly mold device, the conveying tracks of the storage conveying units can switch the conveying direction, the conveying direction is parallel to the arrangement direction of the plurality of storage conveying units, and the door panel taking-out device is provided with a mold taking-out part that can be lifted and switch the conveying direction, for conveying the door panel assembly mold device in conjunction with the storage conveying units.

[0007] The door panel assembly system provided by the application can also have the following technical features: each storage conveying unit further comprises: a storage blocking mechanism arranged between the two conveying tracks and located at one end away from the door panel taking-out device, for blocking one end of the door panel assembly mold device placed on the conveying tracks; and a storage check mechanism arranged between the two conveying tracks and located at one end close to the door panel taking-out device, for blocking the other end of the door panel assembly mold device placed on the conveying tracks.

[0008] The door panel assembly system provided by the application can also have the following technical features: each conveying track comprises: a driving wheel; a driven wheel; and a synchronous belt sleeved on the driving wheel and the driven wheel, the storage conveying unit further comprises: a transmission shaft with two ends connected to the two driving wheels through bearings; and a storage driving motor with an output end connected to one of the driving wheels, for driving the two synchronous belts to rotate.

[0009] The door plate assembly system provided by the present application can further have the technical features that the processing conveying device comprises three upper conveying units arranged in the screwing device, the riveting device and the buckle mounting device respectively, the three upper conveying units are arranged at the same height and have the same conveying direction, the door plate placing device has a liftable door plate pushing unit, and the door plate pushing unit can switch the conveying direction to convey the door plate assembly mold device to the upper conveying units.

[0010] The door plate assembly system provided by the present application can further have the technical features that the processing conveying device comprises three upper conveying units arranged in the screwing device, the riveting device and the buckle mounting device respectively, the three upper conveying units are arranged at the same height and have the same conveying direction, the door plate placing device has a liftable door plate pushing unit, and the door plate pushing unit can switch the conveying direction to convey the door plate assembly mold device to the upper conveying units.

[0011] The door plate assembly system provided by the present application can further have the technical features that the door plate assembly mold device comprises a support unit for placing the automobile door plate workpiece and a cover plate rotatably connected to the support unit, a plurality of pressing heads are arranged on the cover plate to press the automobile door plate workpiece when the cover plate is closed, the buckle mounting device comprises a buckle mounting pressing mechanism for pressing the door plate assembly mold device in the closed state, a buckle mounting support unit for placing the buckle to be assembled, a buckle feeding unit for conveying the buckles to the buckle mounting support unit in sequence, and a buckle mounting mechanism for grabbing the buckle from the buckle mounting support unit by a mechanical hand and mounting the buckle on a predetermined buckle mounting position of the automobile door plate workpiece.

[0012] The door plate assembly system provided by the application can also have the following technical features: the door plate taking-out device comprises a door plate taking-out mechanism for taking out the assembled automobile door plate workpiece from the buckle mounting device; a detection camera module for detecting the assembled automobile door plate workpiece; a workpiece conveying module for conveying the assembled automobile door plate workpiece to a predetermined position; and a door plate grabbing module for grabbing the assembled automobile door plate workpiece for shooting and placing on the workpiece conveying module, wherein the detection camera module comprises an upper camera assembly comprising a plurality of cameras arranged above the door plate taking-out mechanism for shooting the assembled automobile door plate workpiece from above, and a lower camera assembly comprising a plurality of cameras arranged below for shooting the assembled automobile door plate workpiece from below, the lower camera assembly is arranged in a vertical direction offset from the upper camera assembly, and the door plate grabbing module is used for grabbing the assembled automobile door plate workpiece and moving above the lower camera assembly for shooting.

[0013] The door plate assembly system provided by the application can also have the following technical features: the screw driving device comprises a screw driving pressing mechanism for pressing the mold device in the closed state, a screw driving mechanism for screwing the automobile door plate workpiece, and a screw driving moving mechanism for moving the screw driving mechanism to each predetermined screwing position of the automobile door plate workpiece.

[0014] The door plate assembly system provided by the application can also have the following technical features: the riveting device comprises a riveting pressing mechanism for pressing the mold device in the closed state, a riveting mechanism for riveting the automobile door plate workpiece, and a riveting moving mechanism for moving the riveting mechanism to each predetermined riveting position of the automobile door plate workpiece.

[0015] Inventive action and effect

[0016] The door plate assembly system according to the present application comprises a door plate assembly mold device, a mold storage device, a door plate placing device, a screwing device, a riveting device, a buckle installation device, a door plate taking-out device, a processing conveying device and a return conveying device. The door plate assembly mold device is used for placing a door plate workpiece to be assembled, so that the door plate workpiece can be kept stable during processing and is prevented from being bumped during conveying between different devices. The processing conveying device is used for conveying the mold device with the door plate workpiece to the screwing device, the riveting device and the buckle installation device in sequence, so that the door plate workpiece can be screwed, riveted and buckled in sequence. The door plate taking-out device conveys the assembled door plate workpiece. The return conveying device is used for conveying the used mold device back to the door plate placing device for use by the next door plate workpiece. The mold storage device comprises a plurality of storage conveying units arranged behind the door plate placing device. The mold device is placed and conveyed by two parallel conveying tracks, so that the mold device can be stored after the last assembly station, and the structure is simple and easy to deploy and maintain.

[0017] As described above, by the system of the present application, not only can each process of door plate assembly be automatically completed, but also the used mold device can be stored and reused, so that manual workpiece and mold device conveying is not needed, product switching can be handled, a large amount of manpower and time can be saved, and the overall production efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a structural schematic diagram of a door plate assembly system in an embodiment of the present application;

[0019] Figure 2 is a perspective view of a door plate placing device in an embodiment of the present application;

[0020] Figure 3 is a perspective view of part of the structure of a door plate placing device in an embodiment of the present application;

[0021] Figure 4 is a perspective view of a mold device in an embodiment of the present application;

[0022] Figure 5 is a perspective view of the mold device in an open state in an embodiment of the present application;

[0023] Figure 6 is a structural diagram of a bottom guide block of a door plate assembly mold device in an embodiment of the present application;

[0024] Figure 7 is a structural schematic diagram of a U-shaped opening and closing arm cooperating with a rotary driving mechanism in an embodiment of the present application;

[0025] Figure 8 is a perspective view of a mold pushing part in an embodiment of the present application;

[0026] Figure 9 is a perspective view of the door plate placement lifting mechanism in the embodiment of the present application;

[0027] Figure 10 is a perspective view of the door plate placement blocking mechanism in the embodiment of the present application;

[0028] Figure 11 is a perspective view of the door plate placement check mechanism in the embodiment of the present application;

[0029] Figure 12 is a structure diagram of the door plate placement check mechanism reverse release in the embodiment of the present application;

[0030] Figure 13 is a structure diagram of the door plate placement check mechanism forward release in the embodiment of the present application;

[0031] Figure 14 is a perspective view of the screw driving device in the embodiment of the present application;

[0032] Figure 15 is a perspective view of the screw driving pressing mechanism in the embodiment of the present application;

[0033] Figure 16 is a state diagram of the screw driving pressing mechanism pressing the door plate assembly mold device in the embodiment of the present application;

[0034] Figure 17 is a perspective view of the screw driving moving mechanism in the embodiment of the present application;

[0035] Figure 18 is a perspective view of the first horizontal moving unit in the embodiment of the present application;

[0036] Figure 19 is a perspective view of the second horizontal moving unit in the embodiment of the present application;

[0037] Figure 20 is a perspective view of the screw driving lifting unit in the embodiment of the present application;

[0038] Figure 21 is a top view of the partial structure of the buckle installation device in the embodiment of the present application;

[0039] Figure 22 is Figure 21 is an enlarged view of the inner part of the middle frame C;

[0040] Figure 23 is a perspective view of the buckle installation support part in the embodiment of the present application;

[0041] Figure 24 is a perspective view of the buckle installation mechanism in the embodiment of the present application;

[0042] Figure 25 This is a perspective view of the snap-fit ​​mounting component in an embodiment of the present invention;

[0043] Figure 26 This is a perspective view of the buckle detection unit in an embodiment of the present invention;

[0044] Figure 27 This is a perspective view of the door panel removal device in an embodiment of the present invention;

[0045] Figure 28 This is a perspective view of the door panel gripping module gripping a car door panel workpiece in an embodiment of the present invention;

[0046] Figure 29 This is a perspective view of the mold storage device in an embodiment of the present invention;

[0047] Figure 30 This is a perspective view of the storage and transport unit in an embodiment of the present invention;

[0048] Figure 31 This is a schematic diagram of the mold conveying device along the processing direction in an embodiment of the present invention;

[0049] Figure 32 This is a schematic diagram of the mold conveying device along the return flow direction in an embodiment of the present invention. Detailed Implementation

[0050] To make the technical means, creative features, objectives and effects of the present invention easy to understand, the door panel assembly system of the present invention will be specifically described below in conjunction with embodiments and accompanying drawings.

