Door panel assembly apparatus

Abstract

This invention provides a door panel assembly device, including a door panel assembly mold device, a door panel placement device, a screw-driving device, a riveting device, a snap-fit ​​installation device, a door panel removal device, a processing conveying device, and a return conveying device. The door panel placement device has a liftable mold pushing section, and the door panel removal device has a liftable mold receiving section. Therefore, the mold pushing section and mold receiving section can be raised and lowered to be flush with the processing conveying device, working together to sequentially convey the mold device carrying the car door panel to be assembled to each device for corresponding assembly operations. Similarly, the mold pushing section and mold receiving section can be raised and lowered to be flush with the return conveying device, working together to return the used mold device to the door panel placement device for reuse, thereby realizing automated assembly and mold return of car door panels without manual intervention. Furthermore, this invention fully utilizes the lower space for mold device return, and the lower-level return does not affect the upper-level assembly work.

Description

Technical Field

[0001] This invention belongs to the field of automotive parts manufacturing technology, and specifically relates to a door panel assembly equipment. Background Technology

[0002] The assembly of automotive door panels generally involves multiple processes, including screwing, riveting, installing clips, and quality inspection. Currently, the assembly process typically involves operators moving the door panel workpieces onto designated workbenches, securing them, and then manually performing each assembly step. This method presents several problems: First, automotive door panels are large and heavy, resulting in high labor intensity and low production efficiency for operators. Second, the large size of automotive door panels makes them prone to bumps and knocks during handling, affecting the quality or yield of the finished product. Third, operators need to switch between multiple processing tools to perform various processes sequentially, leading to low production efficiency, and manual operation during screwing and riveting is prone to errors, affecting the quality of the finished product.

[0003] Therefore, there is an urgent need for a door panel assembly line capable of automating or semi-automating each process. This line requires a mold device to hold the car door panels to be assembled, facilitating their transfer between different workstations. Because car door panels are large, the mold device will also be large and heavy. Therefore, a design that allows the mold device to automatically return to its original position is also needed to avoid increasing the workload for workers. Summary of the Invention

[0004] This invention addresses the aforementioned problems and aims to provide a door panel assembly device capable of sequentially completing each process of automotive door panel assembly at separate workstations, and automatically returning the molds used to hold the automotive door panels. This achieves fully automated assembly of automotive door panels, reducing the labor intensity of workers. The invention employs the following technical solution:

[0005] This invention provides a door panel assembly device, characterized in that it comprises: a door panel assembly mold device for holding an automotive door panel workpiece to be assembled; a door panel placement device for placing the door panel assembly mold device, having a mold pushing part that is liftable and has a switchable conveying direction; a screw-driving device for screwing the automotive door panel workpiece; a riveting device for riveting the automotive door panel workpiece; a snap-fit ​​installation device for snap-fit ​​installation of the automotive door panel workpiece; and a door panel removal device for removing the assembled automotive door panel workpiece from the door panel assembly mold device and conveying it to a predetermined position, having a liftable and switchable conveying direction. The device includes a mold receiving section in the conveying direction; a processing conveying device for cooperating with the mold pushing section to sequentially convey the door panel assembly mold device, which carries the automotive door panel workpiece, to the screw-driving device, the riveting device, the snap-fit ​​mounting device, and the door panel removal device; and a return conveying device for cooperating with the mold receiving section and the mold pushing section to convey the empty door panel assembly mold device back to the door panel placement device. The processing conveying device is located below the screw-driving device, the riveting device, and the snap-fit ​​mounting device, and the return conveying device is located below the processing conveying device.

[0006] The door panel assembly equipment provided by the present invention may also have the following technical features: the processing and conveying device includes three upper conveying units, which are respectively arranged in the screw-driving device, the riveting device, and the snap-fit ​​installation device. The three upper conveying units are arranged at the same height and all convey along a predetermined processing and conveying direction. When the door panel pushing unit is raised and lowered to be level with the upper conveying unit and switches to be in the same conveying direction as the upper conveying unit, it is used to dock with the upper conveying unit to push out the door panel assembly mold device. When the door panel receiving unit is raised and lowered to be level with the upper conveying unit and switches to be in the same conveying direction as the upper conveying unit, it is used to dock with the upper conveying unit to receive the door panel assembly mold device.

[0007] The door panel assembly equipment provided by the present invention may also have the following technical features: the return conveying device includes three lower conveying units, which are respectively arranged in the screw-driving device, the riveting device, and the snap-fit ​​installation device and located below the corresponding upper conveying unit. The three lower conveying units are arranged at the same height and all convey along a predetermined return conveying direction, which is opposite to the processing conveying direction. When the door panel pushing unit is raised and lowered to be level with the lower conveying unit and switches to be in the same conveying direction as the lower conveying unit, it is used to dock with the lower conveying unit to pick up the door panel assembly mold device. When the door panel picking unit is raised and lowered to be level with the lower conveying unit and switches to be in the same conveying direction as the lower conveying unit, it is used to dock with the lower conveying unit to push out the door panel assembly mold device.

[0008] The door panel assembly equipment provided by the present invention may also have the following technical features, wherein each of the upper conveying unit, each of the lower conveying unit, the mold pushing part, and the mold receiving part includes: two parallel chain conveying tracks with a spacing adapted to the width of the door panel assembly mold device, for placing and conveying the door panel assembly mold device, the chain conveying track including a drive wheel and a conveying chain; a transmission shaft connecting the two drive wheels to enable synchronous conveying of the two chain conveying tracks; and a drive motor for driving the drive wheels to rotate.

[0009] The door panel assembly equipment provided by the present invention may also have the following technical features, wherein each of the upper conveying unit, each of the lower conveying unit, the mold pushing part, and the mold receiving part further includes: a blocking mechanism disposed at one end between the two chain conveying tracks, for blocking one end of the door panel assembly mold device mounted on the chain conveying tracks; and a check mechanism disposed at the other end between the two chain conveying tracks, for blocking the other end of the door panel assembly mold device mounted on the chain conveying tracks. The blocking mechanism of the upper conveying unit and the mold pushing part is disposed at one downstream end in the processing conveying direction, and the blocking mechanism of the lower conveying unit and the mold receiving part is disposed at one downstream end in the return conveying direction.

