Door panel assembly system

Abstract

The present invention provides a door panel assembly system, comprising a plurality of different assembly stations, wherein automobile door panel workpieces to be assembled are placed in a door panel assembly mold device for circulation, and are sequentially transported to each station for assembly via a processing and conveying device. The system also comprises a mold storage device, a reflux conveying device, and a door panel assembly control device. The door panel assembly control device comprises a mold information storage unit, a mold information acquisition unit, a mold switching judgment unit, and a mold switching control unit. The mold information acquisition unit can obtain a corresponding mold identification number based on the workpiece identification number of the next workpiece to be assembled; the mold switching judgment unit can determine whether switching is required based on the acquired and current mold identification numbers; the mold switching control unit can control the mold storage unit and the reflux conveying unit to reflux the current mold device for storage when it is determined that switching is required, and take out the next mold device based on the mold identification number and place it on the reflux conveying device, thereby realizing automatic switching of the mold device.

Description

Technical Field

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

[0002] Automobile door panels are common automotive parts, and their assembly involves multiple processes, including screwing, riveting, clip installation, and quality inspection. Currently, during the assembly process, workers typically place the door panels onto a workbench, secure them, and then proceed through each process. This assembly method is significantly inefficient and labor-intensive. Furthermore, due to their large size, door panels are susceptible to bumps and collisions during handling, impacting yield.

[0003] Therefore, in order to improve the production efficiency and yield of automobile door panel products, a door panel assembly line is needed that can automatically or semi-automatically assemble automobile door panels in different workstations. In this door panel assembly line, it is necessary to automatically transport automobile door panel workpieces to each assembly station, and automatically complete all door panel assembly processes such as screwing, welding, installing clips, quality inspection, etc. in sequence, and ensure the assembly quality of each workstation.

[0004] In addition, since there are many types of automobile door panel products (such as door panels for different models, front door and rear door panels for the same model), in order to ensure production efficiency, the door panel assembly line also needs to be able to cope with product model switching, so that it does not take too much time or require too much manual intervention when switching the door panel products to be assembled. Summary of the Invention

[0005] The present invention is made to solve the above-mentioned problems. The purpose is to provide a door panel assembly system that can complete each door panel assembly process in sequence by dividing the workstations, can ensure the assembly quality of each process, and can cope with the situation of switching the assembled product model. The present invention adopts the following technical solutions:

[0006] The present invention provides a door panel assembly system, characterized in that it comprises: a door panel assembly mold device for carrying an automobile door panel workpiece to be assembled, on which an electronic tag is provided, storing a mold identification number; a door panel placing device, a screwing device, a riveting device, a snap-fit installation device, and a door panel taking-out device which are arranged in sequence, and are respectively used to place the door panel assembly mold device, screw, rivet, snap-fit installation on the automobile door panel workpiece, and take out the assembled automobile door panel workpiece; a mold storage device, which is arranged next to the screwing device or the riveting device, and is used to store empty door panel assembly mold devices; a processing and conveying device, used to convey the door panel assembly mold device carrying the automobile door panel workpiece to the screwing device, the riveting device, the snap-fit installation device and the door panel taking-out device in sequence; a reflux conveying device, used to convey the empty door panel assembly mold device; and a door A panel assembly control device for controlling the assembly process of the automobile door panel workpiece, comprising at least: a mold information storage unit for storing the mold identification number of each door panel assembly mold device and the corresponding workpiece identification number of the automobile door panel workpiece; a mold information acquisition unit for acquiring the corresponding mold identification number based on the input workpiece identification number of the next automobile door panel workpiece to be assembled; a mold switching judgment unit for judging whether to switch the door panel assembly mold device based on the mold identification number acquired by the mold information acquisition unit and the current mold identification number; and a mold switching control unit for controlling the reflux conveying device and the mold storage device when the mold switching judgment unit judges to be yes, to store the used door panel assembly mold device into the mold storage device, and to take out the next door panel assembly mold device to be used from the mold storage device based on the mold identification number.

[0007] The door panel assembly system provided by the present invention may also have such technical features, wherein the mold storage device includes: a mold storage module, which is arranged next to the screwing device or the riveting device; a mold transfer module, which is arranged between the screwing device or the riveting device and the mold storage module, and is used to transfer the door panel assembly mold device between the two, and the mold switching control part includes: a first reflux control unit, which is used to control the conveying track in the door panel removal device and the reflux conveying device to convey the door panel assembly mold device back to the screwing device or the riveting device; a mold storage control unit, which is used to control the mold transfer module to transfer the door panel assembly mold device at the screwing device or the riveting device to the mold storage module; and a mold removal control unit, which is used to control the mold transfer module to take out the corresponding door panel assembly mold device from the mold storage module according to the mold identification number, and place it on the reflux conveying device.

[0008] The door panel assembly system provided by the present invention may also have such technical features, wherein the mold storage module includes a plurality of storage parts arranged in sequence along the vertical direction, each of the storage parts has a plurality of storage positions arranged in sequence along the horizontal direction, and the door panel assembly control device also includes: a mold storage information storage part, which stores the layer identification number of each storage part, the layer position identification number of each storage position, the layer position storage status and the corresponding mold identification number, and the mold switching control part also includes: a storage position acquisition unit, which obtains the corresponding layer identification number and the layer position storage status from the mold storage information storage part according to the current mold identification number, and obtains the layer position of the vacant layer position according to the layer position storage status. Position identification number; and a removal position acquisition unit, which obtains the corresponding layer identification number, the layer position identification number and the layer position storage status from the mold storage information storage unit according to the mold identification number corresponding to the next automobile door panel workpiece to be assembled, and obtains the layer position identification number of the layer position where the corresponding door panel assembly mold device is stored according to the layer position storage status, and the mold storage control unit stores the door panel assembly mold device into the corresponding layer position according to the layer position identification number obtained by the storable position acquisition unit, and the mold removal control unit removes the door panel assembly mold device from the corresponding layer position according to the layer position identification number obtained by the removal position acquisition unit.

[0009] The door panel assembly system provided by the present invention may also have such technical features, wherein the reflux conveying device includes three lower-level conveying units with the same conveying direction, which are respectively arranged in the screwing device, the riveting device and the snap-on installation device, and are arranged at the same height; the door panel removal device has a mold receiving part that can be raised and lowered and the conveying direction can be switched; the door panel placement device has a mold pushing part that can be raised and lowered and the conveying direction can be switched; the first reflux control unit controls the mold receiving part to be raised and lowered to be flush with the lower-level conveying unit, and controls the mold receiving part and the lower-level conveying unit to work, thereby conveying the door panel assembly mold device to the screw device or the riveting device; the second reflux control unit controls the mold pushing part to be raised and lowered to be flush with the lower-level conveying unit, and controls the mold pushing part and the lower-level conveying unit to work, thereby conveying the door panel assembly mold device at the screw device or the riveting device to the door panel placement device.

[0010] The door panel assembly system provided by the present invention may also have such technical features, wherein the door panel assembly control device also includes: a mold reflow control part, which controls the mold receiving part, the three lower-level conveying units and the mold pushing part to work when the mold switching judgment part judges to be no, thereby conveying the current door panel assembly mold device back to the door panel placement device.

[0011] The door panel assembly system provided by the present invention may also have such technical features, wherein the processing and conveying device includes three upper conveying units with the same conveying direction, which are respectively arranged in the screw driving device, the riveting device and the snap-on installation device, and are arranged at the same height, and the three upper conveying units are respectively arranged above the three lower conveying units, and the door panel assembly control device also includes a processing and conveying control part for controlling the upper conveying unit and the mold pushing part.

[0012] The door panel assembly system provided by the present invention may also have such technical features, wherein the door panel assembly control device also includes: a screw driving control unit for controlling the screw driving device and sending a screw driving completion signal after the screw driving operation is completed; a riveting control unit for controlling the riveting device and sending a riveting completion signal after the riveting operation is completed; and a clip installation control unit for controlling the clip installation device and sending a clip installation completion signal after the clip installation is completed, the processing and conveying control unit includes: a lifting control unit for controlling the door panel placing device to lift the mold pushing unit to be flush with the upper conveying unit; a first processing and conveying control unit for controlling the mold pushing unit and the upper conveying unit in the screw driving device to work, thereby assembling the door panel The matching mold device is conveyed to the screw driving device; the second processing and conveying control unit is used to control the screw driving device and the two upper conveying units in the riveting device to work when the screw driving completion signal is received, so as to convey the mold device for door panel assembly to the riveting device; the third processing and conveying control unit is used to control the riveting device and the two upper conveying units in the clip installation device to work when the riveting completion signal is received, so as to convey the mold device for door panel assembly to the clip installation device; the fourth processing and conveying control unit is used to control the upper conveying unit and the mold receiving part in the clip installation device to work when the clip installation completion signal is received, so as to convey the mold device for door panel assembly to the door panel removal device.

[0013] The door panel assembly system 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 and assembly information of the automobile door panel workpiece, 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; a screw driving control unit, which controls the screw driving device to drive multiple screws into the automobile door panel workpiece in sequence according to the assembly information; a riveting control unit, which controls the riveting device to rivet the automobile door panel workpiece in sequence according to the assembly information; and a snap-on installation control unit, which controls the snap-on installation device to perform snap-on installations on the automobile door panel workpiece in sequence according to the assembly information.