[0051] <Example>

[0052] Figure 1 This is a structural schematic diagram of the door panel assembly system in this embodiment.

[0053] like Figure 1 As shown, the door panel assembly system 1000 includes a door panel placement device 10, a screw-driving device 30, a riveting device 40, a snap-fit ​​installation device 50, a door panel removal device 60, a processing conveying device 71, a return conveying device 72, and a mold storage device 100.

[0054] The door plate placing device 10 is the first station in the system and is used to receive the automobile door plate workpiece to be assembled. The screwing device 30 is the second station and is used to screw. The riveting device 40 is the third station and is used to rivet. The buckle installing device 50 is the fourth station and is used to install the buckle. The door plate taking-out device 60 is the fifth station and is used to deliver the assembled automobile door plate workpiece. The automobile door plate workpiece to be assembled is placed in a mold device for door plate assembly (hereinafter referred to as a mold device) so as to flow between the stations. The conveying device for processing 71 is arranged in the second to fourth stations and is used to convey the automobile door plate workpiece to be assembled to the stations in sequence for corresponding assembly operations. The backflow conveying device 72 is also arranged in the second to fourth stations and is arranged below the conveying device for processing 71 and is used to backflow the corresponding mold device by using the space below after the assembly of one automobile door plate workpiece is completed. The mold storage device 100 is used to recycle and temporarily store the used mold device and is used to take out the corresponding mold device and place it in the assembly station.

[0055] The structure and function of each part will be described in detail below.

[0056] Figure 2 is a perspective view of the door plate placing device in the embodiment.

[0057] Figure 3 is a perspective view of part of the structure of the door plate placing device in the embodiment.

[0058] As shown in Figures 2-3 , the door plate placing device 10 is the first station in the system and is used to place the mold device 20. The structure thereof corresponds to the design of the mold device 20, and therefore the structure and function of the mold device 20 will be described first below.

[0059] Figure 4 is a perspective view of the mold device in the embodiment.

[0060] Figure 5 is a perspective view of the mold device in the open state in the embodiment.

[0061] As shown in Figures 4-5 , the mold device 20 includes a support unit 21, a cover plate 22, and a connecting unit 23.

[0062] The support unit 21 includes a support frame 211, a support mold tire (not shown in the figure), and a plurality of mold tire fixing members 212. The support frame 211 is welded by square steel bars and steel sheets and is used to place the support mold tire.

[0063] Figure 6 is a structural view of the bottom guide block of the mold device for door plate assembly in the embodiment.

[0064] As shown in Figure 6 The support frame 211 is provided with four guide blocks 2111 below, and a downward circular groove is formed 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 jacking cylinders on the assembly station can be respectively embedded in the four circular grooves to jack up the mold device 20, thereby positioning and fixing the mold device 20.

[0065] The plurality of mold tire fixing members 212 are L-shaped metal pieces, respectively installed above the square rods of the support frame 211, and face different directions, wherein the structure for installing the support mold tire is formed between the plurality of mold tire fixing members 212. The support mold tire is clamped between the plurality of mold tire fixing members 212.

[0066] The cover plate 22 is rotatably connected to the support unit 21, used to press the door plate workpiece on the support unit 21, thereby fixing the door plate workpiece. The cover plate 22 includes a cover plate frame 221 welded by aluminum profiles, a pair of limiting members 222, a plurality of pressing heads 223, and a U-shaped opening and closing arm 224.

[0067] The pair of limiting members 222 are L-shaped metal pieces, respectively installed on both sides of the cover plate frame 221. When the cover plate 22 is rotated to the position of the support unit 21, the end portion of the limiting member 222 extends and abuts with the square rod on both sides of the cover plate frame 221, thereby achieving the limiting effect.

[0068] The pressing head 223 is composed of a metal round rod and an elastic member wrapped at the end of the metal round rod. The other end of the metal round rod is welded to the cover plate frame 221. The metal round rod is perpendicular to the surface direction of the cover plate frame 221 and extends towards the support unit 21. The arrangement of the plurality of pressing heads 223 and the extension length of each pressing head 223 are matched with the upper surface of the automobile door plate workpiece to be pressed and fixed. The plurality of pressing heads 223 are used to abut with different parts of the upper surface of the automobile door plate workpiece when the cover plate 22 is rotated and closed, thereby pressing and fixing the automobile door plate workpiece.

[0069] Figure 7 It is a structure diagram of the U-shaped opening and closing arm cooperating with the rotary driving mechanism in this embodiment.

[0070] As shown in Figure 7As shown, the U-shaped opening and closing arm 224 is a substantially U-shaped metal piece, which is fixedly installed on one side of the cover plate frame 221 connected with the support unit 21 by a connecting piece such as a screw, and the opening of the U-shaped opening and closing arm 224 faces outward, and an obtuse angle is formed between the U-shaped opening and closing arm 224 and the cover plate frame 221. When the cover plate 22 is closed, that is, the face direction of the cover plate frame 221 is substantially consistent with the horizontal direction, the opening of the U-shaped opening and closing arm 224 is inclined upward. The U-shaped opening and closing arm 224 is used to be inserted with the rotary driving mechanism in the assembly station, so as to drive the cover plate frame 221 to rotate under the driving of the rotary driving mechanism.

[0071] The connecting unit 23 is used to connect the support unit 21 and the cover plate 22, and the connecting unit 23 comprises a connecting support 231, a rotating shaft 232, two pairs of bearing assemblies 233, and a damping assembly 234.

[0072] The connecting support 231 is a metal support, which is installed on one side of the support frame 211, and the rotating shaft 232 is installed on the connecting support 231. The extension direction of the rotating shaft 232 is consistent with the extension direction of the square rod of the side of the support frame 211. The cover plate frame 221 is installed on the rotating shaft 232 through the two pairs of bearing assemblies 233, and can rotate along the rotating shaft 232. The middle part of one side of the cover plate frame 221 is connected to the connecting support 231 through the damping assembly 234, and the damping assembly 234 can enable the cover plate 22 to receive a certain resistance when rotating, so as to limit the rotating speed thereof.

[0073] It should be noted that since there are various models of door plate products, there are various different mold devices 20 corresponding thereto, the structure of the cover plate frame 221, the structure and distribution of the pressing head 223 are different, but the overall size of all the mold devices 20 is consistent, so the same structure of the conveying mechanism can be used to transfer them.

[0074] In addition, in the embodiment, an electronic tag (RFID) is arranged on the automobile door plate workpiece, and the model of the automobile door plate workpiece can be identified by reading the electronic tag. A product detection sensor (not shown in the figure) for reading the electronic tag is also arranged on the mold device 20, and the product detection sensor is transmitted with electric energy by a wireless energy stick. An electronic tag is also arranged at the bottom of the mold device 20, and the model of the mold device 20 can be identified by reading the electronic tag. A mold detection sensor for reading the electronic tag is arranged in the door plate placing device 10.

[0075] As shown in Figures 2-3 The door plate placing device 10 comprises a door plate placing mechanism 11, a door plate placing lifting mechanism 15, and a door plate placing blocking mechanism (not shown due to structural obstruction).

[0076] The door plate placing mechanism 11 is used for positioning, opening and closing and pushing the mold device 20 in the current station, and comprises a mold pushing part 12, a jacking positioning part 13 and a rotating driving part 14.

[0077] Figure 8 Fig. 3 is a perspective view of the mold pushing part in the embodiment.