[0010] The door panel assembly equipment provided by the present invention may also have the following technical features, wherein the mold device for door panel assembly includes: a support unit for placing the automobile door panel workpiece; a cover plate rotatably connected to the support unit; multiple pressure heads disposed on the cover plate facing the support unit, the distribution and extension length of the multiple pressure heads being adapted to the surface shape of the automobile door panel workpiece, for pressing and fixing the placed automobile door panel workpiece when the cover plate is rotated closed; multiple positioning blocks elevated at the bottom of the support unit, each positioning block having a positioning groove in the middle; and a U-shaped opening and closing arm disposed at the end of the cover plate connected to the support unit, for driving the cover plate to rotate.

[0011] The door panel assembly equipment provided by the present invention may also have the following technical features, wherein the door panel placement device includes: a door panel placement mechanism for positioning the door panel assembly mold device, which carries the automobile door panel workpiece, to a predetermined assembly position; and a door panel placement lifting mechanism for driving the door panel placement mechanism to lift and lower, the door panel placement mechanism including: a lifting and positioning part including a plurality of positioning cylinders distributed to match the distribution of the positioning blocks, the output ends of the plurality of positioning cylinders respectively embedded in the plurality of positioning slots and extending upward, thereby lifting and positioning the door panel assembly mold device; and a rotary drive part for driving the cover plate to rotate and open and close, wherein when the door panel assembly mold device is lifted and positioned, the opening and closing rod of the rotary drive part is inserted into the U-shaped opening and closing arm.

[0012] The door panel assembly equipment provided by the present invention may also have the following technical features, wherein the snap-fit ​​installation device includes: a snap-fit ​​installation clamping mechanism for clamping the door panel assembly mold device in the closed state; a snap-fit ​​installation support for holding the snap-fit ​​to be assembled; a snap-fit ​​feeding part for sequentially conveying the snap-fit ​​to the snap-fit ​​installation support; and a snap-fit ​​installation mechanism that uses a robotic arm to grab the snap-fit ​​from the snap-fit ​​installation support and install it onto a predetermined snap-fit ​​installation position on the automotive door panel workpiece.

[0013] The door panel assembly equipment provided by the present invention may also have the following technical features, wherein the door panel removal device includes: a door panel removal mechanism for receiving the door panel assembly mold device, which holds the assembled automobile door panel workpiece, from the snap-fit ​​installation device, and opening the cover plate of the door panel assembly mold device; a detection camera module for photographing and detecting the assembled automobile door panel workpiece; a workpiece conveying module for conveying the assembled automobile door panel workpiece to a predetermined position; and a door panel gripping module for gripping the assembled automobile door panel workpiece for photographing, and... The workpiece is placed on the workpiece conveying module. The detection camera module includes: an upper camera assembly, including multiple cameras disposed above the door panel removal mechanism, for capturing images of the assembled car door panel workpiece from above; and a lower camera assembly, including multiple cameras disposed below, for capturing images of the assembled car door panel workpiece from below. The lower camera assembly and the upper camera assembly are arranged offset vertically. The door panel gripping module is used to grip the assembled car door panel workpiece and move it above the lower camera assembly for capturing images.

[0014] The door panel assembly equipment provided by the present invention may also have the following technical features, wherein the screw-driving device includes: a screw-driving clamping mechanism for clamping the door panel assembly mold device in the closed state; a screw-driving mechanism for performing screw-driving operations on the automotive door panel workpiece; and a screw-driving moving mechanism for moving the screw-driving mechanism to various predetermined screw-driving positions on the automotive door panel workpiece; and the riveting device includes: a riveting clamping mechanism for clamping the door panel assembly mold device in the closed state; a riveting mechanism for performing riveting operations on the automotive door panel workpiece; and a riveting moving mechanism for moving the riveting mechanism to various predetermined riveting positions on the automotive door panel workpiece.

[0015] Invention Function and Effect

[0016] The door panel assembly equipment according to the present invention includes a door panel assembly mold device, a door panel placement device, a screw-driving device, a riveting device, a snap-fit ​​installation device, a door panel removal device, a processing conveying device, and a return conveying device. Since the door panel placement device has a liftable mold pushing section and the door panel removal device has a liftable mold receiving section, the mold pushing section and the mold receiving section can be raised and lowered to be flush with the processing conveying device, and work together to sequentially convey the mold device carrying the car door panel to be assembled to each device for corresponding assembly operations. Similarly, the mold pushing section and the mold receiving section can be raised and lowered to be flush with the return conveying device, and work together to return the used mold device to the door panel placement device for reuse. This enables automated assembly and mold return of car door panels without manual intervention, improving production efficiency and saving significant manpower. Furthermore, the processing conveying device is located below each assembly device, and the return conveying device is located below the processing conveying device, thus fully utilizing the lower space for mold device return, and the lower-level return does not affect the upper-level assembly work. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the door panel assembly equipment in an embodiment of the present invention;

[0018] Figure 2 This is a perspective view of the door panel placement device in an embodiment of the present invention;

[0019] Figure 3 This is a perspective view of the door panel placement device in an embodiment of the present invention;

[0020] Figure 4 This is a perspective view of the mold device in an embodiment of the present invention;

[0021] Figure 5 This is a perspective view of the mold device in the open state in an embodiment of the present invention;

[0022] Figure 6 This is a structural diagram of the bottom guide block of the mold device for assembling door panels in an embodiment of the present invention;

[0023] Figure 7 This is a schematic diagram of the structure of the U-shaped opening and closing arm cooperating with the rotary drive mechanism in an embodiment of the present invention;

[0024] Figure 8 This is a perspective view of the mold pushing part in an embodiment of the present invention;

[0025] Figure 9 This is a perspective view of the lifting mechanism for placing the door panel in an embodiment of the present invention;

[0026] Figure 10 This is a perspective view of the blocking mechanism for placing the door panel in an embodiment of the present invention;