[0014] The door panel assembly system provided by the present invention may also have such technical features, wherein the door panel taking-out device includes: a door panel taking-out mechanism for receiving the door panel assembly mold device carrying the assembled automobile door panel workpiece and opening the door panel assembly mold device; a door panel grabbing mechanism for grabbing the automobile door panel workpiece from the opened door panel assembly mold device and driving the automobile door panel workpiece to move; an upper camera component arranged above the door panel taking-out mechanism for photographing the automobile door panel workpiece from above; a lower camera component arranged below and beside the door panel taking-out mechanism and staggered with the upper camera component in the vertical direction for photographing the automobile door panel workpiece from below; and a door panel conveying module for conveying the automobile door panel workpiece to a predetermined position, and the door panel assembly control device also includes: a door panel taking-out control The control unit is used to control the door panel removal device, which includes: a mold opening and closing control unit, used to control the door panel removal mechanism to open and close the door panel assembly mold device; an upper shooting control unit, used to control the upper camera component to shoot the automobile door panel workpiece in the opened door panel assembly mold device from above; a first grasping control unit, after the upper camera component completes shooting, controls the door panel grasping mechanism to grasp the automobile door panel workpiece from the opened door panel assembly mold device and move it to above the lower camera component; a lower shooting control unit, used to control the lower camera component to shoot the automobile door panel workpiece moved into position from below; and a second grasping control unit, after the lower camera component completes shooting, controls the door panel grasping mechanism to move the automobile door panel workpiece and place it on the door panel conveying module.

[0015] The door panel assembly system provided by the present invention may also have such technical features, wherein the door panel removal control part also includes: a door panel assembly detection and judgment unit, which detects the assembly quality of the automobile door panel workpiece based on the images captured by the upper camera component and the lower camera component, and judges whether the assembly of the automobile door panel workpiece is qualified; and a door panel offline conveying control unit, which controls the door panel conveying module, and conveys the automobile door panel workpiece to a first predetermined position when the door panel assembly detection and judgment unit judges that it is qualified, and conveys the automobile door panel workpiece to a second predetermined position when the door panel assembly detection and judgment unit judges that it is unqualified.

[0016] Functions and effects of the invention

[0017] The door panel assembly system according to the present invention includes a processing and conveying device, a door panel placement device, a screwing device, a riveting device, a snap-on installation device, and a door panel removal device, which are arranged in sequence. The automobile door panel workpiece to be assembled is placed in a door panel assembly mold device for circulation, and is sequentially transported to each of the above-mentioned devices through the processing and conveying device for screwing, riveting, snap-on installation, and removal operations. Therefore, the system of the present invention can automatically complete each process of door panel assembly and the transportation work between each process, which can save a lot of manpower and improve the production efficiency of automobile door panel products. Furthermore, the system also includes a mold storage device, a reflux conveying device, and a door panel assembly control device, so it can also automatically respond to the switching of assembly products. Specifically, the door panel assembly control device includes a mold information storage unit that stores the mold identification number and the workpiece identification number of the automobile door panel workpiece in correspondence, a mold information acquisition unit, a mold switching judgment unit, and a mold switching control unit. The mold information acquisition unit can obtain the corresponding mold identification number based on the input workpiece identification number of the next automobile door panel workpiece to be assembled; the mold switching judgment unit can judge whether it is necessary to switch the mold device based on the next mold identification number to be used and the current mold identification number; the mold switching control unit can control the mold storage device and the reflux conveying device to reflux the current mold device when it is judged that switching is required, and take out the next mold device to be used according to the mold identification number and place it on the reflux conveying device, thereby realizing automatic switching of the corresponding mold device when the assembly product is switched.

[0018] As described above, the door panel assembly system of the present invention can not only automatically complete each process of door panel assembly, but also reflow and temporarily store the used mold device, so as to cope with the switching of products to be assembled well, save a lot of manpower and time, and improve the production efficiency of automobile door panel products and the consistency of the final products. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a structural block diagram of a door panel assembly system according to an embodiment of the present invention;

[0020] Figure 2 is a perspective view of a door panel placement device according to an embodiment of the present invention;

[0021] Figure 3 is a perspective view of a partial structure of a door panel placement device according to an embodiment of the present invention;

[0022] Figure 4 is a perspective view of a mold device according to an embodiment of the present invention;

[0023] Figure 5 is a perspective view of the mold device in an open state according to an embodiment of the present invention;

[0024] Figure 6 This is a structural diagram of a bottom positioning block of a mold device for door panel assembly according to an embodiment of the present invention;

[0025] 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;

[0026] Figure 8 This is a three-dimensional diagram of the mold pushing portion in an embodiment of the present invention;

[0027] Figure 9 is a perspective view of a lifting mechanism for placing a door panel in an embodiment of the present invention;

[0028] Figure 10 3D diagram of a mold assembly and a door panel assembly stop and release mechanism according to an embodiment of the present invention;

[0029] Figure 11 yes Figure 10 An enlarged view of the portion within the middle frame B;

[0030] Figure 12 2 is a schematic structural diagram of the door panel placement prevention and release mechanism in the embodiment of the present invention when released in the forward direction;

[0031] Figure 13 This is a schematic structural diagram of the door panel placement prevention and release mechanism in the embodiment of the present invention when released in reverse;

[0032] Figure 14 is a perspective view of a screw driving device according to an embodiment of the present invention;

[0033] Figure 15 is a perspective view of a tightening mechanism for screwing in an embodiment of the present invention;

[0034] 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;

[0035] Figure 17is a perspective view of a movable mechanism for screwing in an embodiment of the present invention;

[0036] Figure 18 is a perspective view of a first horizontal moving unit in an embodiment of the present invention;

[0037] Figure 19 is a perspective view of a second horizontal moving unit in an embodiment of the present invention;

[0038] Figure 20 is a perspective view of a lifting unit for screw driving according to an embodiment of the present invention;

[0039] Figure 21 is a top view of a partial structure of a snap-fit installation device according to an embodiment of the present invention;

[0040] Figure 22 yes Figure 21 An enlarged view of the portion within the middle frame C;

[0041] Figure 23 is a perspective view of a support portion for snap-on installation in an embodiment of the present invention;

[0042] Figure 24 is a three-dimensional diagram of a snap-fit installation mechanism according to an embodiment of the present invention;

[0043] Figure 25 is a three-dimensional diagram of a snap-fit mounting member according to an embodiment of the present invention;

[0044] Figure 26 is a three-dimensional diagram of a buckle detection unit in an embodiment of the present invention;

[0045] Figure 27 is a perspective view of a door panel removal device according to an embodiment of the present invention;

[0046] Figure 28 This is a three-dimensional diagram of a door panel grabbing mechanism grabbing an automobile door panel workpiece according to an embodiment of the present invention;

[0047] Figure 29 This is a structural diagram of the door panel placement device and the processing and conveying device working in coordination in an embodiment of the present invention;

[0048] Figure 30 This is a structural diagram of the door panel removal device and the reflux conveying device working in conjunction with each other in an embodiment of the present invention;

[0049] Figure 31 is a three-dimensional diagram of a mold storage module according to an embodiment of the present invention;

[0050] Figure 32 is a perspective view of one end of the storage portion in an embodiment of the present invention;

[0051] Figure 33is a three-dimensional diagram of one end of the storage portion at different angles according to an embodiment of the present invention;

[0052] Figure 34 is a perspective view of the other end of the storage portion in an embodiment of the present invention;

[0053] Figure 35 is a perspective view of a mold transfer module according to an embodiment of the present invention;

[0054] Figure 36 is a perspective view of a transfer mechanism in an embodiment of the present invention;

[0055] Figure 37 It is a three-dimensional diagram of the partial structure of the transfer mechanism and the lifting mechanism in an embodiment of the present invention;

[0056] Figure 38 is an enlarged view of the end portion of the transfer mechanism in an embodiment of the present invention;

[0057] Figure 39 are three-dimensional diagrams of the transfer mechanism at different angles in an embodiment of the present invention;

[0058] Figure 40 It is a three-dimensional diagram of the partial structure of the lifting mechanism in an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the door panel assembly system of the present invention is described in detail below with reference to embodiments and drawings.

[0060] <Example 1>

[0061] like Figure 1 As shown, the door panel assembly system 1000 includes a door panel placement device 10, a door panel assembly mold device 20 (hereinafter referred to as the mold device 20), 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, a reflux conveying device 72 and a mold storage device 100.

[0062] 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. The automobile door panel workpiece to be assembled is placed in the mold device 20 to facilitate the flow between the various stations. The processing conveying device 71 is arranged in the second to fourth stations, and is used to convey 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 located below the processing conveying device 71. It is used to use the lower space to reflux the corresponding mold device 20 after the assembly of an automobile door panel workpiece is completed. The mold storage device 100 is used to recycle and temporarily store the used mold devices 20, and is used to take out the corresponding mold devices 20 and place them in the assembly station.

[0063] The structure and function of each part will be described in detail below.