[0078] As shown in Fig. 3, the mold pushing part 12 comprises two chain conveying tracks 121, a transmission shaft 122 and a chain track driving motor 123. Figure 8

[0079] The two chain conveying tracks 121 are arranged in parallel, and the distance between them matches the width of the mold device 20. When the mold device 20 is placed on the chain conveying tracks 121, the mold device 20 is placed on the two chain conveying tracks 121 respectively at both sides in the width direction, so that the position of the mold device 20 in the current station can be moved. The chain conveying track comprises a driving gear and a ring chain sleeved on the driving gear, and the specific structure is prior art, which will not be described here. In the embodiment, the chain conveying track 121 adopts a double-speed chain, which can speed up the conveying pace.

[0080] In addition, the outer side of the two chain conveying tracks 121 is provided with an outer baffle 124, and the height of the upper edge of the outer baffle 124 is higher than the upper end surface of the chain conveying track 121, so as to form a clamping structure for the mold device 20 on the chain conveying track 121, avoiding the inclination or even falling of the mold device 20 during conveying, and also protecting the chain.

[0081] The two ends of the transmission shaft 122 are connected to the two driving gears of the two chain conveying tracks 121 through bearing assemblies respectively, so as to keep the conveying speeds of the two chain conveying tracks 121 consistent, thereby stably conveying the mold device 20.

[0082] The chain track driving motor 123 is used for driving the chain of the chain conveying track 121 to rotate. Since the transmission shaft 122 is arranged, under the driving of the chain track driving motor 123, the two chain conveying tracks 121 rotate synchronously in the same direction.

[0083] ​The jacking positioning part 13 includes four jacking cylinders 131, which are arranged on the bracket in the door panel placing device 10, are distributed on the four corners of the rectangle, are located at the same vertical height, and correspond to the arrangement of the four positioning blocks 2111 at the bottom of the mold device 20. The output end of the jacking cylinder 131 matches the circular positioning groove of the positioning block 2111 and can be embedded in the circular positioning groove. When jacking positioning is performed, the four jacking cylinders 131 simultaneously jack up, the output end abuts against the bottom surface of the circular positioning groove, and thus the mold device 20 is stably jacked up.

[0084] When the mold device 20 is jacked up and positioned, the cover plate 22 can be opened to perform inspection or assembly work of the automobile door panel workpiece at the current work station.

[0085] As shown in FIG. 4, the rotary driving part 14 is used to rotate the cover plate 22 of the mold device 20 to open or close, and includes a rotary driving motor 141, a rotary transmission assembly 142, and a rotary limiting assembly 143. Figure 6

[0086] The rotary driving motor 141 is used to drive the cover plate 22 to rotate.

[0087] The rotary transmission assembly 142 includes a bearing 1421, an opening and closing rod 1422, and a circular pushing piece 1423. The opening and closing rod 1422 has two circular ends, one end is larger than the other end, gradually narrows from the larger end to the smaller end, and a circular mounting hole is formed in the larger end. The opening and closing rod 1422 is installed on the output end of the rotary driving motor 141 through the circular mounting hole and the bearing 1421, and can swing in the vertical direction under the drive of the rotary driving motor 141. The circular pushing piece 1423 is rotatably installed on the smaller end of the opening and closing rod 1422 through bolts, nuts, or other connecting pieces, and the diameter of the circular pushing piece 1423 matches the opening width of the U-shaped opening of the U-shaped opening and closing arm 224 of the mold device 20, can be embedded in the U-shaped opening, and pushes one side of the U-shaped opening, thereby driving the cover plate 22 to open and close.

[0088] In addition, the setting of the initial position of the opening and closing rod 1422 corresponds to the setting of the jacking position of the jacking positioning part 32. When the mold device 20 is jacked up to the position by the jacking positioning part 32, the circular pushing piece 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.

[0089] ​The rotation limiting assembly 143 includes four strip hole plates 1431 and four proximity sensors 1432 for limiting the maximum stroke of the opening and closing rod 1422. The proximity sensors 1432 are all installed in the strip-shaped holes of the strip hole plates 1431, two of the proximity sensors 1432 are installed above the output end of the rotary drive motor 141, and the other two are installed below. When the proximity sensors 1432 above and below sense the opening and closing rod 1422, it means that the cover plate 22 has been opened and closed to the position.

[0090] Figure 9 is a perspective view of the door plate placing lifting mechanism in the embodiment.

[0091] As shown in Figure 2 , 9 , the door plate placing lifting mechanism 15 includes a support 151, a plurality of vertical guide rails 152, a bracket 153, a lifting transmission assembly 154, a lifting drive motor 155, and a counterweight cylinder 156.

[0092] The support 151 includes two shorter front supporting rods 1511 and two longer rear supporting rods 1512 to provide support for lifting. Four vertical guide rails 152 are installed on the four supporting rods respectively. The bracket 153 is a metal frame, which is L-shaped from the side view, and a plurality of sliding blocks 1531 are installed thereon and slidably embedded with the four vertical guide rails 152 to form a guide fit. In addition, a mold detection sensor (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.

[0093] The lifting drive motor 155 drives the bracket 153 to lift through the lifting transmission assembly 154.

[0094] The lifting transmission assembly 154 includes a lead screw 1541 extending in the vertical direction arranged between the two rear supporting rods 1512, a lead screw nut (not shown in the figure) installed on the lead screw 1541, and an adapter block 1542 installed on the lead screw 1541 and abutted by the lead screw nut. The bracket 153 is arranged on the lead screw 1541 through the adapter block 1542. Under the drive of the lifting drive motor 155, the lead screw 1541 drives the bracket 153 to lift, which is not described in detail as it is prior art.

[0095] The counterweight cylinder 156 is arranged on the lifting drive motor 155 for lifting the lifting drive motor 155 upward, thereby reducing the weight on one side of the lifting drive motor 155.

[0096] Figure 10 is a perspective view of the door plate placing blocking mechanism in the embodiment.

[0097] As shown in Figure 10As shown, the door panel placement blocking mechanism 17 is arranged between two chain conveyor tracks 121 and is located on the side closer to the next station to prevent the mold device 20 from being transported forward by mistake. The door panel placement blocking mechanism 17 includes a blocking support 171, a blocking member 172, a blocking wheel 173, and a blocking cylinder 174.

[0098] Both the blocking support 171 and the blocking member 172 are irregularly shaped metal parts. The blocking support 171 is mounted 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 protruding 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 abuts against the output end of the blocking cylinder 174, and the other end is equipped with a pair of blocking wheels 173. Figure 10 In the current state, the output end of the blocking cylinder 174 retracts, and the blocking wheel 173 is higher than the height of the two chain conveyor tracks 121, thereby blocking the mold device 20 placed on the chain conveyor tracks 121. When the output end of the blocking cylinder 174 extends, it pushes the blocking member 172 to rotate, causing the blocking wheel 173 at one end to rotate to a height lower than the upper surface of the chain conveyor track 121, thereby allowing the placed mold device 20 to pass.

[0099] Figure 11 This is a perspective view of the check mechanism for door panel placement in this embodiment.

[0100] like Figure 11 As shown, the door panel placement blocking mechanism 16 is arranged between two chain conveyor tracks 121 and located on the side closer to the previous station to prevent the mold device 20 from accidentally flowing back. The door panel placement blocking mechanism 16 includes a base 161, a blocking support 162, a connecting rod 163, a blocking member 164, and a blocking drive cylinder 165.

[0101] The base 161 is mounted on the bracket 153.

[0102] The blocking support 162 is an irregularly shaped metal part, which is mounted on the base 161 by screws or other connecting parts. The blocking support 162 has a beveled edge 1621 on the side near the blocking member 164, and the inclination angle of the beveled edge 1621 corresponds to the setting of the blocking member 164. A square groove 1622 is formed in the upper part of the blocking support 162, and the square groove 1622 runs through the conveying direction.

[0103] The connecting rod 163 is a square metal rod, one end of which is arranged in the square groove 1622 of the blocking support 162 and is rotatably connected in the square groove 1622 through a rotating shaft, and the other end is used for mounting the blocking piece 164. When the connecting rod 163 is rotated to extend in the horizontal direction, there is a gap between the connecting rod 163 and the lower edge of the square groove 1622, and when the connecting rod 163 abuts against the lower edge of the square groove 1622, the connecting rod 163 extends downwardly and obliquely.