[0027] Figure 11 This is a perspective view of the anti-return mechanism for door panel placement in an embodiment of the present invention;

[0028] Figure 12 This is a schematic diagram of the door panel placement check mechanism in the forward release embodiment of the present invention;

[0029] Figure 13 This is a schematic diagram of the door panel placement check mechanism reversing the release in an embodiment of the present invention;

[0030] Figure 14 This is a perspective view of the screw-driving device in an embodiment of the present invention;

[0031] Figure 15 This is a perspective view of the screw-pressing mechanism in an embodiment of the present invention;

[0032] Figure 16 This is a schematic diagram of the state of the screw-driving clamping mechanism pressing the door panel assembly mold device in an embodiment of the present invention;

[0033] Figure 17 This is a perspective view of the screw-driving moving mechanism in an embodiment of the present invention;

[0034] Figure 18 This is a perspective view of the first horizontal moving unit in an embodiment of the present invention;

[0035] Figure 19 This is a perspective view of the second horizontal moving unit in an embodiment of the present invention;

[0036] Figure 20 This is a perspective view of the screw-driving lifting unit in an embodiment of the present invention;

[0037] Figure 21 This is a top view of the structure of the snap-fit ​​mounting device in an embodiment of the present invention;

[0038] Figure 22 yes Figure 21 Enlarged view of the inner part of the middle frame C;

[0039] Figure 23 This is a perspective view of the support portion for snap-fit ​​installation in an embodiment of the present invention;

[0040] Figure 24 This is a perspective view of the snap-fit ​​mounting mechanism in an embodiment of the present invention;

[0041] Figure 25 This is a perspective view of the snap-fit ​​mounting component in an embodiment of the present invention;

[0042] Figure 26 This is a perspective view of the buckle detection unit in an embodiment of the present invention;

[0043] Figure 27This is a perspective view of the door panel removal device in an embodiment of the present invention;

[0044] Figure 28 This is a perspective view of the door panel gripping module gripping a car door panel workpiece in an embodiment of the present invention;

[0045] Figure 29 This is a schematic diagram of the state where the mold device is returned to its original position in the door panel assembly equipment of this invention. Detailed Implementation

[0046] To make the technical means, creative features, objectives and effects of the present invention easy to understand, the door panel assembly equipment of the present invention will be specifically described below in conjunction with embodiments and accompanying drawings.

[0047] <Example>

[0048] Figure 1 This is a schematic diagram of the door panel assembly equipment in this embodiment.

[0049] like Figure 1 As shown, the door panel assembly equipment 1000 includes a door panel placement device 10, a screw-driving device 30, a riveting device 40, a snap-fit ​​installation device 50, a door panel removal device 60, a processing conveyor device 71, and a return conveyor device 72. In the figure, D1 is the processing conveying direction, and D2 is the mold return conveying direction.

[0050] The system includes a door panel placement device 10, serving as the first station to receive automotive door panel workpieces to be assembled. A screw-driving device 30 serves as the second station for screw-driving operations. A riveting device 40 serves as the third station for riveting operations. A snap-fit ​​installation device 50 serves as the fourth station for snap-fit ​​installation operations. A door panel removal device 60 serves as the fifth station for conveying the assembled automotive door panel workpieces. The automotive door panel workpieces to be assembled are placed in a door panel assembly mold device (hereinafter referred to as the mold device) for easy transfer between the various stations. A processing conveyor device 71 is located in the second to fourth stations to sequentially convey the automotive door panel workpieces to be assembled to these stations for corresponding assembly operations. A return conveyor device 72 is also located in the second to fourth stations to transport the used mold device back to the first station for reuse. The structure and function of each part will be explained in detail below.

[0051] Figure 2 This is a perspective view of the door panel placement device in this embodiment.

[0052] Figure 3 This is a perspective view of the door panel placement device in this embodiment.

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

[0054] Figure 4 This is a perspective view of the mold device in this embodiment.

[0055] Figure 5 This is a perspective view of the mold device in the open state in this embodiment.

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

[0057] The support unit 21 includes a support frame 211, a support mold (not shown in the figure), and multiple mold fixing components 212. The support frame 211 is welded from square steel rods and steel sheets and is used to support the support mold.

[0058] Figure 6 This is a structural diagram of the bottom guide block of the mold device for assembling the door panel in this embodiment.

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

[0060] Multiple mold fixture fasteners 212 are L-shaped metal parts, which are respectively installed on the support frame 211. The mold fixture fasteners 212 form a structure for installing the supporting mold fixture. The supporting mold fixture is engaged between the multiple mold fixture fasteners 212.

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

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

[0063] The pressure head 223 consists of a metal rod and an elastic element wrapped around the end of the metal rod. The other end of the metal rod is welded to the cover frame 221. The metal rod is perpendicular to the surface direction of the cover frame 221 and extends towards the support unit 21. The arrangement of the multiple pressure heads 223 and the extension length of each pressure head 223 are matched to the surface of the automotive door panel workpiece. The pressure heads 223 are used to abut against different parts of the surface of the automotive door panel workpiece when the cover 22 is closed, thereby pressing and fixing the automotive door panel workpiece.

[0064] Figure 7 This is a schematic diagram of the structure of the U-shaped opening and closing arm and the rotary drive mechanism in this embodiment.

[0065] like Figure 7 As shown, the U-shaped opening and closing arm 224 is a roughly U-shaped metal part, which is fixedly installed on the cover frame 221 and connected to the support unit 21 on one side by screws or other connectors. The opening of the U-shape faces outward, and the U-shaped opening and closing arm 224 forms an obtuse angle with the cover frame 221. When the cover 22 is closed, that is, when the surface direction of the cover frame 221 is roughly in line with the horizontal direction, the opening of the U-shaped opening and closing arm 224 tilts upward. The U-shaped opening and closing arm 224 is used to connect with the rotary drive mechanism in the assembly station, and under its drive, it drives the cover frame 221 to rotate.