[0064] 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.

[0065] like Figure 4-5 As shown, the mold device 20 includes a supporting unit 21 , a cover plate 22 and a connecting unit 23 .

[0066] 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.

[0067] like Figure 6 As shown, four positioning blocks 2111 are provided under the support frame 211, and a downward circular groove is provided in the middle of the positioning 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 to facilitate the assembly operation on the station.

[0068] The mold fixing members 212 are each L-shaped metal parts, mounted above the square rods of the support frame 211 and facing in different directions. A structure for mounting the supporting mold is formed between the mold fixing members 212. The supporting mold is engaged between the mold fixing members 212.

[0069] The cover plate 22 is rotatably connected to the support unit 21 and is used to press the door panel workpiece against the support unit 21 to fix the door panel workpiece. The cover plate 22 includes a cover plate frame 221, a pair of stoppers 222, multiple pressing heads 223, a U-shaped opening and closing arm 224, and four hooks 225.

[0070] The cover frame 221 is formed by welding aluminum profiles.

[0071] 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 achieving a limiting effect.

[0072] 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 and extension length of the multiple pressing heads 223 are matched to the upper surface of the automotive door panel to be pressed. When the cover 22 is rotated and closed, the multiple pressing heads 223 are designed to abut different parts of the upper surface of the automotive door panel, thereby pressing and securing the automotive door panel.

[0073] 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 connectors. 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 used to plug into the rotary drive mechanism in the assembly station, thereby driving the cover frame 221 to rotate under the drive of the rotary drive mechanism.

[0074] The hook members 225 are L-shaped metal plates and are installed in groups of two on both sides of the support frame 211 in the length direction.

[0075] 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 .

[0076] The connecting bracket 231 is a metal bracket mounted on one side of the support frame 211. A rotating shaft 232 is mounted on the connecting bracket 231, extending in the same direction as the square rods on the side of the support frame 211. 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 connects the central portion of one side of the cover frame 221 to the connecting bracket 231. This damping assembly 234 provides a certain resistance to the rotation of the cover 22, thereby limiting its rotational speed.

[0077] 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, so that they can fix automobile door panel workpieces of different shapes and sizes. However, the overall dimensions of all mold devices 20 and the settings of the hook parts 225 are consistent, so they can be transferred using a transfer mechanism with the same structure, and can be stored using a storage part with the same structure.

[0078] In addition, in this embodiment, an electronic tag (RFID) is provided on the automotive door panel workpiece. Reading this tag can identify the model of the automotive door panel workpiece. A product detection sensor (not shown) is also provided on the mold device 20 for reading this electronic tag. Power is transmitted to the product detection sensor via a wireless energy bar. An electronic tag is also provided on the bottom of the mold device 20. Reading this electronic tag can identify the model of the mold device 20. A mold detection sensor is also provided in the door panel placement device 10 for reading this electronic tag.

[0079] 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 (due to structural obstruction, Figure 2-3 The door panel placement mechanism 11 is used to position, open, close, and push the mold device 20 at the current station. The door panel placement mechanism 11 includes a mold pushing portion 12, a lifting and positioning portion 13, and a rotation driving portion 14.

[0080] like Figure 8 As shown, the mold pushing portion 12 includes two chain conveying rails 121 , a transmission shaft 122 and a chain rail driving motor 123 .

[0081] Two chain conveyor tracks 121 are arranged in parallel, with a spacing matching the width of the mold assembly 20. When the mold assembly 20 is placed on the chain conveyor tracks 121, the mold assembly 20 is placed on both sides of the chain conveyor tracks 121 along its width, thereby allowing the mold assembly 20 to be moved within the current workstation. The chain conveyor tracks include a drive gear and an endless chain mounted on the drive gear. The specific structure is conventional and will not be described in detail. In this embodiment, the chain conveyor tracks 121 use a double-speed chain to accelerate the conveying cycle.

[0082] In addition, an outer baffle 124 is provided on the outer side of the two chain conveyor rails 121. The height of the upper edge of the outer baffle 124 is higher than the upper end surface of the chain conveyor rail 121, thereby forming a clamping structure for the mold device 20 on the chain conveyor rail 121 to prevent it from tilting or even falling during transportation, and also protect the chain.

[0083] Both ends of the transmission shaft 122 are connected to the two driving gears of the two chain conveyor tracks 121 through bearing assemblies, so as to keep the conveying speed of the two chain conveyor tracks 121 consistent, thereby being able to smoothly convey the mold device 20.

[0084] The chain track driving motor 123 is used to drive the chain of the chain conveying track 121 to rotate. Since the transmission shaft 122 is provided, under the drive of the chain track driving motor 123, the two chain conveying tracks 121 all rotate synchronously in the same direction.

[0085] The lifting and positioning portion 13 includes four lifting cylinders 131, each mounted on a bracket within the door panel placement device 10. These 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 fit within 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 surfaces of the circular positioning grooves, thereby steadily lifting the mold assembly 20.

[0086] After the mold device 20 is lifted up and positioned, the cover plate 22 can be opened to carry out inspection or assembly of the automobile door panel workpiece at the current workstation.

[0087] 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 .

[0088] The rotary drive motor 141 is used to drive the cover plate 22 to rotate.

[0089] 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 and gradually narrows from the larger end to the smaller end. 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 the vertical direction. 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. Specifically, taking opening the cover 22 as an example, the rotary drive motor 141 drives the opening and closing rod 1422 to swing downward, and the circular pusher 1423 presses against the lower side of the U-shaped opening of the U-shaped opening and closing arm 224 and pushes it, thereby causing the cover 22 to rotate upward and open through the lever action.

[0090] In addition, the setting of the initial position of the opening and closing rod 1422 corresponds to the setting of the lifting position of the lifting positioning part 13. When the mold device 20 is lifted into place by the lifting positioning part 13, 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.

[0091] The rotation limit assembly 143 includes four perforated plates 1431 and four proximity sensors 1432, which are used to limit the maximum travel of the opening and closing rod 1422. Two of the perforated plates 1431 are located above the output end of the rotation drive motor 141, and the other two are located below. Two proximity sensors 1432 are installed in the holes of the two upper perforated plates 1431 via nuts, and the other two proximity sensors 1432 are installed in the same manner below. Of the two upper proximity sensors 1432, the uppermost proximity sensor 1432 is farther away from the output end of the rotation drive motor 141 in the horizontal direction. When the opening and closing rod 1422 swings upward, when the two upper proximity sensors 1432 simultaneously sense the opening and closing rod 1422, it indicates that the opening and closing rod 1422 has swung upward to the predetermined maximum position, that is, the cover plate 22 has closed. At this time, the industrial computer can promptly control the rotation drive motor 141 to stop working based on the signals from the two upper proximity sensors 1432, preventing the cover plate 22 from further pressing down and damaging the automobile door panel workpiece. The same applies to the two proximity sensors 1432 below, and no further explanation is given.

[0092] like Figure 2 、 9As 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.

[0093] The bracket 151 is used to provide support for lifting, and the bracket 151 includes two relatively short front support rods 1511 and two relatively long rear support rods 1512.

[0094] Multiple vertical guide rails 152 are used to provide guidance for lifting. In this embodiment, there are four vertical guide rails 152. Two shorter vertical guide rails 152 are set on the two front support rods 1511, and two longer vertical guide rails 152 are set on the two rear support rods 1512, and the guide rails are all facing the inside of the bracket.

[0095] The bracket 153 is a metal frame used to support the door panel placement mechanism 11 and the mold assembly 20, and to drive them up and down. Viewed from the side, the bracket 153 is L-shaped, with a shorter front end and a longer rear end. Two sliders 1531 are located on the front end, while four sliders 1531 are arranged in groups of two on the rear end. These sliders 1531 slidably engage with the vertical guide rails 152, forming a guide. Furthermore, the bracket 153 is equipped with a reader (not shown) for reading the electronic tag on the mold assembly 20 placed on the bracket 153.

[0096] The lifting drive motor 155 drives the bracket 153 to move up and down through the lifting transmission assembly 154 .

[0097] 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. The specific details are prior art and will not be repeated here.

[0098] 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 .

[0099] like Figure 10-11As shown, the door panel placement blocking and releasing mechanism 16 is used to block or release the mold assembly 20 at the current workstation, thereby allowing the mold assembly 20 to remain in the current workstation or be transported to the next assembly workstation. The door panel placement blocking and releasing mechanism 16 is arranged on the side of the chain conveyor track 121 close to the next workstation. The door panel placement blocking and releasing mechanism 16 includes a base 161, a blocking support 162, a connecting rod 163, a blocking member 164, and a blocking drive cylinder 165.

[0100] The base 161 is mounted on the bracket 153 .

[0101] The support member 162 for preventing the release of materials is a special-shaped metal piece, mounted on the base 161 via screws and other fasteners. The side of the support member 162 that is closest to the blocking member 164 has a beveled edge 1621, the angle of which corresponds to the position of the blocking member 164. A square slot 1622 is defined in the upper portion of the support member 162, extending along the conveying direction.