[0104] The blocking piece 164 is a special-shaped metal piece, which has a counterweight part 1641 and an abutting blocking part 1642. The counterweight part 1641 is located at the lower side and is used for mounting a counterweight piece. In the embodiment, two counterweight pieces 166 made of metal are mounted on one side of the counterweight part 1641. The abutting blocking part 1642 extends upwardly and obliquely from the upper side of the counterweight part 1641, and as viewed from the side, the abutting blocking part 1642 gradually narrows outwardly from the counterweight part 1641, forming a wedge-shaped end part, which is used for blocking the mold device 20. A through pivot hole 1643 is formed at the connection between the counterweight part 1641 and the abutting blocking part 1642, and the blocking piece 164 is rotatably mounted at one end of the connecting rod 163 through the pivot hole 1643 and a corresponding rotating shaft.

[0105] In addition, a limiting groove 1644 is arranged on one side of the wedge-shaped end part of the blocking piece 164, the limiting groove 1644 extends from the abutting blocking part 1642 to the counterweight part 1641, the limiting groove 1644 is closed at one end of the abutting blocking part 1642 and is through downwardly at one end of the counterweight part 1641, and the limiting groove 1644 is used for limiting the rotation range of the blocking piece 164. When the blocking piece 164 is rotated to the position in the counterclockwise direction, the abutting blocking part 1642 (wedge-shaped end part) abuts against the bevel part 1621 of the blocking support 162, and the upper edge of the limiting groove 1644 abuts against the connecting rod 163, so that the blocking piece 164 cannot be further rotated counterclockwise; when the blocking piece 164 is rotated to the position in the clockwise direction, the lower edge of the limiting groove 1644 abuts against the output end of the blocking driving cylinder 165, so that the blocking piece 164 cannot be further rotated clockwise.

[0106] The blocking driving cylinder 165 is used for driving the blocking piece 164 to block or release the mold device 20, and the blocking driving cylinder 165 is embedded in the base 161, and the piston rod 1651 of the blocking driving cylinder 165 extends upwardly from the base 161. Figure 3The diagram shows the structure of the door panel placement blocking mechanism in the blocking state. At this time, the piston rod 1651 of the blocking drive cylinder 165 extends, and the upper end of the piston rod 1651 abuts against the connecting rod 163, keeping the connecting rod 163 in a horizontally extending position. The side of the piston rod 1651 abuts against the limiting groove 1644 of the blocking member 164. At this time, the abutting blocking part 1642 of the blocking member 164 abuts against the side of the mold device 20, and under the action of the piston rod 1651, the blocking member 164 cannot rotate clockwise, thereby blocking the mold device 20 and keeping the mold device 20 at a predetermined position in the work station.

[0107] Figure 12 This is a schematic diagram of the reverse release structure of the door panel placement blocking mechanism in this embodiment, that is, releasing the mold device 20 in the return flow direction.

[0108] like Figure 12 As shown, since a counterweight 166 is provided on one side of the blocking member 164, in the initial state (i.e. when the piston rod 1651 of the blocking drive cylinder 165 retracts), the connecting rod 163 extends downward at a slight angle, and the uppermost end of the wedge-shaped end of the blocking member 164 is approximately flush with the uppermost end of the blocking support member 162, thereby releasing the mold device 20 along the D3 direction.

[0109] Figure 13 This is a schematic diagram of the door panel placement blocking mechanism in this embodiment, which releases the mold device 20 along the processing and conveying direction.

[0110] like Figure 13 As shown, when the piston rod 1651 of the blocking drive cylinder 165 extends, when the mold device 20 moves in the direction shown in D4 past the door panel placement blocking mechanism 16, the mold device 20 presses down the abutting blocking part 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.

[0111] In addition, such as Figure 2 As shown, the door panel placement device 10 also includes a camera (not shown) mounted on top and an operation terminal 19. In this embodiment, the camera is a camera used to photograph the automotive door panel workpiece in the current workstation for quality inspection; the operation terminal 19 is used by the operator to start and control the corresponding operation process of the current workstation.

[0112] Figure 14 This is a perspective view of the screw-driving device in this embodiment.

[0113] like Figure 14As shown, the screwing device 30 as the second station includes a screwing pressing mechanism 31, a screwing moving mechanism 32 and a screwing mechanism (not shown due to structural obstruction).

[0114] Figure 15 is a perspective view of the screwing pressing mechanism in the embodiment.

[0115] Figure 16 is a state schematic view of the screwing pressing mechanism pressing the mold device for assembling the door panel in the embodiment.

[0116] As shown, Figures 15-16 the screwing pressing mechanism 31 is installed on the support and can press the mold device 20. The screwing pressing mechanism 31 includes a pressing unit 311, a jacking unit 312 and a protective baffle 313.

[0117] The pressing unit 311 includes a plurality of pressing blocks 3111 and can press the cover plate 22. In the embodiment, the number of the pressing blocks 3111 is two, and the two pressing blocks 3111 are symmetrically arranged above the cover plate 22 and are respectively used for pressing the two side edges in the length direction of the cover plate 22.

[0118] Each pressing block 3111 includes a main plate 31111, a bottom plate 31112 arranged at the bottom of the main plate 31111 and a reinforcing rib 31113 connecting the main plate 31111 and the bottom plate 31112. The main plate 31111 is connected to the support, and the reinforcing rib 31113 is arranged at the side of the main plate 31111. In the embodiment, the reinforcing rib 31113 is two and is arranged at the two ends of the main plate 31111.

[0119] The jacking unit 312 can push the mold device 20 to rise, and includes a plurality of jacking blocks 3121 and a jacking driving assembly 3122.

[0120] The jacking block 3121 is arranged below the support unit and is used for supporting the mold device 20. In the embodiment, the jacking block 3121 is a rectangular block, and four jacking blocks 21 are symmetrically arranged in pairs, which can stably support the four corner parts of the mold device 20 when jacking.

[0121] As described above, the bottom of the support unit 21 has four positioning blocks 2111, and the four positioning blocks 2111 have positioning grooves. The jacking unit 312 further includes positioning columns 3123 arranged at the top of each jacking block 3121 and matched with the positioning grooves, which are used for positioning the mold device 20. In the embodiment, the positioning columns 3123 are two and are arranged on the two jacking blocks 3121 on the diagonal line.

[0122] The number of the driving assemblies 3122 for jacking is equal to the number of the jacking blocks 3121, and the driving assemblies 3122 for jacking are connected with the jacking blocks 3121 one by one, which can drive the jacking blocks 3121 to lift the mold device 20, so that the cover plate 22 abuts against the pressing block 3111. Each driving assembly 3122 for jacking includes a cylinder main body 31221, a push rod 31222, and two guide rods 31223. The cylinder main body 31221 has guide channels 31221a on both sides which are matched with the guide rods 31223. One end of the guide rods 31223 is movably arranged in the cylinder main body 31221 through the guide channels 31221a, and the other end is connected with the jacking block 3121. The push rod 31222 is parallel to the two guide rods 31223, one end of the push rod 31222 is connected with the cylinder main body 31221, and the other end is connected with the jacking block 3121. The push rod 31222 is driven by the cylinder main body 31221 to lift, thereby driving the jacking block 3121 to lift.

[0123] A protective baffle 313 is arranged above the cylinder main body 31221 and is installed on the support through a plurality of fixing members, which can protect the cylinder main body 31221. The protective baffle 313 is provided with jacking holes 3131 matched with the jacking blocks 3121, which can be passed through by the jacking blocks 3121 when lifting.

[0124] When the mold device 20 with the automobile door plate workpiece is transferred to the current station, the four driving assemblies 3122 for jacking drive the four jacking blocks 3121 to synchronously lift, the positioning columns 3123 on the top of the jacking blocks 3121 are inserted into the positioning grooves at the bottom of the support unit 21 to position the mold device 20, the jacking blocks 3121 continue to lift to lift the mold device 202 on the upper conveying unit 711, until the cover plate 22 abuts against the pressing block 3111, so that the mold device 20 and the automobile door plate workpiece therein are pressed. Then, the screw driving operation of the current station can be performed. That is, when the second station performs the screw driving operation, the mold device 20 does not need to be opened, but can be operated through the gap between the metal rods of the cover plate 22. Similarly, the assembly operations of the third and fourth stations also do not need to open the cover plate 22. In the first station, the cover plate 22 needs to be opened to put in the automobile door plate workpiece, and in the fifth station, the cover plate 22 needs to be opened to take a photograph of the assembled automobile door plate workpiece for inspection.