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

[0067] A connecting bracket 231 is mounted on one side of the support frame 211, and a rotating shaft 232 is mounted on the connecting bracket 231. A cover plate frame 221 is mounted on the rotating shaft 232 via two pairs of bearing assemblies 233, allowing it to rotate along the shaft 232. A damping assembly 234 is connected to the connecting bracket 231 at the center of one side of the cover plate frame 221, limiting the rotational speed of the cover plate 22.

[0068] It should be noted that since there are multiple models of door panel products, there are multiple different mold devices 20. The structure of the cover frame 221, the structure and distribution of the pressure head 223 are different, but the overall size of all mold devices 20 is the same. Therefore, a conveying mechanism with the same structure can be used to transfer them.

[0069] Furthermore, in this embodiment, an electronic tag (RFID) is provided on the automotive door panel workpiece, and reading the electronic tag can identify the workpiece model. A product detection sensor (not shown in the figure) for reading the electronic tag is provided on the mold device 20, and electrical energy is transmitted to the product detection sensor via a wireless power rod. An electronic tag is also provided on the bottom of the mold device 20, and reading the electronic tag can identify the model of the mold device 20. A mold detection sensor for reading the electronic tag is provided in the door panel placement device 10.

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

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

[0072] Figure 8 This is a perspective view of the mold pushing part in this embodiment.

[0073] like Figure 8 As shown, the mold pushing part 12 includes two parallel chain conveyor tracks 121, a drive shaft 122, and a chain track drive motor 123.

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

[0075] The lifting and positioning unit 13 includes four lifting cylinders 131, all mounted on a bracket in the door panel placement device 10. The four lifting cylinders 131 are distributed at the four corners of a rectangle and are 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 device 20. The output end of each lifting cylinder 131 matches the circular positioning groove of the positioning block 2111 and can be embedded into the circular positioning groove. During lifting and positioning, the four lifting cylinders 131 lift simultaneously, their output ends abutting against the bottom surface of the circular positioning groove, thereby smoothly lifting the mold device 20 and positioning it in the current work position.

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

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

[0078] When the mold device 20 is lifted into place by the lifting and positioning part 32, the circular pusher 1423 of the opening and closing rod 1422 is inserted into the U-shaped opening of the U-shaped opening and closing arm 224 of the mold device 20.

[0079] The rotation limiting assembly 143 includes four perforated plates 1431 and four proximity sensors 1432, used to limit the maximum stroke of the opening / closing lever 1422. The proximity sensors 1432 are all installed in the perforated holes of the perforated plates 1431; two proximity sensors 1432 are installed above the output end of the rotary drive motor 141, and the other two are installed below. When the upper and lower proximity sensors 1432 sense the opening / closing lever 1422, it indicates that the cover plate 22 has been opened or closed in place.

[0080] Figure 9 This is a perspective view of the lifting mechanism for placing the door panel in this embodiment.

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

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

[0083] The lifting drive motor 155 drives the bracket 153 to lift and lower via the lifting transmission assembly 154.

[0084] The lifting transmission assembly 154 includes a lead screw 1541 extending vertically between two rear support rods 1512, a lead screw nut (not shown) mounted on the lead screw 1541, and a transition block 1542 mounted on the lead screw 1541 and held in place by the lead screw nut. The bracket 153 is mounted on the lead screw 1541 via the transition block 1542. Driven by the lifting drive motor 155, the lead screw 1541 drives the bracket 153 to rise and fall.

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

[0086] At both ends of the mold pushing section 12 along the conveying direction, there are blocking mechanisms 17 for placing door panels and anti-return mechanisms 16 for placing door panels, which are used to limit the mold device 20 to the current station after it is conveyed to the position to avoid mis-conveying.

[0087] Figure 10 This is a perspective view of the blocking mechanism for placing the door panel in this embodiment.

[0088] like Figure 10 As shown, the door panel placement blocking mechanism 17 is arranged between two chain conveyor tracks 121 and is located on the side closer to the next station to prevent the mold device 20 from being transported forward by mistake. The door panel placement blocking mechanism 17 includes a blocking support 171, a blocking member 172, a blocking wheel 173, and a blocking cylinder 174.

[0089] Both the blocking support 171 and the blocking member 172 are irregularly shaped metal parts. The blocking support 171 is mounted on the upper end of the blocking cylinder 174, and the output end (piston rod) of the blocking cylinder 174 passes through the through hole in the middle of the support 171. The protruding part in the middle of the blocking member 172 is hinged to the blocking support 171 and can rotate relative to the blocking support 171. One end of the blocking member 172 abuts against the output end of the blocking cylinder 174, and the other end is equipped with a pair of blocking wheels 173. Figure 10 In the current state, the output end of the blocking cylinder 174 retracts, and the blocking wheel 173 is higher than the height of the two chain conveyor tracks 121, thereby blocking the mold device 20 placed on the chain conveyor tracks 121. When the output end of the blocking cylinder 174 extends, it pushes the blocking member 172 to rotate, causing the blocking wheel 173 at one end to rotate to a height lower than the upper surface of the chain conveyor track 121, thereby allowing the placed mold device 20 to pass.

[0090] Figure 11 This is a perspective view of the check mechanism for door panel placement in this embodiment.

[0091] like Figure 11 As shown, the door panel placement check mechanism 16 is disposed between two chain conveyor tracks 121 and located on the side closer to the previous station to prevent the mold device 20 from accidentally flowing back. The door panel placement check mechanism 16 includes a check base 161, a check support 162, a connecting rod 163, a check component 164, and a check drive cylinder 165.

[0092] The blocking support 162 is an irregularly shaped metal part, which is installed on the base 161 by screws or other connecting parts. The blocking support 162 has a beveled edge 1621 on the side near the blocking member 164, and a square groove 1622 extending through the conveying direction is opened on the upper part.

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

[0094] The check valve 164 is an irregularly shaped metal part, having a counterweight 1641 and an abutment blocking part 1642. The counterweight 1641 is located at the bottom, with two counterweight plates 166 mounted on one side. The abutment blocking part 1642 extends obliquely upward from above the counterweight 1641, forming a wedge-shaped end for blocking the mold device 20. A through pivot hole 1643 is provided at the connection between the counterweight 1641 and the abutment blocking part 1642, and the check valve 164 is rotatably mounted on the other end of the connecting rod 163 through the pivot hole 1643 and the pivot shaft.