[0102] Connecting rod 163 is connected between support member 162 for preventing release and blocking member 164. Connecting rod 163 is a square metal rod. One end of connecting rod 163 is disposed in square groove 1622 of support member 162 for preventing release and is rotatably connected thereto via a rotating shaft. The other end of connecting rod 163 is used to mount blocking member 164. When connecting rod 163 rotates to extend horizontally, a certain gap is left between connecting rod 163 and the lower edge of square groove 1622. When connecting rod 163 abuts the lower edge of square groove 1622, connecting rod 163 extends downward at an angle.

[0103] The blocking member 164 is a special-shaped metal member having a counterweight portion 1641 and an abutting blocking portion 1642. The counterweight portion 1641 is located at the bottom and is used to mount the counterweight. In this embodiment, two metal counterweight plates 166 are mounted on one side of the counterweight portion 1641. The abutting blocking portion 1642 extends upwardly and obliquely from above the counterweight portion 1641. When viewed from the side, the abutting blocking portion 1642 gradually narrows outward from the counterweight portion 1641 to form a wedge-shaped end portion for blocking the mold device 20. A through-hole 1643 is provided at the connection between the counterweight portion 1641 and the abutting blocking portion 1642. The blocking member 164 is rotatably mounted on one end of the connecting rod 163 via the pivot hole 1643 and the corresponding rotating shaft.

[0104] In addition, a limiting groove 1644 is provided on one side of the wedge-shaped end of the blocking member 164. The limiting groove 1644 extends from the abutting blocking portion 1642 to the counterweight portion 1641. The limiting groove 1644 is closed at one end of the abutting blocking portion 1642 and extends downward at one end of the counterweight portion 1641. The limiting groove 1644 is used to limit the rotation range of the blocking member 164. When the blocking member 164 is rotated counterclockwise into position, the abutting blocking portion 1642 (the wedge-shaped end) abuts the hypotenuse 1621 of the blocking support member 162, and the upper edge of the limiting groove 1644 abuts the connecting rod 163, thereby preventing the blocking member 164 from further counterclockwise rotation. When the blocking member 164 is rotated clockwise into position, the lower edge of the limiting groove 1644 abuts the output end of the blocking driving cylinder 165, thereby preventing the blocking member 164 from further clockwise rotation.

[0105] The blocking driving cylinder 165 is used to drive the blocking member 164 to block or release the mold device 20. The blocking driving cylinder 165 is embedded in the base 161, and its piston rod 1651 extends upward from the base 161. Figure 3 Shown in the figure is a structural diagram of the door panel placement blocking mechanism in the blocking state. At this time, the piston rod 1651 of the blocking drive cylinder 165 is extended, and the upper end of the piston rod 1651 is abutted against the connecting rod 163, so that the connecting rod 163 remains in a position extending in the horizontal direction. The side of the piston rod 1651 is abutted against the limiting groove 1644 of the blocking member 164. At this time, the abutting blocking portion 1642 of the blocking member 164 is abutted 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 causing the mold device 20 to stay at the predetermined position in the work station.

[0106] like Figure 12 As shown, since a counterweight plate 166 is provided on one side of the blocking member 164, its center of gravity is biased to the right side in the figure. Therefore, in the initial state (i.e., when the piston rod 1651 of the blocking drive cylinder 165 is retracted), compared with the blocking state, the connecting rod 163 extends slightly downward, and the blocking member 164 deflects clockwise, with its wedge-shaped end facing upward, and the uppermost end of the wedge-shaped end is roughly flush with the uppermost end of the blocking support member 162, thereby releasing the mold device 20 along the D1 direction, allowing the mold device 20 to be transported to the next workstation, or adjusting the position of the mold device 20 or removing the mold device 20 from the workstation when the transport device is paused. In addition, Figure 13 Also shown is the initial state of the door panel placement blocking mechanism, so the mold device 20 can also be placed in the station at this time.

[0107] like Figure 13As shown, when the piston rod 1651 of the blocking driving cylinder 165 is extended, when the mold device 20 is moved along Figure 5 When the mold assembly 20 moves in the direction indicated by D2 and passes through the door panel placement blocking mechanism 16, the mold assembly 20 presses down the abutting blocking portion 1642 of the blocking member 164, causing the blocking member 164 to rotate counterclockwise to release the mold assembly 20. Therefore, when the piston rod 1651 of the blocking drive cylinder 165 is extended, the door panel placement blocking mechanism 16 of this embodiment can also have a one-way release function.

[0108] In addition, if Figure 2 As shown, the door panel placement device 10 also includes a camera mounted on top (not shown) and an operation terminal 19. In this embodiment, the camera is used to capture images of the door panel workpiece in the current workstation for quality inspection; the operation terminal 19 is used by an operator to initiate and control the corresponding operation process at the current workstation.

[0109] 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 (not shown due to structural obstruction).

[0110] like Figure 15-16 As 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.

[0111] 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.

[0112] 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.

[0113] 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 .

[0114] The lifting blocks 3121 are provided below the support unit to support the mold assembly 20. In this embodiment, the lifting blocks 3121 are rectangular blocks, and four lifting blocks 3121 are symmetrically arranged in pairs, which can stably support the four corners of the mold assembly 20 during lifting.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] When the mold assembly 20 loaded with the automotive door panel workpiece arrives at the current workstation, 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 insert into 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 workstation can then proceed. That is, during screwing operations at the second workstation, the mold assembly 20 does not need to be opened; instead, the work can be performed through the gaps between the metal rods of the cover plate 22. Similarly, assembly operations at the third and fourth workstations do not require opening the cover. At the first workstation, however, the cover plate 22 must be opened to place the automotive door panel workpiece, and at the fifth workstation, the cover plate 22 must be opened to photograph and inspect the assembled automotive door panel workpiece.

[0119] After the process of the current station is completed, the lifting unit 312 puts down 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.

[0120] 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.

[0121] like Figure 17 As 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.

[0122] like Figure 18 As shown, the first horizontal moving unit 321 includes a first driving member, a first guide rail 3212, and a first moving member 3213 movably disposed on the first guide rail 3212. In this embodiment, the first driving member is a motor 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. There are two first moving members 3213, which are sleeved on the same first guide rail 3212.

[0123] The second horizontal moving units 322 are disposed on the first moving members 3213 , and the number of the second horizontal moving units 322 is equal to the number of the first moving members 3213 . In this embodiment, there are two second horizontal moving units 322 , which are mounted on two corresponding first moving members 3213 .

[0124] like Figure 19 As shown, each second horizontal moving unit 322 includes a second driving member 3221, a second guide rail 3222, and a second moving member 3223 movably disposed on the second guide rail 3222. In this embodiment, the second driving member 3221 is a motor and is connected to the second moving member 3223 via a lead 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.

[0125] 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 .

[0126] like Figure 20As 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.

[0127] 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.

[0128] 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 .

[0129] The structure of the clamping mechanism 51 for snap-fit installation is consistent with that of the clamping mechanism 31 for screwing, and thus will not be described again.

[0130] 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.

[0131] The buckle feeding portion 53 includes a vibration plate 531 , a discharge channel 532 , and a buckle pushing unit 533 .

[0132] The vibration plate 531 arranges a plurality of disordered buckles in order and outputs them in sequence by vibration, which is a prior art.

[0133] 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.

[0134] 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.

[0135] 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.

[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] 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.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] like Figure 27 As shown, the door panel taking-out device 60 includes a detection camera module 61 , a door panel grabbing mechanism 62 , a door panel conveying module 63 , a door panel taking-out mechanism 64 , and a door panel taking-out lifting mechanism 65 .

[0151] 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 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.

[0152] like Figures 27-28 As shown, the door panel grabbing mechanism 62 includes a door panel grabbing and moving portion 621 and two sets of clamping components 622, which can grab both sides of the automobile door panel workpiece and move it.

[0153] 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.

[0154] 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.

[0155] The door panel conveying module 63 is a belt-type conveying line, which is used to convey the automobile door panel workpiece that has completed the shooting inspection to a predetermined position.

[0156] 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 mechanism 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 for its qualified assembly. The door panel grasping mechanism 62 then places the automobile door panel workpiece on the door panel conveying module 63, which conveys the automobile door panel workpiece to a predetermined location.

[0157] The structure of the door panel removal mechanism 64 is substantially identical to that of the door panel placement mechanism 11, namely, it includes a mold receiving portion similar in structure to the mold pushing portion 12, and a lifting mechanism for raising and lowering the mold receiving portion. The structure of the door panel removal lifting mechanism 65 is substantially identical to that of the door panel placement lifting mechanism 15, and therefore, a detailed description thereof will not be repeated. In other words, like the door panel placement device 10, the door panel removal device 60 also includes a chain conveyor structure with switchable conveying direction, which can drive the mold device 20 to rise and fall, thereby cooperating with the processing conveyor device 71 or the reflow conveyor device 72.

[0158] like Figure 29 As shown, the processing and conveying device 71 is used to convey the automobile door panel workpiece to be assembled and its mold device 20 to the second to fourth stations in sequence, and to carry out the assembly of each process in sequence. The processing and conveying device 71 includes three upper conveying units 711 with the same conveying direction, which are respectively arranged in the screwing device 30, the riveting device 40, and the snap-on installation device 50, and the three upper conveying units 711 are located at the same height. In this embodiment, the structure of the upper conveying unit 711 is the same as that of the mold pushing part 12, that is, a chain conveying track is also used, and the conveying directions of the three upper conveying units 711 are all Figure 29 The direction shown in D3.