[0125] After the process of the current station is completed, the jacking unit 312 lowers the mold device 20, and then the mold device 20 is transferred to the next station under the action of the upper conveying unit 711.

[0126] The end shape of the screw driving mechanism is similar to that of a screwdriver, and can rotate and press down to drive the screw. The screw driving mechanism is a prior art, and will not be described in detail.

[0127] Figure 17is a perspective view of the screwing moving mechanism in the embodiment.

[0128] As shown in Figure 17 , the screwing moving mechanism 32 is used to drive the screwing mechanism to move to each predetermined screwing position. The screwing moving mechanism 32 comprises a first horizontal moving unit 321, a second horizontal moving unit 322 and a screwing lifting unit 323.

[0129] Figure 18 is a perspective view of the first horizontal moving unit in the embodiment.

[0130] As shown in Figure 18 , the first horizontal moving unit 321 comprises a first driving member, a first guide rail 3212 and a first moving member 3213 movably arranged on the first guide rail 3212. In the embodiment, the first driving member is a motor connected with the first moving member 3213 through a screw structure, thereby driving the first moving member 3213 to move along the first guide rail 3212. The first moving member 3213 is two, sleeved on the same first guide rail 3212.

[0131] The second horizontal moving unit 322 is arranged on the first moving member 3213, and the number of the second horizontal moving unit 322 is equal to the number of the first moving member 3213. In the embodiment, the second horizontal moving unit 322 is two, respectively corresponding to the two first moving members 3213.

[0132] Figure 19 is a perspective view of the second horizontal moving unit in the embodiment.

[0133] As shown in Figure 19 , each second horizontal moving unit 322 comprises a second driving member 3221, a second guide rail 3222 and a second moving member 3223 movably arranged on the second guide rail 3222. In the embodiment, the second driving member 3221 is a motor connected with the second moving member 3223 through a screw structure, thereby driving the second moving 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.

[0134] Two screwing lifting units 323 are arranged on the second moving member 3223, respectively corresponding to the two second horizontal moving units 322.

[0135] Figure 20 is a perspective view of the screwing lifting unit in the embodiment.

[0136] As shown in Figure 20As shown, each screw-driving lifting unit 323 includes a lifting drive component 3231, a lifting rail 3232, and a mounting component 3233 that is movably mounted on the lifting rail 3232. The lifting drive component 3231 is a motor connected to the mounting component 3233 via a lead screw structure, used to drive the mounting component 3233 to move along the lifting rail 3232. The length direction of the lifting rail 3232 is perpendicular to the plane containing the first guide rail 3212 and the second guide rail 3222. The mounting component 3233 is used to mount the screw-driving mechanism 33, enabling the screw-driving mechanism 33 to move synchronously under the drive of the mounting component 3233, thereby performing screw-driving operations at different points on the automotive door panel workpiece.

[0137] The riveting device 40 serves as the third station and includes a riveting clamping mechanism, a riveting moving mechanism, and a riveting mechanism. The structure of the riveting clamping mechanism is the same as that of the screw-driving clamping mechanism 31, and the structure of the riveting moving mechanism is the same as that of the screw-driving moving mechanism 32. The riveting mechanism is a structure in the prior art and will not be described in detail here.

[0138] Figure 21 This is a top view of the structure of the snap-fit ​​mounting device in this embodiment.

[0139] Figure 22 yes Figure 21 A magnified view of the inner part of the middle frame C.

[0140] like Figures 21-22 As shown, the snap-fit ​​installation device 50 serves as the fourth station and includes a snap-fit ​​installation clamping mechanism 51, a snap-fit ​​installation support 52, a snap-fit ​​feeding part 53, a snap-fit ​​installation mechanism 54, and multiple sensors 55.

[0141] The structure of the clamping mechanism 51 for buckle installation is the same as that of the clamping mechanism 31 for screwing, and will not be described again.

[0142] Figure 23 This is a perspective view of the support part for snap-fit ​​installation in this embodiment.

[0143] like Figure 23 As shown, the snap-fit ​​mounting support 52 is used to hold and support the snap-fit ​​for the snap-fit ​​mounting mechanism 54 to grasp. The snap-fit ​​mounting support 52 is a support platform with a through-hole receiving groove 521 and a clearance groove 522. The width and depth of the receiving groove 521 are smaller than those of the clearance groove 522, and the two sides of the receiving groove 521 are stepped in the width direction to match the structure of the snap-fit. The receiving groove 521 is used to receive the snap-fit ​​conveyed by the snap-fit ​​feeding unit 53, and the clearance groove 522 is used to make way for the corresponding conveying structure of the snap-fit ​​feeding unit 53. The following will describe the corresponding structure of the snap-fit ​​feeding unit 53 in more detail.

[0144] The snap-fit ​​feeding unit 53 includes a vibratory feeder 531, a discharge channel 532, and a snap-fit ​​pushing unit 533.

[0145] The vibratory plate 531 arranges multiple disordered buckles neatly and outputs them sequentially through vibration, which is existing technology and will not be elaborated further.

[0146] One end of the discharge channel 532 is connected to the output end of the vibratory feeder 531, and the other end is connected to the buckle mounting support 52. The width of the discharge channel 532 is slightly wider than the width of a single buckle, and it is used to transport the arranged buckles one by one to the buckle mounting support 52 for the buckle mounting mechanism 54 to grab and install.

[0147] The latching push unit 533 includes a push frame 5331 and a push cylinder 5332 for moving the push frame 5331. It is used to push the latch on the latch mounting support 52 into place, thereby facilitating the latch mounting mechanism 54 to grasp it. The clearance groove 522 of the latch mounting support 52 is used to allow clearance for the end of the push frame 5331, that is, the end of the push frame 5331 can extend into the clearance groove 522 to push the latch in the receiving groove 521 into place.

[0148] Multiple sensors 55 are respectively installed on the buckle mounting support 52. One pair of sensors 55 is used to sense whether the buckle has been delivered to the receiving slot 521, so that the buckle can be pushed into place; another pair of sensors 55 is used to sense whether the buckle has been pushed into place, so that the grabbing and installation operation can be performed; other sensors 55 are also used to sense whether the buckle has been grabbed, etc., so that automatic control can be realized.

[0149] Figure 24 This is a perspective view of the snap-fit ​​installation mechanism in this embodiment.

[0150] like Figure 24 As shown, the snap-on mounting mechanism 54 is used to grab snaps and install them at predetermined positions on the automotive door panel workpiece. It includes a robot arm 541, a snap-on mounting component 542, a connecting frame 543 for the snap-on mounting component, and a snap-on detection unit 544.

[0151] The robotic arm 541 includes a robotic arm mounting base 5411, a first horizontal rotation unit 5412 for snap-fit ​​installation, a second horizontal rotation unit 5413 for snap-fit ​​installation, and a lifting unit 5414 for snap-fit ​​installation.

[0152] The first horizontal rotation unit 5412 for snap-fit ​​installation is rotatably mounted on the robot arm mounting base 5411. The first horizontal rotation unit 5412 includes a first horizontal rotation arm 54121 and a first horizontal rotation drive member. The first horizontal rotation drive member is connected to the first horizontal rotation arm 54121 and is used to drive the first horizontal rotation arm 54121 to rotate.

[0153] A second horizontal rotating unit 5413 for snap-fit ​​mounting is rotatably mounted on a first horizontal rotating unit 5412 for snap-fit ​​mounting. The second horizontal rotating unit 5413 includes a second horizontal rotating arm 54131 and a second horizontal rotating drive member. The second horizontal rotating arm 54131 is rotatably connected to the first horizontal rotating arm 54121, and the second horizontal rotating drive member is connected to the second horizontal rotating arm 54131, thereby driving the second horizontal rotating arm 54131 to rotate.