[0095] Figure 12This is a schematic diagram of the door panel placement check mechanism in this embodiment when it is released in the forward direction.

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

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

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

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

[0100] Figure 14 This is a perspective view of the screw-driving device in this embodiment.

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

[0102] Figure 15 This is a perspective view of the screw-pressing mechanism in this embodiment.

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

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

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

[0106] Each clamping block 3111 includes a main board 31111, a base plate 31112 disposed at the bottom of the main board 31111, and a reinforcing rib 31113 connecting the main board 31111 and the base plate 31112. The main board 31111 is connected to a bracket, and the reinforcing rib 31113 is disposed on the side of the main board 31111. In this embodiment, there are two reinforcing ribs 31113, which are disposed at both ends of the main board 31111.

[0107] The lifting unit 312 is capable of pushing the mold device 20 upward, and includes multiple lifting blocks 3121 and a lifting drive assembly 3122.

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

[0109] As described above, the support unit 21 has four positioning blocks 2111 at its bottom, and each positioning block 2111 has a positioning groove. The lifting unit 312 also includes positioning posts 3123, which are disposed on the top of each lifting block 3121 and are adapted to the positioning grooves for positioning the mold device 20. In this embodiment, there are two positioning posts 3123, which are disposed on two diagonally opposite lifting blocks 3121.

[0110] The number of lifting drive components 3122 is equal to the number of lifting blocks 3121. Each lifting drive component 3122 is connected to a corresponding lifting block 3121, driving the lifting blocks 3121 to raise the mold device 20, thereby causing the cover plate 22 to abut against the clamping block 3111. Each lifting drive component 3122 includes a cylinder body 31221, a push rod 31222, and two guide rods 31223. The cylinder body 31221 has guide channels 31221a on both sides that are adapted to the guide rods 31223. One end of each guide rod 31223 is movably mounted on 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 moves up and down under the drive of the cylinder body 31221, thereby driving the lifting block 3121 to move up and down.

[0111] The protective baffle 313 is located above the cylinder body 31221 and is mounted on a bracket by multiple fasteners, which can protect the cylinder body 31221. The protective baffle 313 has a lifting hole 3131 that is adapted to the lifting block 3121, and the lifting hole 3131 allows the lifting block 3121 to pass through during lifting and lowering.

[0112] When the mold device 20 carrying the automotive door panel workpiece moves to the current station, the four sets of lifting drive components 3122 drive the four lifting blocks 3121 to rise synchronously. The positioning pins 3123 on the top of the lifting blocks 3121 insert into the positioning grooves at the bottom of the support unit 21 to position the mold device 20. The lifting blocks 3121 continue to rise, lifting the mold device 202 on the upper conveying unit 711 until the cover plate 22 abuts against the clamping block 3111, pressing the mold device 20 and the automotive door panel workpiece therein. Then, the screwing operation of this station can be performed. That is, when the screwing operation is performed at the second station, the mold device 20 does not need to be opened, but can be operated through the gap between the metal rods of the cover plate 22. Similarly, the assembly operations at the third and fourth stations do not require opening the cover. However, at the first station, the cover plate 22 needs to be opened to put in the automotive door panel workpiece, and at the fifth station, the cover plate 22 needs to be opened to take pictures and inspect the assembled automotive door panel.

[0113] The end shape of the screw-driving mechanism is similar to that of a screwdriver, and it can rotate and press down to drive the screw in. The screw-driving mechanism is existing technology and will not be described in detail.

[0114] Figure 17 This is a perspective view of the moving mechanism used for screwing in this embodiment.

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

[0116] Figure 18 This is a perspective view of the first horizontal moving unit in this embodiment.

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

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

[0119] like Figure 19As 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 mounted on the second guide rail 3222. The second driving member 3221 is a motor, 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.

[0120] Two screw-driving lifting units 323 are mounted on the second moving part 3223 and are respectively installed on the two second horizontal moving units 322.

[0121] Figure 20 This is a perspective view of the screw-driving lifting unit in this embodiment.

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

[0123] The riveting device 40 serves as the third station and includes a riveting clamping mechanism, a riveting moving mechanism, and a riveting mechanism. The structure of the riveting clamping mechanism is the same as that of the screw-driving clamping mechanism 31, and the structure of the riveting moving mechanism is the same as that of the screw-driving moving mechanism 32. The riveting mechanism is a structure in the prior art and will not be described in detail here.

[0124] Figure 21 This is a top view of the structure of the snap-fit ​​mounting device in this embodiment.

[0125] Figure 22 yes Figure 21 A magnified view of the area inside frame C.

[0126] like Figure 21-22 As shown, the snap-fit ​​installation device 50 serves as the fourth station and includes a snap-fit ​​installation clamping mechanism 51, a snap-fit ​​installation support 52, a snap-fit ​​feeding part 53, a snap-fit ​​installation mechanism 54, and multiple sensors 55.

[0127] The structure of the clamping mechanism 51 for buckle installation is the same as that of the clamping mechanism 31 for screwing.

[0128] Figure 23 This is a perspective view of the support part for snap-fit ​​installation in this embodiment.

[0129] like Figure 23 As shown, the snap-fit ​​mounting support 52 is used to hold and support the snap-fit ​​for the snap-fit ​​mounting mechanism 54 to grasp. The snap-fit ​​mounting support 52 is a support platform with a through-hole receiving groove 521 and a clearance groove 522. The width and depth of the receiving groove 521 are smaller than those of the clearance groove 522, and the two sides of the receiving groove 521 are stepped in the width direction to match the structure of the snap-fit. The receiving groove 521 is used to receive the snap-fit ​​conveyed by the snap-fit ​​feeding unit 53, and the clearance groove 522 is used to make way for the corresponding conveying structure of the snap-fit ​​feeding unit 53. The following will describe the corresponding structure of the snap-fit ​​feeding unit 53 in more detail.

[0130] The snap-fit ​​feeding unit 53 includes a vibratory feeder 531, a discharge channel 532, and a snap-fit ​​pushing unit 533.