[0159] Therefore, when the mold pushing part 12 in the door panel placement device 10 rises to a height roughly flush with the upper conveying unit 711, the mold pushing part 12 and the three upper conveying units 711 form a relatively coherent conveying track, which can convey the mold device 20 to the second to fourth stations in turn.

[0160] In addition, it should be noted that there is a certain distance between two adjacent upper conveying units 711 . Since the overall width of the mold device 20 is relatively large, this distance does not affect the conveying of the mold device 20 .

[0161] like Figure 30 As shown, the return conveyor 72 is used to transport used, empty mold assemblies 20 in the opposite direction. If the next automobile door panel to be assembled is of the same model, the empty mold assemblies 20 can be directly transported back to the first station for reuse. If the next automobile door panel to be assembled is of a different model, that is, if the product to be assembled is a different model, the empty mold assemblies 20 can be transported back to the second or third station. The mold storage device 100 then recovers the returned mold assemblies 20 from these stations for temporary storage.

[0162] The reflux conveying device 72 includes three lower conveying units 721 with the same conveying direction, which are respectively arranged in the screwing device 30, the riveting device 40, and the snap-fit installation device 50, and are located below the corresponding upper conveying unit 711. The three lower conveying units 721 are located at the same height, that is, the second to fourth stations are all double-layer conveying line structures. In this embodiment, the structure of the lower conveying unit 721 is also the same as that of the mold pushing part 12, and the conveying direction of the three lower conveying units 721 is Figure 30 The direction indicated by D4.

[0163] Therefore, when the conveying line of the door panel removal mechanism 64 in the door panel removal device 60 is lowered to a height roughly flush with the lower-level conveying unit 721, the conveying line of the door panel removal mechanism 64 and the three lower-level conveying units 721 form a relatively coherent conveying track, and the space below can be used to reflow the empty mold device 20 in the opposite direction.

[0164] The mold storage device 100 is arranged next to the second or third workstation. When switching the product to be assembled, the mold storage device 100 transfers the empty mold device 20 on the lower conveying unit 721 in the workstation and stores it, and takes out the mold device 20 corresponding to the next automobile door panel workpiece to be assembled from the multiple stored mold devices 20 and places it on the workstation.

[0165] In this embodiment, the mold storage device 100 is disposed next to the third workstation (i.e., the riveting device 40) and includes a mold transfer module 80 and a mold storage module 90. The mold storage module 90 is disposed near the third workstation and is used to store the mold device 20. The mold transfer module 80 is disposed between the third workstation and the mold storage module 90 and is used to transfer the mold device 20 between the two.

[0166] like Figure 31 As shown, the mold storage module 90 includes a storage rack 91 , a plurality of storage portions 92 and a plurality of protection plates 95 .

[0167] The storage rack 91 is a metal frame, which is generally in the shape of a rectangular parallelepiped. Multiple storage sections 92 are arranged in sequence on the storage rack 91 along the vertical direction. In this embodiment, the number of storage sections 92 is 7, and each storage section 92 is used to store two mold devices 20 of the same model. Different storage sections 92 are used to store mold devices 20 of different models.

[0168] like Figures 32-34 As shown, each storage portion 92 includes a bracket 93 and a storage horizontal moving unit 94 .

[0169] The bracket 93 is a rectangular metal frame fixedly mounted on the storage rack 91 and used to support the mold assembly 20. It includes two support rods 931, a front baffle 932, and a rear baffle 933. The support rods 931 are square metal rods extending in the same direction as the length of the mold storage module 90. When stored in the storage section 92, the two ends of the bottom width of the mold assembly 20 are placed on the two support rods 931 respectively. The front baffle 932 and the rear baffle 933 are respectively mounted on the front and back of the storage rack 91 and are respectively attached to the two support rods 931. Specifically, the front baffle 932 is attached to the outside of the front support rod 931, and the height of the front baffle 932 is slightly greater than the height of the support rod 931 plus the support frame 211. Similarly, the rear baffle 933 is attached to the outside of the rear support rod 931, and the height of the rear baffle 933 is slightly greater than the height of the support rod 931 plus the support frame 211. Therefore, the mold device 20 can be placed on the two support rods 931 and limited on both sides by the front baffle 932 and the rear baffle 933, so that it can be stably stored in the storage section 92. In addition, the distance between the upper end of the front baffle 932 and the upper storage section 92 is greater than the height of the mold device 20 in the closed state. Therefore, the installation of the front baffle 932 does not affect the insertion of the mold device 20.

[0170] The storage horizontal moving unit 94 is used to horizontally move the mold device 20 stored in the storage portion 92, thereby adjusting the storage position of the mold device 20 in the storage portion 92. The storage horizontal moving unit 94 includes two bearing assemblies 941, two driving gears 942, two driven gears 943, a synchronous rotating shaft 944, two conveyor belts 945, and a horizontal movement drive motor 946.

[0171] Two bearing assemblies 941 are mounted on the ends of the two support rods 931 on the same side. Two drive gears 942 are mounted on the two bearing assemblies 941, and the two drive gears 942 are coaxially mounted on the ends of the synchronous shaft 944. Two driven gears 943 are rotatably mounted on the ends of the two support rods 931 on the other side. Each conveyor belt 945 is mounted on the drive gear 942 and driven gear 943 at each end of a support rod 931 and meshes with the drive gear 942 and driven gear 943. The diameters of the drive gears 942 and driven gears 943 are substantially consistent with the height of the support rods 931 when they are horizontally positioned (i.e., the width of the support rods 931), so that the upper and lower sections of the conveyor belt 945 respectively fit on the upper and lower surfaces of the support rods 931. The output end of the horizontal motion drive motor 946 is connected to the synchronous shaft 944, capable of driving the synchronous shaft 944 to rotate. In this embodiment, the horizontal motion drive motor 946 is a reduction motor. When the mold device 20 is stored in the storage portion 92 , the mold device 20 is placed on the support rods 931 and the conveyor belt 945 attached to the support rods 931 .

[0172] Therefore, under the drive of the horizontal movement drive motor 946, the two drive gears 942 rotate synchronously, driving the two conveyor belts 945 to rotate synchronously, and the conveyor belts 945 drive the mold device 20 loaded thereon to move horizontally.

[0173] A plurality of protective plates 95 are installed on the top surface, two side surfaces and the back surface of the storage rack 91 to shield these four surfaces and protect the stored mold device 20.

[0174] In addition, if Figure 30 As shown, since the mold storage module 90 is relatively tall and narrow as a whole, in order to prevent it from tipping over, the bottom of the storage rack 91 is fixed to the ground through multiple L-shaped fixing members 912 and multiple connecting members.

[0175] like Figure 35 As shown, the mold transfer module 80 includes a bracket 81 composed of metal rods, a transfer mechanism 82 and a lifting mechanism 83. The transfer mechanism 82 is used to transfer the mold device 20, and the lifting mechanism 83 is used to lift the transfer mechanism 82 as a whole.

[0176] like Figures 36-38As shown, the transfer mechanism 82 includes a support frame 821 , a pair of telescopic arms 822 , a telescopic drive unit 823 , a clamping unit 824 , and a belt drive unit 825 .

[0177] The support frame 821 is made of metal rods and is horizontally mounted on the lifting mechanism 83. The support frame 821 includes a square frame and triangular frames mounted on the four corners of the square frame.

[0178] A pair of telescopic arms 822 are installed below the two sides of the support frame 821 and can be extended toward the other two sides of the support frame 821 to move along the support frame 821. Figure 34 The telescopic arm 822 extends in the directions indicated by the middle arrows D5 and D6. The telescopic arm 822 is a square metal rod.

[0179] The telescopic drive unit 823 is used to drive a pair of telescopic arms 822 to telescope, and includes a first guide rail 8231, a first slider 8232, a telescopic drive motor 8233, a telescopic drive wheel 8234, a first synchronization rod 8235, a pair of telescopic driven wheels 8236, and a horizontal rack 8237.

[0180] Two first guide rails 8231 are mounted below and on either side of the support frame 821. A first slider 8232 is mounted above the telescopic arm 822, slidably engaging with the corresponding first guide rail 8231, allowing the telescopic arm 822 to extend to either side. A horizontal rack 8237 is mounted on the telescopic arm 822 with its teeth facing upward. A pair of telescopic driven wheels 8236 mesh with the two racks 8237, respectively. The pair of telescopic driven wheels 8236 are coaxially mounted at either end of a first synchronization rod 8235, which is mounted on the support frame 821 via a pair of bearing assemblies. A telescopic drive wheel 8234 is mounted at the output end of the telescopic drive motor 8233 and meshes with one of the telescopic driven wheels 8236. The telescopic drive motor 8233 is mounted to the support frame 821 via a bracket plate.