[0154] A lifting unit 5414 for snap-fit ​​installation is mounted on the second horizontal rotating unit 5413 for snap-fit ​​installation, and is used to drive the snap-fit ​​mounting component 542 to rise and fall. In this embodiment, the lifting unit 5414 for snap-fit ​​installation includes a lifting motor for snap-fit ​​installation, a lifting connecting rod 54142 for snap-fit ​​installation, and a lifting guide rod 54143 for snap-fit ​​installation.

[0155] The lifting motor for snap-fit ​​installation drives the lifting connecting rod 54142 for snap-fit ​​installation to rise and fall. One end of the lifting connecting rod 54142 for snap-fit ​​installation is mounted on the second horizontal rotating arm 54131, and the other end is connected to the snap-fit ​​mounting component 542 via the snap-fit ​​mounting component connecting bracket 543. There are two lifting guide rods 54143 for snap-fit ​​installation, which are arranged parallel to each other with the lifting connecting rod 54142 for snap-fit ​​installation, and are used for guiding and limiting during lifting and falling.

[0156] The snap-fit ​​mounting mechanism 54 includes two snap-fit ​​mounting parts 542, which are mounted on the robotic arm 541 and are used to engage with the snap-fit ​​to move or install the snap-fit.

[0157] Figure 25 This is a perspective view of the snap-fit ​​mounting component in this embodiment.

[0158] like Figure 25 As shown, the bottom of the snap-fit ​​mounting component 542 has a snap-fit ​​fixing cavity 5421, the shape and size of which are adapted to the snap-fit. The snap-fit ​​fixing cavity 5421 and the snap-fit ​​are interference-fitted, and the snap-fit ​​is fixed by friction. After the snap-fit ​​is installed in place, the snap-fit ​​mounting lifting unit 5414 lifts the snap-fit ​​mounting component 542, thus separating the snap-fit ​​from the snap-fit ​​mounting component 542.

[0159] The clip-on mounting bracket 543 is mounted on the clip-on mounting lifting connecting rod 54142 and is used to connect the clip-on mounting parts 542. In this embodiment, the two clip-on mounting parts 542 are arranged parallel to each other on the clip-on mounting bracket 543 along the length direction of the clip-on mounting lifting connecting rod 54142, which enables the removal of two clips at one time.

[0160] Figure 26 This is a perspective view of the buckle detection unit in this embodiment.

[0161] As shown in Figure 26 The buckle detection unit 544 is arranged on the connecting frame 543 for the buckle mounting member, and is used for detecting whether the buckle is mounted in place. The buckle detection unit 544 comprises a detection motor 5441 for the buckle mounting and a detection transmission assembly 5442.

[0162] The detection motor 5441 for the buckle mounting is connected with the buckle mounting member 542 through the detection transmission assembly 5442, so as to drive the buckle mounting member 542 to rotate. In the embodiment, the detection motor 5441 for the buckle mounting is a servo motor, which can feed back the resistance received during rotation to the controller or other upper device, and then further judge whether the buckle is mounted in place according to the size of the resistance.

[0163] The detection transmission assembly 5442 comprises a driving wheel 54421, two driven wheels 54422, a synchronous belt 54423 and a tension wheel 54424. The driving wheel 54421 is connected with the output end of the detection motor 5441 for the buckle mounting, and the two driven wheels 54422 are fixedly connected with the two buckle mounting members 542 respectively. The tension wheel 54424 is used for tensioning the synchronous belt 54423, so as to avoid the slipping during transmission and affect the transmission effect.

[0164] In the embodiment, the buckle mounting point on the automobile door panel workpiece has a buckle mounting groove with a side opening. When taking the workpiece, the manipulator 541 moves to make the buckle mounting member 542 above the buckle to be mounted, and the buckle mounting lifting unit 5414 descends to make the upper part of the buckle into the buckle fixing cavity 5421 and fixed. When mounting, the manipulator 541 drives the buckle to move, so that the lower part of the buckle is clamped into the buckle mounting groove from the side opening and fixed. When detecting, under the drive of the detection motor 5441 for the buckle mounting, the driving wheel 54421 drives the driven wheels 54422 to rotate through the synchronous belt 54423, so that the buckle mounting member 542 also rotates, thereby applying a torsional force to the buckle, and then judging whether the buckle is mounted in place according to the feedback result of the servo motor.

[0165] After the buckle is mounted in place, the buckle mounting lifting unit 5414 drives the buckle mounting member 542 to rise and separate from the buckle, thereby completing the installation of the buckle.

[0166] Figure 27 FIG. 6 is a perspective view of the door panel taking device in the embodiment.

[0167] As shown in Figure 27 The door panel taking device 60 comprises a detection camera module 61, a door panel grabbing module 62, a workpiece conveying module 63, a door panel taking mechanism 64 and a door panel taking lifting mechanism 65.

[0168] The detection camera module 61 comprises a shell, an upper camera assembly 612, a lower camera assembly 613, and an illumination unit. The shell is made of black organic glass, which can shield external light sources to reduce the impact on shooting. The upper camera assembly 612 comprises a plurality of cameras arranged above the door panel taking-out mechanism 64, which is used to shoot the assembled automobile door panel workpiece from above. The lower camera assembly 613 comprises a plurality of cameras arranged below (close to the ground), which is used to shoot the automobile door panel workpiece from below. The lower camera assembly 613 is arranged vertically staggered with the upper camera assembly 612. The illumination unit comprises a plurality of lamp tubes, which can provide sufficient illumination for shooting.

[0169] Figure 28 FIG. 7 is a perspective view of the door panel grabbing module grabbing the automobile door panel workpiece in the embodiment.

[0170] As shown in FIG. 8, the door panel grabbing module 62 comprises a grabbing moving part 621 and two sets of clamping assemblies 622, which can grab the two sides of the automobile door panel workpiece and move it. Figures 27-28

[0171] The door panel grabbing moving part 621 comprises a guide rail and a plurality of driving motors, which can drive the clamping assemblies 622 installed on the guide rail to move along the x, y, and z axes.

[0172] The clamping assembly 622 comprises a support arm 6221, a supporting block 6222 arranged at the end of the support arm 6221, and a pressing cylinder 6223 arranged above the supporting block 6222. The supporting block 6222 can support the two sides of the automobile door panel workpiece, and the output end of the pressing cylinder 6223 can press the two sides of the automobile door panel workpiece on the supporting block 6222. Four clamping assemblies 622 simultaneously clamp four positions on the two sides of the automobile door panel workpiece, so as to clamp the automobile door panel workpiece and move it stably.

[0173] The workpiece conveying module 63 is a belt conveying line, which is used to convey the automobile door panel workpiece after detection to a predetermined position.

[0174] Therefore, after the mold device 20 is opened, the upper surface of the automobile door panel workpiece can be first shot by the upper camera assembly 612, then the door panel grabbing module 62 grabs and moves the automobile door panel workpiece to above the lower camera assembly 613, at this time the lower surface of the automobile door panel workpiece can be shot by the lower camera assembly 613, and then the assembly of the automobile door panel workpiece can be detected according to the shooting results of the two surfaces. Then the door panel grabbing module 62 places the automobile door panel workpiece on the workpiece conveying module 63, and the workpiece conveying module 63 conveys the automobile door panel workpiece to a predetermined position.

[0175] ​The structure of the door panel taking-out mechanism 64 is basically the same as that of the door panel placing mechanism 11, i.e. it comprises a mold taking part that is the same as the structure of the mold pushing part 121, a lifting mechanism that lifts the mold taking part, etc. The structure of the door panel taking-out lifting mechanism 65 is basically the same as that of the door panel placing lifting mechanism 14, and thus will not be repeated. That is, like the door panel placing device 10, the mold taking part is a chain type conveying structure that is liftable and can switch the conveying direction, and can drive the mold device 20 to lift and cooperate with the machining conveying device 71 or the backflow conveying device 72.

[0176] Figure 14 It is also shown that two layers of conveying tracks are installed below the screwing device 30, and the same is also provided below the riveting device 40 and the buckle installing device 50. The machining conveying device 71 comprises three upper conveying units 711 provided at the second to fourth stations, and the three upper conveying units 711 are provided at the same height and have the same conveying direction.