[0131] The vibratory plate 531 arranges multiple disordered buckles neatly and outputs them sequentially through vibration, which is existing technology and will not be elaborated further.

[0132] One end of the discharge channel 532 is connected to the output end of the vibratory feeder 531, and the other end is connected to the buckle mounting support 52. The width of the discharge channel 532 is slightly wider than the width of a single buckle, and it is used to transport the arranged buckles one by one to the buckle mounting support 52 for the buckle mounting mechanism 54 to grab and install.

[0133] The latching push unit 533 includes a push frame 5331 and a push cylinder 5332 for moving the push frame 5331. It is used to push the latch on the latch mounting support 52 into place, thereby facilitating the latch mounting mechanism 54 to grasp it. The clearance groove 522 of the latch mounting support 52 is used to allow clearance for the end of the push frame 5331, that is, the end of the push frame 5331 can extend into the clearance groove 522 to push the latch in the receiving groove 521 into place.

[0134] Multiple sensors 55 are respectively installed on the buckle mounting support 52. One pair of sensors 55 is used to sense whether the buckle has been delivered to the receiving slot 521, so that the buckle can be pushed into place; another pair of sensors 55 is used to sense whether the buckle has been pushed into place, so that the grabbing and installation operation can be performed; other sensors 55 are also used to sense whether the buckle has been grabbed, etc., so that automatic control can be realized.

[0135] Figure 24 This is a perspective view of the snap-fit ​​installation mechanism in this embodiment.

[0136] like Figure 24As shown, the snap-on mounting mechanism 54 is used to grab snaps and install them at predetermined positions on the automotive door panel workpiece. It includes a robot arm 541, a snap-on mounting component 542, a connecting frame 543 for the snap-on mounting component, and a snap-on detection unit 544.

[0137] The robotic arm 541 includes a robotic arm mounting base 5411, a first horizontal rotation unit 5412 for snap-fit ​​installation, a second horizontal rotation unit 5413 for snap-fit ​​installation, and a lifting unit 5414 for snap-fit ​​installation.

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

[0139] A second horizontal rotating unit 5413 for snap-fit ​​mounting is rotatably mounted on a first horizontal rotating unit 5412 for snap-fit ​​mounting. The second horizontal rotating unit 5413 includes a second horizontal rotating arm 54131 and a second horizontal rotating drive member. The second horizontal rotating arm 54131 is rotatably connected to the first horizontal rotating arm 54121, and the second horizontal rotating drive member is connected to the second horizontal rotating arm 54131, thereby driving the second horizontal rotating arm 54131 to rotate.

[0140] A lifting unit 5414 for snap-fit ​​installation is mounted on the second horizontal rotating unit 5413 for snap-fit ​​installation, and is used to drive the snap-fit ​​mounting component 542 to rise and fall. In this embodiment, the lifting unit 5414 for snap-fit ​​installation includes a lifting motor for snap-fit ​​installation, a lifting connecting rod 54142 for snap-fit ​​installation, and a lifting guide rod 54143 for snap-fit ​​installation.

[0141] The lifting motor for snap-fit ​​installation drives the lifting connecting rod 54142 for snap-fit ​​installation to rise and fall. One end of the lifting connecting rod 54142 for snap-fit ​​installation is mounted on the second horizontal rotating arm 54131, and the other end is connected to the snap-fit ​​mounting component 542 via the snap-fit ​​mounting component connecting bracket 543. There are two lifting guide rods 54143 for snap-fit ​​installation, which are arranged parallel to each other with the lifting connecting rod 54142 for snap-fit ​​installation, and are used for guiding and limiting during lifting and falling.

[0142] The snap-fit ​​mounting mechanism 54 includes two snap-fit ​​mounting parts 542, which are mounted on the robotic arm 541 and are used to engage with the snap-fit ​​to move or install the snap-fit.

[0143] Figure 25 This is a perspective view of the snap-fit ​​mounting component in this embodiment.

[0144] like Figure 25As shown, the bottom of the snap-fit ​​mounting component 542 has a snap-fit ​​fixing cavity 5421, the shape and size of which are adapted to the snap-fit. The snap-fit ​​fixing cavity 5421 and the snap-fit ​​are interference-fitted, and the snap-fit ​​is fixed by friction. After the snap-fit ​​is installed in place, the snap-fit ​​mounting lifting unit 5414 lifts the snap-fit ​​mounting component 542, thus separating the snap-fit ​​from the snap-fit ​​mounting component 542.

[0145] The clip-on mounting bracket 543 is mounted on the clip-on mounting lifting connecting rod 54142 and is used to connect the clip-on mounting parts 542. In this embodiment, the two clip-on mounting parts 542 are arranged parallel to each other on the clip-on mounting bracket 543 along the length direction of the clip-on mounting lifting connecting rod 54142, which enables the removal of two clips at one time.

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

[0147] like Figure 26 As shown, the snap-fit ​​detection unit 544 is mounted on the snap-fit ​​mounting bracket 543 and is used to detect whether the snap-fit ​​is installed in place. The snap-fit ​​detection unit 544 includes a snap-fit ​​mounting detection motor 5441 and a detection transmission assembly 5442.

[0148] The detection motor 5441 for snap-fit ​​installation is connected to the snap-fit ​​mounting component 542 via the detection transmission assembly 5442, thereby driving the snap-fit ​​mounting component 542 to rotate. In this embodiment, the detection motor 5441 for snap-fit ​​installation is a servo motor, which can feed back the resistance encountered during rotation to the controller or other upper-level equipment, and then further determine whether the snap-fit ​​is installed in place based on the magnitude of the resistance.

[0149] The detection transmission assembly 5442 includes a drive pulley 54421, two driven pulleys 54422, a timing belt 54423, and a tension pulley 54424. The drive pulley 54421 is connected to the output end of the detection motor 5441 for snap-fit ​​mounting. The two driven pulleys 54422 are respectively fixedly connected to two snap-fit ​​mounting pieces 542. The tension pulley 54424 is used to tension the timing belt 54423 to prevent slippage during transmission and thus maintain transmission efficiency.