[0181] Therefore, driven by the telescopic drive motor 8233, the telescopic drive wheel 8234 rotates, driving a pair of telescopic driven wheels 8236 to rotate synchronously, and then driving a pair of telescopic arms 822 to extend or retract synchronously through the horizontal rack 8237.

[0182] The clamping unit 824 includes a pair of supporting claws 8241, which are movably installed under a pair of telescopic arms 822. The supporting claws 8241 include a connecting plate 82411 and two supporting ends 82412 installed on the connecting plate 82411 and extending downward from the connecting plate 82411 in an L shape. The distribution of the two supporting ends 82412 is consistent with the distribution of the two hooks 225 on one side of the mold device 20.

[0183] like Figure 36 、 38-39, the two belt transmission units 825 are used to drive the two supporting claws 8241 to move respectively. Each belt transmission unit 825 is installed on the inner side of the telescopic arm 822 (i.e., the side where the two telescopic arms 822 face each other), and includes a pair of synchronous pulleys 8251, a synchronous belt 8252, multiple groups of engaging parts 8253, a second guide rail 8254 and a second slider 8255.

[0184] A second guide rail 8254 is mounted below the telescopic arm 822. A second slider 8255 is mounted on the supporting claw 8241, slidably engaging the second guide rail 8254. A pair of synchronous pulleys 8251 are mounted on either end of the inner side of the telescopic arm 822. The synchronous belt 8252 is sleeved onto the pair of synchronous pulleys 8251. A set of engaging members 8253 is fixedly mounted in the lower center portion of one side of the support frame 821 and engages with the synchronous belt 8252. The supporting claw 8241 is mounted on the synchronous belt 8252 via other engaging members (not shown).

[0185] Therefore, when the telescopic arm drive unit 823 drives the pair of telescopic arms 822 to extend to one side, due to the relative displacement of the telescopic arms 822 and the support frame 821, the engaging member 8253 drives the synchronous belt 8252 to rotate, thereby driving the supporting claw 8241 to move along the telescopic arm 822. In this embodiment, the length of the synchronous belt 8252 matches the length and maximum stroke of the telescopic arm 822. When the telescopic arm 822 is extended to its maximum stroke, the supporting claw 8241 moves exactly to the end of the extended telescopic arm 822. The same situation occurs when the telescopic arm 822 is extended toward the other side, and the description will not be repeated. Similarly, when the telescopic arm drive unit 823 drives the pair of telescopic arms 822 to retract, due to the relative displacement of the telescopic arms 822 and the support frame 821, the engaging member 8253 drives the synchronous belt 8252 to rotate in the opposite direction, and the supporting claw 8241 moves in the opposite direction along the telescopic arm 822.

[0186] like Figures 36-37 As shown in FIG40 , the lifting mechanism 83 is used to lift the transfer mechanism 82 as a whole to a height substantially flush with the mold assembly 20 to be transferred from the lower conveyor line 42 of the assembly station. The lifting mechanism 83 includes four vertical racks 831, four vertical guide rails 832, a lifting drive motor 833, a lifting drive wheel 834, two first lifting driven wheels 835, two second synchronization rods 836, four second lifting driven wheels 837, three tensioning pulleys 838, a lifting timing belt 839, and multiple bearing assemblies.

[0187] Two vertical guide rails 832 and two vertical racks 831 are mounted on either side of the bracket 81. The two vertical racks 831 are located between the two vertical guide rails 832, with the teeth of the two vertical racks 831 facing the same side. Two sliders (not shown) are also mounted on either side of the support frame 821. The sliders on either side of the support frame 821 are slidably engaged with the four vertical guide rails 832.

[0188] The lifting drive motor 833 is fixed to the support frame 821 through a bracket plate, and the lifting drive wheel 834 is installed at the output end of the lifting drive motor 833. Each second synchronization rod 836 is installed on the support frame 821 through a pair of bearing assemblies. Two second lifting driven wheels 837 and one first lifting driven wheel 835 are coaxially installed at both ends of each second synchronization rod 836. The three gears rotate synchronously. Among them, the first lifting driven wheel 835 has a larger diameter and is installed near one end of the second synchronization rod 836. The four second lifting driven wheels 837 are respectively engaged with the four vertical racks 831. The lifting synchronous belt 839 is mounted on the lifting drive wheel 834 and the two first lifting driven wheels 835, and is engaged with all three gears. The lifting synchronous belt 839 is also tensioned by three tensioning wheels 838, one of which is mounted on the first synchronization rod 8235, and the other two tensioning wheels 838 are mounted on the support frame 821 through connecting rods (not shown in the figure), that is, the three tensioning wheels 838 can be rotatably mounted on the support frame 821.

[0189] Therefore, driven by the lifting drive motor 833, the lifting drive wheel 834 rotates, driving the two first lifting driven wheels 835 to rotate synchronously through the lifting synchronous belt 839, and then the two first lifting driven wheels 835 drive the four coaxial second lifting driven wheels 837 to rotate synchronously, thereby driving the entire transfer mechanism 82 to rise and fall.

[0190] In this embodiment, the mold transfer module 80 is arranged between the third workstation and the mold storage module 90. When its telescopic arm 822 extends to one side, it can extend to the third workstation. When extended to the other side, it can extend to the storage part 92 of the mold storage module 90, thereby being able to transfer the mold device 20 between the two.

[0191] The door panel assembly system 1000 also includes a production information storage unit 1001, an assembly information storage unit 1002, a mold information storage unit 1003, an information acquisition unit for door panels to be assembled 1004, a mold information acquisition unit 1005, a mold storage information storage unit 1006, a door panel placement control 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 mold switching judgment unit 1012, a mold reflow control unit 1013, a mold switching control unit 1014, a door panel removal control unit 1015, and a door panel assembly control unit 1016 that controls the above-mentioned units.

[0192] 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.

[0193] 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.

[0194] 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.

[0195] 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 .

[0196] The mold information acquiring unit 1005 acquires the corresponding mold identification number from the mold information storage unit 1003 according to the workpiece identification number acquired by the door panel to be assembled information acquiring unit 1004 .

[0197] The mold storage information storage unit 1006 stores the storage information of the mold device 20 in the mold storage device 100, including the layer identification number of each layer (i.e., each storage rack 91), the layer position identification numbers of multiple positions on each layer, and whether the mold device 20 is stored in each layer position, and stores the corresponding mold identification number of the mold device 20 (i.e., the mold identification number that should be stored in each layer).

[0198] The door panel placement control unit 1007 is used to control the operation of the door panel placement device 10 at the first workstation, control the door panel placement device 10 to open the mold device 20, and after the worker places the automobile door panel workpiece to be assembled into the mold device 20 and confirms it through the operation terminal, control the door panel placement device 10 to close the mold device 20.

[0199] The screw driving control unit 1008 is used to control the operation of the screw driving device 30 at the second station, control the screw driving device 30 to drive each screw in sequence according to the number and position of screws in the assembly information, and send a screw driving completion signal after all screws are driven.

[0200] The riveting control unit 1009 is used to control the operation of the riveting device 40 at the third station, control the riveting device 40 to perform riveting at each position in sequence according to the riveting quantity and position in the assembly information, and send a riveting completion signal after the riveting at all positions is completed.

[0201] The buckle installation control unit 1010 is used to control the operation of the buckle installation device 50 at the fourth workstation, control the buckle installation device 50 to install each buckle in sequence according to the buckle installation quantity and position in the assembly information, and send a buckle installation completion signal after all buckles are installed.

[0202] The processing and conveying control unit 1011 is used to control the operation of the door panel placement device 10 and the processing and conveying device 71, thereby sequentially conveying the mold device 20 to each assembly station. Specifically, the processing and conveying control unit 10111 includes a lifting control unit 10111, a first processing and conveying control unit 10112, a second processing and conveying control unit 10113, a third processing and conveying control unit 10114, and a fourth processing and conveying control unit 10115.

[0203] The lifting control unit 10111 controls the mold pushing part 12 to rise to be flush with the upper conveying unit 711.

[0204] After the mold pushing portion 121 is raised, the first processing conveying control unit 10112 controls the mold pushing portion 121 and the upper conveying unit 711 in the screw driving device 30 to operate, thereby conveying the mold device 20 from the first station to the second station.

[0205] Upon receiving the screwing completion signal, the second processing and conveying control unit 10113 controls the two upper conveying units 711 in the screwing device 30 and the riveting device 40 to operate, thereby conveying the mold device 20 from the second station to the third station.

[0206] Upon receiving the riveting completion signal, the third processing and conveying control unit 10114 controls the riveting device 40 and the two upper conveying units 711 in the snap-fit installation device 50 to operate, thereby conveying the mold device 20 from the third station to the fourth station.

[0207] Upon receiving the buckle installation completion signal, the fourth processing conveying control unit 10115 controls the upper conveying unit 711 in the buckle installation device 50 and the chain conveying mechanism in the mold removal mechanism 64 to operate, thereby conveying the mold device 20 from the fourth station to the fifth station.

[0208] The mold switching judgment unit 1012 is used to judge whether the mold device 20 needs to be switched. The judgment can be made based on the mold identification number corresponding to the next automobile door panel workpiece to be assembled and the current mold identification number. When the two mold identification numbers are different, it is judged that switching is required, and when they are the same, no switching is required.