[0177] The backflow conveying device 72 comprises three lower conveying units 721 provided at the second to fourth stations, and the three lower conveying units 721 are provided at the same height and have the same conveying direction that is opposite to that of the upper conveying units 711. The three lower conveying units 721 are respectively provided directly below the three upper conveying units 711.

[0178] In this embodiment, the structures of the upper conveying units 711 and the lower conveying units 721 are the same as that of the mold pushing part 12, and are also chain type conveying tracks.

[0179] The mold storage device 100 is provided after the door panel taking-out device 60, i.e. after the last assembling station, and is used to temporarily store the used mold device 20 and convey the temporarily stored mold device 20 back to the assembling station for reuse.

[0180] Figure 29 is a perspective view of the mold storage device in this embodiment.

[0181] As shown in Figure 29 , the mold storage device 100 comprises a plurality of storage conveying units 90 arranged in sequence. In this embodiment, the storage conveying units 90 are three, and can temporarily store three mold devices 20.

[0182] Figure 30 is a perspective view of the storage conveying unit in this embodiment.

[0183] As shown in Figure 30 , each storage conveying unit 90 comprises two conveying tracks 91, a transmission assembly 92, a driving motor 93, a storage blocking mechanism 94, and a storage check mechanism 95.

[0184] The two conveying tracks 91 are arranged in parallel to each other and have a spacing adapted to the width of the mold device 20, and the two ends of the mold device 20 in the width direction can be placed on the two conveying tracks 91 respectively, so that the mold device 20 can be conveyed. The conveying tracks 91 of the plurality of storage conveying units 90 are aligned in the conveying direction.

[0185] The conveying track 91 is a synchronous belt conveying track, which comprises a mounting frame 911, a driving wheel 912, a driven wheel 913, a synchronous belt 914 and a limiting baffle 915. The driving wheel 912 and the driven wheel 913 are rotatably mounted on the mounting frame 911 at the same height, and the synchronous belt 914 is sleeved on the driving wheel 912 and the driven wheel 913. The two limiting baffles 915 are mounted on the mounting frame 911 and are respectively located on the outer sides of the two synchronous belts 914. The spacing between the two limiting baffles 915 is slightly greater than the width of the mold device 20, which is used for guiding and limiting the mold device 20 during conveying. In order to reduce the structural obstruction and clearly show the transmission structure, Figure 30 Only one side of the limiting baffle 915 is shown in the figure.

[0186] The two driving wheels 912 in the two conveying tracks 91 are connected through a transmission assembly 92, so as to rotate synchronously. The transmission assembly 92 comprises a transmission shaft 921 and a bearing 922, and the two ends of the transmission shaft 921 are connected with the two driving wheels 912 through the bearings 922 respectively.

[0187] The driving motor 93 is a reduction motor, and the output end thereof is connected with one of the driving wheels 912. Under the driving of the driving motor 93 and the driving of the transmission assembly 92, the two driving wheels 912 rotate synchronously, driving the two synchronous belts 914 to rotate synchronously, so as to convey the mold device 20 in one direction. By changing the rotating direction of the output end of the driving motor 93, the conveying direction of the two conveying tracks 91 can be changed.

[0188] In the embodiment, the length of the conveying track 91 is greater than the length of the mold device 20, and a storage blocking mechanism 94 and a storage check mechanism 95 are arranged between the two conveying tracks 91 of one storage conveying unit 90. The storage blocking mechanism 95 is located at the end far away from the door panel assembly line, and the storage check mechanism 96 is located at the end close to the door panel assembly line. When the mold device 20 is conveyed to the middle of one storage conveying unit 90, the mold device 20 can be blocked by the storage blocking mechanism 95 and the storage check mechanism 96, so as to be temporarily stored.

[0189] The structure of the storage blocking mechanism 94 is the same as that of the door panel placing blocking mechanism 17, and the structure of the storage check mechanism 95 is the same as that of the door panel placing check mechanism 16, which will not be repeated here.

[0190] Figure 31 , 32 are schematic views of the mold device conveying in the processing direction and the backflow direction respectively in the embodiment.

[0191] As shown in Figure 31 , as described above, the first and fifth stations have mold pushing parts 12 and mold receiving parts which can be lifted and switched in conveying direction, and the second to fourth stations all have two layers of conveying units, the upper layer conveying unit 711 conveying in the D1 direction in the drawing, and the lower layer conveying unit 721 conveying in the D2 direction.

[0192] When starting the assembly of a car door panel, the car door panel workpiece is placed into the corresponding mold device 20 in the first station, and the mold device 20 is conveyed in sequence to each station along the direction shown by D1 in the drawing for assembly. After the detection in the detection station 60 is completed, the car door panel is taken out of the mold device 20, the mold receiving part of the fifth station is lowered to the ground level, and works in cooperation with the mold storage device 100 to convey the empty mold device 20 to the mold storage device 100 for temporary storage. Figure 7

[0193] As shown in Figure 32 , the mold device 20 temporarily stored in the mold storage device 100 can be used in backflow. The mold pushing part 12 and the mold receiving part are both lowered to the ground level, at this time, the multiple storage conveying units 91, the mold receiving part of the fifth station, the lower layer conveying units 721 of the second to fourth stations, and the mold pushing part 12 of the first station form a relatively continuous conveying line, which can convey the mold device 20 temporarily stored in the mold storage device 100 back to the first station in sequence.

[0194] Effects of the embodiment

[0195] ​According to the door plate assembly system 1000 provided by the embodiment, the system comprises a mold device 20 for door plate assembly, a mold storage device 100, a door plate placing device 10, a screwing device 30, a riveting device 40, a buckle mounting device 50, a door plate taking-out device 60, a processing conveying device 71 and a return conveying device 72. The mold device 20 is used for placing the automobile door plate workpiece to be assembled, so that the workpiece can be kept stable during processing and is prevented from being bumped during conveying between different workstations. The processing conveying device 71 is used for conveying the mold device 20 on which the automobile door plate workpiece is placed to the screwing device 30, the riveting device 40 and the buckle mounting device 50 in sequence, so that the automobile door plate workpiece can be subjected to the screwing, riveting and buckle mounting processes in sequence. The door plate taking-out device 60 conveys the assembled automobile door plate workpiece out. The return conveying device 72 is used for conveying the used and idle mold device 20 back to the door plate placing device 10 for use by the next automobile door plate workpiece. The mold storage device 100 comprises a plurality of storage conveying units 90 arranged behind the door plate placing device 60. The two parallel conveying tracks 91 are used for placing and conveying the mold device 20, so that the mold device 20 can be stored after the last assembly workstation, and the structure is simple and easy to deploy and maintain. When the stored mold device 20 needs to be taken out, the first-in first-out mode can be used. As described above, the system 1000 of the embodiment can not only automatically complete each process of door plate assembly, but also store the used mold device for return use, so that manual workpiece and mold device conveying is not needed, the product switching situation can be coped with, a large amount of manpower and time is saved, and the overall production efficiency is improved.

[0196] Further, the conveying track 91 is a synchronous belt track driven by a speed reducer, so that the control is accurate, the conveying efficiency is high, the energy saving effect is good, the maintenance is convenient, and the operation cost is low.

[0197] Further, each storage conveying unit 91 is further provided with a storage blocking mechanism 94 and a storage check mechanism 95 at both ends, respectively. After the mold device 20 is conveyed to one of the storage conveying units 91, the length direction of the mold device 20 can be limited by the storage blocking mechanism 94 and the storage check mechanism 95 at both ends, respectively, so that the mold device 20 is temporarily stored, and the normal work of the door plate assembly line is prevented from being affected by the accidental return of the mold device 20.

[0198] Further, the processing conveying device 71 and the backflow conveying device 72 are upper and lower conveying tracks arranged in the second to fourth stations, the first and fifth stations have conveying tracks which can be lifted and switched in conveying direction, so that the five stations can cooperate to convey the mold device 20 in the processing direction on the upper layer, or in the backflow direction on the lower layer, the fifth station can be docked with the mold storage device 100 to take and place the mold device 20, so that the lower space can be fully utilized for backflow of the mold device 20, the overall land occupation of the equipment is reduced, and the backflow does not affect the normal assembly work.