[0150] In this embodiment, the snap-fit ​​mounting point on the automotive door panel workpiece has a snap-fit ​​mounting groove with a side opening. During part removal, the robotic arm 541 moves to position the snap-fit ​​mounting component 542 above the snap-fit ​​to be installed, and the snap-fit ​​mounting lifting unit 5414 descends to engage the upper part of the snap-fit ​​fixing cavity 5421 and fix it in place. During installation, the robotic arm 541 moves the snap-fit, causing the lower part of the snap-fit ​​to engage and fix it in the snap-fit ​​mounting groove through the side opening. During inspection, driven by the snap-fit ​​mounting detection motor 5441, the driving wheel 54421 drives the driven wheel 54422 to rotate via the synchronous belt 54423, causing the snap-fit ​​mounting component 542 to rotate as well, thereby applying a torsional force to the snap-fit. Then, the system determines whether the snap-fit ​​is properly installed based on the feedback from the servo motor.

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

[0152] Figure 27 This is a perspective view of the door panel removal device in this embodiment.

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

[0154] The inspection camera module 61 includes a housing, an upper camera assembly 612, a lower camera assembly 613, and an illumination unit. The housing is made of black acrylic glass to shield external light sources and reduce the impact of light source variations on the image capture. The upper camera assembly 612 includes multiple cameras positioned above the door panel removal mechanism 64 for capturing images of the assembled automotive door panel workpiece from above. The lower camera assembly 613 includes multiple cameras positioned below (close to the ground) for capturing images of the automotive door panel workpiece from below. The lower camera assembly 613 and the upper camera assembly 612 are vertically offset. The illumination unit includes multiple lamps to provide sufficient illumination for the imaging.

[0155] Figure 28 This is a 3D view of the door panel gripping module gripping the car door panel workpiece in this embodiment.

[0156] like Figure 27-28 As shown, the door panel gripping module 62 includes a gripping moving part 621 and two sets of clamping assemblies 622, which can grip both sides of the car door panel workpiece and move it.

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

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

[0159] The workpiece conveying module 63 is a belt conveyor line used to transport the car door panel workpieces that have completed the shooting and inspection to a predetermined position.

[0160] Therefore, after the mold device 20 is opened, the upper surface of the car door panel workpiece can first be photographed by the upper camera component 612. Then, the door panel gripping module 62 grips the car door panel workpiece and moves it above the lower camera component 613. At this time, the lower camera component 613 can photograph the lower surface of the car door panel workpiece. Afterward, the assembly of the car door panel workpiece can be checked based on the photographed results of the two surfaces. Then, the door panel gripping module 62 places the car door panel workpiece on the workpiece conveying module 63, and the workpiece conveying module 63 conveys the car door panel workpiece to the predetermined position.

[0161] The structure of the door panel removal mechanism 64 is basically the same as that of the door panel placement mechanism 11, including a mold receiving part with the same structure as the mold pushing part 121, and a lifting mechanism for raising and lowering the mold receiving part. The structure of the door panel removal lifting mechanism 65 is basically the same as that of the door panel placement lifting mechanism 14, so it will not be described again. That is, like the door panel placement device 10, the mold receiving part is a chain conveyor track that can be raised and lowered and whose conveying direction can be switched.

[0162] Figure 14 A double-layer conveyor track is also shown below the screw-driving device 30, and the same arrangement is also shown below the riveting device 40 and the snap-fit ​​mounting device 50.

[0163] The processing conveying device 71 includes three processing conveying units 711 located at the second to fourth workstations. These three units are positioned at the same height and in the same conveying direction, i.e., direction D1. The return conveying device 72 includes three return conveying units 721 located at the second to fourth workstations. These three units are positioned at the same height and in the same conveying direction, i.e., direction D2. Furthermore, the three return conveying units 721 are positioned directly below the three processing conveying units 711. In this embodiment, the structures of the processing conveying units 711 and the return conveying units 721 are consistent with the structure of the mold pushing part 12, also being chain conveying tracks. In this embodiment, the chain conveying tracks all use double-speed chains to accelerate the conveying cycle. In addition, both ends of the three processing conveying units 711 and the three return conveying units 721 are also equipped with blocking mechanisms and anti-return mechanisms, with structures identical to the aforementioned blocking mechanism 17 and anti-return mechanism 16 for door panel placement. At the return conveying unit 721, the blocking mechanism is located downstream along the return conveying direction, and the anti-return mechanism is located upstream along the return conveying direction.

[0164] like Figure 1 As shown, the assembly of the car door panel can be completed automatically through the above structure. The worker places the car door panel to be assembled into the mold device 20 at the first station. The mold pushing part 12 rises to be flush with the processing and conveying unit 711, and the mold pushing part 12 is conveyed along the D1 direction, cooperating with the processing and conveying unit 711 below the screw-driving device 30 to convey the mold device 20 to the screw-driving device 30 for screw-driving operation. Similarly, the mold device 20 is then conveyed sequentially through the processing and conveying unit 711 to the riveting device 40 and the snap-fit ​​installation device 50 for riveting and snap-fit ​​installation. Then, the mold receiving part rises to be flush with the processing and conveying unit 711, and the mold receiving part is conveyed along the D1 direction, cooperating with the processing and conveying unit 711 below the snap-fit ​​installation device 50 to convey the mold device 20 to the door panel removal device 60 for inspection. Finally, the door panel removal device 60 opens the mold device 20, removes the assembled car door panel, and conveys it to a predetermined position.

[0165] Figure 29 This is a schematic diagram of the state where the door panel assembly equipment causes the mold device to return in this embodiment.

[0166] like Figure 29As shown, after the assembled car door panel is removed, the mold receiving part of the fifth station carrying the mold device 20 descends to be flush with the return conveying unit 721, and the mold pushing part 12 of the first station also descends to be flush with the return conveying unit 721. The mold receiving part and the mold pushing part 12 switch the conveying direction and convey the mold in the D2 direction. At this time, the mold receiving parts, the three return conveying units 721, and the mold pushing part 12 in the first to fifth stations form a relatively continuous return conveying track, which can transport the used mold device 20 from the fifth station back to the first station for reuse.