[0209] When the mold switching judgment unit 1012 determines that switching is not required, the reflux conveying control unit 1013 controls the mold receiving unit, the reflux conveying device 72 and the mold pushing unit 12 to operate, and directly conveys the current mold device 20 back to the door panel placement device 10 for reuse.

[0210] When the mold switching determination unit 1012 determines that a mold switching is necessary, the mold switching control unit 1014 controls the reflow conveying device 72 and the mold storage device 100 to switch the mold device 20. Specifically, the mold switching control unit 1014 includes a first reflow control unit 10141, an available storage position acquisition unit 10142, a mold storage control unit 10143, a removal position acquisition unit 10144, a mold removal control unit 10145, and a second reflow control unit 10146.

[0211] The first reflux control unit 10141 controls the chain conveying track in the door panel removal mechanism 64 and the reflux conveying device 72 to operate, and conveys the current mold device 20 to the lower layer of the third workstation.

[0212] The storage location acquisition unit 10142 obtains the corresponding layer identification number, layer position identification number and layer position storage status from the mold storage information storage unit 1006 according to the current mold identification number, and obtains the layer position identification number of the vacant, storage-available layer position according to the layer position storage status.

[0213] The mold storage control unit 10143 controls the mold transfer module 80 to transfer the mold device 20 at the lower layer of the third station to the corresponding position in the mold storage module 90 according to the layer position identification number obtained by the storage position acquisition unit.

[0214] The retrieval position acquisition unit 10144 obtains the corresponding layer identification number, layer position identification number and layer position storage status from the mold storage information storage unit 1006 according to the mold identification number corresponding to the next automobile door panel workpiece to be assembled, and obtains the layer position identification number of the layer position stored in the mold device 20 according to the layer position storage status.

[0215] The mold removal control unit 10145 controls the mold transfer module 80 to remove the next mold device 20 to be used from the corresponding position in the mold storage module 90 according to the layer position identification number obtained by the removal position acquisition unit.

[0216] After the new mold device 20 is taken out and placed on the lower layer of the third workstation, the second reflux control unit 10146 controls the reflux conveying device 72 and the mold pushing part 121 to operate and convey the new mold device 20 to the door panel placement device 10.

[0217] The door panel removal control unit 1015 controls the operation of the door panel removal device 60, thereby photographing and inspecting the assembled automobile door panel workpieces and transporting them off the assembly line. Specifically, the door panel removal control unit 1015 includes a mold opening and closing control unit, an upper photography control unit, a first gripping control unit, a lower photography control unit, a door panel assembly detection and judgment unit, a second gripping control unit, and a door panel offline transport control unit.

[0218] The mold opening and closing control unit is used to control the door panel taking-out mechanism 64 to rotate and open the cover plate 22 of the mold device 20 so as to take out the automobile door panel workpiece therein.

[0219] The upper shooting control unit is used to control the upper camera assembly 612 to shoot the automobile door panel workpiece in the opened mold device 20 from above.

[0220] After the upper camera assembly 612 completes shooting, the first grabbing control unit controls the door panel grabbing mechanism 62 to grab the automobile door panel workpiece from the opened mold device 20 and drives the automobile door panel workpiece to move to just above the lower camera assembly 613.

[0221] After the automobile door panel workpiece is moved into position, the lower shooting control unit controls the lower camera assembly 613 to shoot the automobile door panel workpiece from below.

[0222] The door panel assembly detection and judgment unit pre-processes the images captured by the upper camera component 612 and the lower camera component 613, and compares them with the images of the ideal product pre-stored in the system to determine whether the assembly of the automobile door panel workpiece is qualified.

[0223] After the lower shooting component 613 completes shooting, the second grabbing control unit controls the door panel grabbing mechanism 62 to move the automobile door panel workpiece and place it on the door panel conveying module 63 .

[0224] The door panel offline conveying control unit controls the door panel conveying module 63 according to the judgment result of the door panel assembly detection and judgment unit, and conveys qualified automobile door panel workpieces to the first predetermined position and conveys unqualified ones to the second predetermined position.

[0225] Based on the above-mentioned door panel assembly system 1000, the process of automatically assembling an automobile door panel specifically includes the following steps:

[0226] Step S1, the door panel to be assembled information acquisition unit 1004 acquires the workpiece identification number and assembly information of the next automobile door panel to be assembled, and then proceeds to step S2;

[0227] It should be noted that, at this time, the mold pushing portion 121 in the first station is flush with the lower conveying unit 721 , and the mold receiving portion in the fifth station is flush with the upper conveying unit 711 .

[0228] Step S2, the mold information acquisition unit 1005 acquires the mold identification number of the next mold device 20 to be used according to the workpiece identification number, and then proceeds to step S3;

[0229] Step S3: The mold switching judgment unit 1012 judges whether the mold needs to be switched based on the acquired mold identification number and the current mold identification number. If the judgment is no, the process proceeds to step S4; if the judgment is yes, the process proceeds to step S5.

[0230] Step S4: No switching is required. The mold reflow control unit 1013 controls the mold receiving unit, the three lower conveying units 721, and the mold pushing unit 121 to work, and directly conveys the mold device 20 back to the door panel placement device 10, and then enters step S5;

[0231] Step S5: Switching is required. The mold switching control unit 1013 controls the mold receiving unit and the two lower conveying units 721 of the fourth and third stations to work, and conveys the mold device 20 to the lower layer of the third station, and then enters step S6;

[0232] Step S6: The mold switching control unit 1013 controls the mold transfer module 80 to transfer the mold device 20 at the lower layer of the third station to the corresponding position in the mold storage module 90 for storage, and then proceeds to step S7;

[0233] In step S7, the mold switching control unit 1013 controls the mold transfer module 80 to take out the next mold device 20 to be used from the corresponding position in the mold storage module 90 according to the obtained mold identification code, and places it on the lower conveying unit 721 at the lower level of the third station, and then proceeds to step S8;

[0234] Step S8: The mold switching control unit 1013 controls the two lower conveying units 721 and the mold pushing unit 121 of the third and second stations to operate, and conveys the new mold device 20 to the first station, and then proceeds to step S9;

[0235] Step S9, the door panel placement control unit 1007 controls the door panel placement device 10 to rotate and open the cover plate 22 of the mold device 20, and then enters step S10;

[0236] In step S10, a worker places the automobile door panel workpiece to be assembled into the opened mold device 20 and confirms it through the operation terminal of the first workstation, and then proceeds to step S11;

[0237] In step S11, the door panel placement control unit 1007 controls the door panel placement device 10 to rotate and close the cover plate 22, and then enters step S12;

[0238] Step S12: The processing and conveying control unit 1011 controls the mold pushing unit 121 and the upper conveying unit 711 in the screw driving device 30 to operate, and conveys the mold device 20 to the second station, and then enters step S13;

[0239] In step S13, the screw driving control unit 1008 controls the screw driving device 30 to press the mold device 20 and drive the screws according to the assembly information, and then enters step S14;

[0240] Step S14: the processing and conveying control unit 1011 controls the screw driving device 30 and the upper conveying unit 711 in the riveting device 40 to operate, and conveys the mold device 20 to the third station, and then enters step S15;

[0241] Step S15: the riveting control unit 1009 controls the riveting device 40 to press the mold device 20 and perform riveting according to the assembly information, and then proceeds to step S16;

[0242] Step S16: The processing and conveying control unit 1011 controls the riveting device 40 and the upper conveying unit 711 in the buckle installation device 50 to operate, and conveys the mold device 20 to the fourth station, and then enters step S17;

[0243] Step S17: The buckle installation control unit 1010 controls the buckle installation device 50 to press the mold device 20 and perform buckle installation according to the assembly information, and then proceeds to step S18;

[0244] Step S18: The processing and conveying control unit 1011 controls the upper conveying unit 711 and the mold receiving unit in the buckle installation device 50 to operate, and conveys the mold device 20 to the fifth station, and then enters step S19;

[0245] In step S19, the door panel removal control unit 1014 controls the door panel removal device 60 to photograph the two surfaces of the assembled automobile door panel workpiece, and judges whether the assembled automobile door panel workpiece is qualified based on the photographing results, and transports the qualified and unqualified products to different predetermined positions, and then enters the end state.

[0246] <Example 2>

[0247] This embodiment provides a door panel assembly system 1000. Compared to the first embodiment, this embodiment differs in that the door panel assembly system 1000 does not include a mold reflow control unit 1013. Instead, the mold switching control unit 1013 controls the mold storage device 100 to store an old mold device 20 and remove a new mold device 20 when the mold switching determination unit 1012 determines a negative result. That is, in this embodiment, the mold device 20 is not directly reflowed to the first workstation. Instead, a new mold device 20 is removed each time based on the model of the next automotive door panel workpiece to be assembled.

[0248] Furthermore, the door panel assembly system 1000 of this embodiment does not wait for the previous door panel workpiece to be assembled. Instead, once the previous door panel workpiece leaves the first station, the next mold assembly 20 is delivered to the first station to begin assembly of the next door panel workpiece. This approach requires a greater number of mold assemblies 20 for backup (at least three of each model are required), but multiple of the five stations can be assembled at the same time, effectively utilizing work hours and further improving production efficiency. The remaining structures are identical to those of the first embodiment and will not be repeated here.