[0199] The above embodiments are only used for illustrating the specific implementation manners of the present application, and the present application is not limited to the description range of the above embodiments.

Claims

1. A door panel assembly system, characterized by, The door panel assembly system comprises: a door panel assembly mold device for placing a door panel workpiece to be assembled; a door panel placing device for placing the door panel assembly mold device; a screwing device for screwing the door panel workpiece; a riveting device for riveting the door panel workpiece; a buckle mounting device for mounting a buckle on the door panel workpiece; a door panel taking-out device for conveying the assembled door panel workpiece to a predetermined position; a mold storage device arranged behind the door panel taking-out device, comprising a plurality of storage conveying units arranged in sequence, for taking and storing the empty door panel assembly mold device from the door panel taking-out device, and for taking out and placing the corresponding door panel assembly mold device into an assembly station in a first-in last-out manner; a processing conveying device for conveying the door panel assembly mold device with the door panel workpiece placed thereon to the screwing device, the riveting device and the buckle mounting device in sequence; and a return conveying device arranged below the processing conveying device, for conveying the empty door panel assembly mold device back to the screwing device or the riveting device, wherein each of the storage conveying units comprises: two parallel conveying tracks with a spacing adapted to the width of the door panel assembly mold device, for placing and conveying the door panel assembly mold device; a storage blocking mechanism arranged between the two conveying tracks and at an end away from the door panel taking-out device, for blocking one end of the door panel assembly mold device placed on the conveying tracks; and a storage check mechanism arranged between the two conveying tracks and at an end close to the door panel taking-out device, for blocking the other end of the door panel assembly mold device placed on the conveying tracks, the spacing between two adjacent storage conveying units is less than the length of the door panel assembly mold device, the conveying tracks of the storage conveying units can switch the conveying direction, and the conveying direction is parallel to the arrangement direction of the plurality of storage conveying units, the door panel placing device has a mold pushing part which can be lifted and switch the conveying direction, for interfacing with the processing conveying device to push the door panel assembly mold device onto the processing conveying device, the door panel taking-out device has a mold taking part which can be lifted and switch the conveying direction, for interfacing with the return conveying device to take the door panel assembly mold device from the return conveying device, and for interfacing with the storage conveying units to convey the door panel assembly mold device, when the mold pushing part and the mold taking part are both lowered to the ground level, the plurality of storage conveying units, the mold taking part, the return conveying device and the mold pushing part form a continuous conveying line for conveying the door panel assembly mold device temporarily stored in the mold storage device back to the door panel placing device.

2. The door panel assembly system according to claim 1, wherein: wherein the storage check mechanism comprises a base, a support, a connecting rod, a blocking piece and a driving cylinder. The support is installed on the base, and the upper portion has a square slot penetrating in the conveying direction, The connecting rod is a square rod, connected between the support and the blocking piece, one end of which is rotatably connected in the square slot through a rotating shaft, and the other end is used for installing the blocking piece, The blocking piece has a counterweight portion and an abutting blocking portion, the counterweight portion is located below and used for installing a counterweight, the abutting blocking portion extends upward from the counterweight portion and forms a wedge-shaped end portion, used for blocking the mold device for assembling the door plate, and the abutting blocking portion has a limiting groove on one side of the wedge-shaped end portion, used for limiting the rotation of the blocking piece, The driving cylinder is embedded in the base, and the piston rod thereof extends out of the top of the base, When the piston rod extends, the upper end of the piston rod abuts against the connecting rod, so that the connecting rod remains horizontal, and the side edge of the piston rod abuts against the limiting groove, at this time, the abutting blocking portion abuts against the side edge of the mold device for assembling the door plate, and under the action of the piston rod, the blocking piece cannot rotate clockwise, thereby blocking the mold device for assembling the door plate, When the piston rod is retracted, the connecting rod tilts downward, and the uppermost end of the wedge-shaped end portion is flush with the uppermost end of the support, thereby releasing the mold device for assembling the door plate in the opposite direction of the conveying direction.

3. The door panel assembly system of claim 1, Characterized in that: Among them, Each of the conveying tracks includes: a driving wheel; a driven wheel; and a synchronous belt, sleeved on the driving wheel and the driven wheel, The storage conveying unit further includes: a transmission shaft, both ends of which are connected with two driving wheels through bearings; and a storage driving motor, the output end of which is connected with one of the driving wheels, used for driving the two synchronous belts to rotate.

4. The door plate assembly system according to claim 1, characterized in that: wherein The processing conveying device includes three upper conveying units, which are respectively arranged in the screwing device, the riveting device and the buckle mounting device, The three upper conveying units are arranged at the same height and have the same conveying direction, The door plate placing device has a liftable door plate pushing unit, and the door plate pushing unit can switch the conveying direction, used for interfacing with the upper conveying unit to convey the mold device for assembling the door plate.

5. The door plate assembly system according to claim 4, characterized in that: wherein The return conveying device includes three lower conveying units, which are respectively arranged in the screwing device, the riveting device and the buckle mounting device and are located below the corresponding upper conveying units, The three lower conveying units are arranged at the same height and have the same conveying direction, The door plate taking-out device has a liftable door plate taking unit, and the door plate taking unit can switch the conveying direction.

6. The door panel assembly system of claim 1, Characterized in that: Among them, The mold device for assembling the door plate includes: a support unit, used for placing the automobile door plate workpiece; and a cover plate, rotatably connected with the support unit, and a plurality of pressing heads are arranged on the cover plate, used for pressing the automobile door plate workpiece when the cover plate is closed, The buckle mounting device includes: The buckle mounting pressing mechanism is used for pressing the door plate assembly mold device in the closed state; The buckle mounting support part is used for placing the buckle to be assembled; The buckle feeding part is used for feeding the buckle to the buckle mounting support part in sequence; and The buckle mounting mechanism uses a mechanical hand to grab the buckle from the buckle mounting support part and install it on the predetermined buckle mounting position of the automobile door plate workpiece.

7. The door panel assembly system of claim 1, Characterized in that: Among them, The door plate taking-out device comprises: The door plate taking-out mechanism is used for taking the assembled automobile door plate workpiece from the buckle mounting device; The detection camera module is used for shooting detection of the assembled automobile door plate workpiece; The workpiece conveying module is used for conveying the assembled automobile door plate workpiece to a predetermined position; The door plate grabbing module is used for grabbing the assembled automobile door plate workpiece for shooting and placing on the workpiece conveying module, Among them, the detection camera module comprises: The upper camera assembly comprises a plurality of cameras arranged above the door plate taking-out mechanism, and is used for shooting the assembled automobile door plate workpiece from above; And The lower camera assembly comprises a plurality of cameras arranged below, and is used for shooting the assembled automobile door plate workpiece from below, the lower camera assembly and the upper camera assembly are arranged staggered in the vertical direction, The door plate grabbing module is used for grabbing the assembled automobile door plate workpiece and moving above the lower camera assembly for shooting.

8. The door panel assembly system of claim 1, Characterized in that: Among them, The door plate assembly mold device comprises: The support unit is used for placing the automobile door plate workpiece; and The cover plate is rotatably connected to the support unit, and a plurality of pressing heads are arranged on the cover plate for pressing the automobile door plate workpiece when the cover plate is closed, The screw driving device comprises: The screw driving pressing mechanism is used for pressing the door plate assembly mold device in the closed state; The screw driving mechanism is used for screw driving operation on the automobile door plate workpiece; and The screw driving moving mechanism is used for moving the screw driving mechanism to each predetermined screw driving position of the automobile door plate workpiece.

9. The door panel assembly system of claim 1, Characterized in that: Among them, The door plate assembly mold device comprises: The support unit is used for placing the automobile door plate workpiece; and The cover plate is rotatably connected to the support unit, and a plurality of pressing heads are arranged on the cover plate for pressing the automobile door plate workpiece when the cover plate is closed, The riveting device comprises: The riveting pressing mechanism is used for pressing the door plate assembly mold device in the closed state; The riveting mechanism is used for riveting operation on the automobile door plate workpiece; and The riveting moving mechanism is used for moving the riveting mechanism to each predetermined riveting position of the automobile door plate workpiece.

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