Claims

1. A door panel assembly system, characterized in that: include: The door panel assembly mold device is used to carry the automobile door panel workpiece to be assembled, and is provided with an electronic tag storing the mold identification number; 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 mold storage device, provided next to the screw driving device or the riveting device, for storing an empty mold device for door panel assembly; a processing and conveying device for conveying the door panel assembly mold device carrying the automobile door panel workpiece to the screw driving device, the riveting device, the clip installation device, and the door panel removal device in sequence; a reflux conveying device for conveying the empty door panel assembly mold device; as well as The door panel assembly control device is used to control the assembly process of the automobile door panel workpiece, which at least includes: a mold information storage unit storing a mold identification number of each door panel assembly mold device and a corresponding workpiece identification number of the automobile door panel workpiece; A mold information acquisition unit acquires the corresponding mold identification number according to the input workpiece identification number of the next automobile door panel workpiece to be assembled; a mold switching judgment unit, which judges whether to switch the door panel assembly mold device according to the mold identification number obtained by the mold information acquisition unit and the current mold identification number; and The mold switching control unit controls the reflux conveying device and the mold storage device when the mold switching judgment unit determines that the result is yes, stores the used door panel assembly mold device in the mold storage device, and takes out the next door panel assembly mold device to be used from the mold storage device according to the mold identification number and places it on the reflux conveying device. Wherein, the mold storage device includes: A mold storage module is provided next to the screw driving device or the riveting device; The mold transfer module is arranged between the screw driving device or the riveting device and the mold storage module, and is used to transfer the door panel assembly mold device between the two. The mold switching control unit includes: a first reflux control unit, configured to control the conveying track in the door panel removal device and the reflux conveying device to convey the door panel assembly mold device back to the screw driving device or the riveting device; a second reflux control unit, configured to transport the door panel assembly mold device at the screw device or the riveting device to the door panel placement device; a mold storage control unit, configured to control the mold transfer module to transfer the door panel assembly mold device at the screw driving device or the riveting device to the mold storage module; and The mold removal control unit is used to control the mold transfer module to remove the corresponding door panel assembly mold device from the mold storage module according to the mold identification number and place it on the reflux conveying device.

2. The door panel assembly system according to claim 1, characterized in that: in, The mold storage module includes a plurality of storage parts arranged in sequence along the vertical direction, and each storage part has a plurality of storage positions arranged in sequence along the horizontal direction. The door panel assembly control device also includes: The mold storage information storage unit stores the layer identification number of each storage unit, the layer position identification number of each storage position, the layer position storage status and the corresponding mold identification number. The mold switching control unit also includes: a storage position acquisition unit, which acquires the corresponding layer identification number and the layer position storage status from the mold storage information storage unit according to the current mold identification number, and acquires the layer position identification number of the vacant layer position according to the layer position storage status; and The position acquisition unit is taken out, and according to the mold identification number corresponding to the next automobile door panel workpiece to be assembled, the corresponding layer identification number, the layer position identification number and the layer position storage status are acquired from the mold storage information storage unit, and the layer position identification number of the layer position of the corresponding door panel assembly mold device is acquired according to the layer position storage status. The mold storage control unit stores the door panel assembly mold device into the corresponding layer position according to the layer position identification number obtained by the storage position acquisition unit, The mold removal control unit removes the door panel assembly mold device from the corresponding layer position according to the layer position identification number acquired by the removal position acquisition unit.

3. The door panel assembly system according to claim 1, characterized in that: in, The reflux conveying device includes three lower conveying units with the same conveying direction, which are respectively arranged in the screwing device, the riveting device and the buckle installation device and are arranged at the same height. The door panel removal device has a mold receiving part that can be raised and lowered and can switch the 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 first reflux control unit controls the mold receiving portion to be raised and lowered to be flush with the lower conveying unit, and controls the mold receiving portion and the lower conveying unit to work, thereby conveying the door panel assembly mold device to the screw device or the riveting device. The second reflux control unit controls the mold pushing part to rise and fall to be flush with the lower conveying unit, and controls the mold pushing part and the lower conveying unit to work, thereby conveying the door panel assembly mold device at the screw device or the riveting device to the door panel placement device.

4. The door panel assembly system according to claim 3, characterized in that: in, The door panel assembly control device also includes: The mold reflow control unit controls the mold receiving unit, the three lower conveying units and the mold pushing unit to operate when the mold switching judgment unit judges to be no, so as to convey the current door panel assembly mold device back to the door panel placement device.

5. The door panel assembly system according to claim 3, characterized in that: in, The processing conveying device includes three upper conveying units with the same conveying direction, which are respectively arranged in the screw driving device, the riveting device and the buckle installation device and are arranged at the same height. The three upper conveying units are respectively arranged above the three lower conveying units. The door panel assembly control device further includes a processing and conveying control unit for controlling the upper conveying unit and the mold pushing unit.

6. The door panel assembly system according to claim 5, Its characteristics are: in, The door panel assembly control device also includes: A screw driving control unit, used to control the screw driving device and send a screw driving completion signal after the screw driving operation is completed; a riveting control unit, configured to control the riveting device and send a riveting completion signal after the riveting operation is completed; and The buckle installation control unit is used to control the buckle installation device and send a buckle installation completion signal after the buckle installation is completed. The processing and conveying control unit includes: A lifting control unit, used for controlling the door panel placement device to lift the mold pushing portion to be flush with the upper conveying unit; a first processing and conveying control unit, configured to control the mold pushing portion and the upper conveying unit in the screw driving device to operate, thereby conveying the door panel assembly mold device to the screw driving device; a second processing and conveying control unit, configured to control the screwing device and the two upper conveying units in the riveting device to operate upon receiving the screwing completion signal, thereby conveying the door panel assembly mold device to the riveting device; a third processing and conveying control unit, configured to control the riveting device and the two upper conveying units in the clip installation device to operate upon receiving the riveting completion signal, thereby conveying the door panel assembly mold device to the clip installation device; The fourth processing and conveying control unit is used to control the upper conveying unit and the mold receiving part in the clip installation device to work when receiving the clip installation completion signal, so as to convey the door panel assembly mold device to the door panel removal device.

7. The door panel assembly system according to claim 1, Its characteristics are: in, The door panel assembly control device also includes: An assembly information storage unit stores a workpiece identification number and assembly information of the automobile door panel workpiece, wherein the assembly information includes the number and position of screws, the number and position of rivets, and the number and position of snap-fit installations; a screw driving control unit, controlling the screw driving device to drive a plurality of screws into the automobile door panel workpiece in sequence according to the assembly information; a riveting control unit, controlling the riveting device to sequentially rivet the automobile door panel workpiece at various positions according to the assembly information; and The buckle installation control unit controls the buckle installation device to perform buckle installation on each position of the automobile door panel workpiece in sequence according to the assembly information.

8. The door panel assembly system according to claim 1, Its characteristics are: in, The door panel removal device includes: A door panel removal mechanism is used to receive the door panel assembly mold device carrying the assembled automobile door panel workpiece and open the door panel assembly mold device; A door panel grabbing mechanism, used for grabbing the automobile door panel workpiece from the opened door panel assembly mold device and driving the automobile door panel workpiece to move; An upper camera assembly is provided above the door panel removal mechanism and is used to photograph the automobile door panel workpiece from above; A lower camera assembly is provided below and beside the door panel removal mechanism and is staggered with the upper camera assembly in the vertical direction, and is used to photograph the automobile door panel workpiece from below; and The door panel conveying module is used to convey the automobile door panel workpiece to a predetermined position. The door panel assembly control device also includes: The door panel removal control unit is used to control the door panel removal device, and includes: A mold opening and closing control unit, used to control the door panel removal mechanism to open and close the door panel assembly mold device; An upper shooting control unit, used for controlling the upper camera assembly to shoot the automobile door panel workpiece in the opened door panel assembly mold device from above; a first grabbing control unit, which controls the door panel grabbing mechanism to grab the automobile door panel workpiece from the opened door panel assembly mold device and move it to above the lower camera assembly after the upper camera assembly completes shooting; A lower shooting control unit, used for controlling the lower camera assembly to shoot the automobile door panel workpiece moved into position from below; and The second grabbing control unit controls the door panel grabbing mechanism to move the automobile door panel workpiece and place it on the door panel conveying module after the lower camera assembly completes shooting.

9. The door panel assembly system according to claim 8, Its characteristics are: in, The door panel removal control unit also includes: a door panel assembly detection and judgment unit, which detects the assembly quality of the automobile door panel workpiece based on the images captured by the upper camera assembly and the lower camera assembly, and determines whether the assembly of the automobile door panel workpiece is qualified; as well as The door panel offline conveying control unit controls the door panel conveying module, and conveys the automobile door panel workpiece to a first predetermined position when the door panel assembly detection and judgment unit judges that it is qualified, and conveys the automobile door panel workpiece to a second predetermined position when the door panel assembly detection and judgment unit judges that it is unqualified.

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