[0167] Functions and effects of the embodiments

[0168] The door panel assembly equipment 100 provided in this embodiment includes a door panel assembly mold device 20, a door panel placement device 10, a screw-driving device 30, a riveting device 40, a snap-fit ​​installation device 50, a door panel removal device 60, a processing conveying device 71, and a return conveying device 72. Since the door panel placement device 10 has a liftable mold pushing part 12 and the door panel removal device 60 has a liftable mold receiving part, the mold pushing part 12 and the mold receiving part can be raised and lowered to be flush with the processing conveying device 71, and work together to sequentially convey the mold device 20, which carries the car door panel to be assembled, to each assembly device for corresponding assembly operations. Similarly, the mold pushing part 12 and the mold receiving part can be raised and lowered to be flush with the return conveying device 72, and work together to return the used mold device 20 to the door panel placement device 10 for reuse. This enables automated assembly of car door panels and mold return without manual intervention, improving production efficiency and saving significant manpower. In addition, the processing conveying device 71 is located below each assembly device, and the return conveying device 72 is located below the processing conveying device 72. Therefore, the lower space can be fully utilized for the return of the mold device 20, and the lower return does not affect the upper assembly work.

[0169] In this embodiment, the processing conveying device 71 consists of three processing conveying units 711 located at the second to fourth workstations, and the return conveying device 72 consists of three return conveying units 721 located below it. Both are chain conveyor tracks. The mold pushing part 12 and the mold receiving part are chain conveyor tracks with switchable conveying directions, both using double-speed chains. Therefore, the conveying cycle between workstations can be accelerated, further improving production efficiency. Furthermore, both ends of the track are equipped with blocking mechanisms and anti-return mechanisms, thus effectively preventing misfeeding during both conveying in the processing direction and the return direction, ensuring production quality.

[0170] The above embodiments are only used to illustrate specific implementations of the present invention, and the present invention is not limited to the scope of the description of the above embodiments.

Claims

1. A door panel assembly equipment, characterized in that, include: A door panel assembly mold device, used to hold automotive door panel workpieces to be assembled; A door panel placement device for placing the door panel assembly mold device, having a mold pushing part that can be raised and lowered and whose conveying direction can be switched; A screw-driving device is used to drive screws into the automotive door panel workpiece; A riveting device for riveting the automobile door panel workpiece; A snap-fit ​​installation device is used for snap-fit ​​installation of the automobile door panel workpiece; A door panel removal device is used to remove the assembled automobile door panel workpiece from the door panel assembly mold device and transport it to a predetermined position, and has a mold receiving part that can be lifted and can switch the transport direction. A processing and conveying device, used in conjunction with the mold pushing unit, sequentially conveys the door panel assembly mold device, which carries the automotive door panel workpiece, to the screw-driving device, the riveting device, the snap-fit ​​installation device, and the door panel removal device; and A return conveying device, used in conjunction with the mold receiving part and the mold pushing part, transports the empty door panel assembly mold device back to the door panel placement device. The processing and conveying device is located below the screw-driving device, the riveting device, and the snap-fit ​​installation device. The return conveyor is located below the processing conveyor. The processing and conveying device includes three upper conveying units, which are respectively located below the screw-driving device, the riveting device, and the snap-fit ​​installation device. The three upper conveying units are positioned at the same height and all transport materials along a predetermined processing and conveying direction. When the mold pushing part is raised and lowered to be level with the upper conveying unit and switched to the same conveying direction as the upper conveying unit, it is used to dock with the upper conveying unit and push out the door panel assembly mold device. When the mold receiving part is raised and lowered to be flush with the upper conveying unit and switched to the same conveying direction as the upper conveying unit, it is used to dock with the upper conveying unit to receive the door panel assembly mold device. The return conveying device includes three lower conveying units, which are respectively disposed in the screw-driving device, the riveting device, and the snap-fit ​​installation device and located below the corresponding upper conveying unit. The three lower-level conveying units are positioned at the same height and all transport materials along a predetermined return conveying direction, which is opposite to the processing conveying direction. When the mold pushing part is raised and lowered to be flush with the lower conveying unit and switched to the same conveying direction as the lower conveying unit, it is used to dock with the lower conveying unit to pick up the door panel assembly mold device. When the mold receiving part is raised and lowered to be flush with the lower conveying unit and switched to the same conveying direction as the lower conveying unit, it is used to dock with the lower conveying unit and push out the door panel assembly mold device. Each of the upper conveying unit, each of the lower conveying units, the mold pushing part, and the mold receiving part is provided with a blocking mechanism and a backstop mechanism at both ends along the conveying direction, which are used to limit the door panel assembly mold device in the current workstation after it is conveyed to the position. The check mechanism includes a check base, a check support, a connecting rod, a check element, and a check drive cylinder. The check valve support is mounted on the check valve base, and its upper part has a square groove running through the conveying direction, with a beveled edge on the side near the check valve. One end of the connecting rod is rotatably connected to the square slot. The check valve is rotatably mounted on the other end of the connecting rod. It has a counterweight and an abutting blocking portion extending obliquely upward from the counterweight. The counterweight is fitted with a counterweight plate, and the abutting blocking portion has a wedge-shaped end for blocking the door panel assembly mold device. When the piston rod of the check valve drive cylinder retracts, the connecting rod extends downward at an angle, and the uppermost end of the wedge-shaped end of the check valve is flush with the uppermost end of the check valve support.

2. The door panel assembly equipment according to claim 1, Its features are: in, Each of the upper conveying unit, each of the lower conveying unit, the mold pushing part, and the mold receiving part includes: Two parallel chain conveyor tracks, with a spacing appropriate to the width of the door panel assembly mold device, are used to mount and transport the door panel assembly mold device. The chain conveyor tracks include drive wheels and conveyor chains. A drive shaft connects the two drive wheels, enabling the two chain conveyor tracks to transport materials synchronously; and A drive motor is used to drive the drive wheel to rotate.

3. The door panel assembly equipment according to claim 2, characterized in that: in, The blocking mechanism is disposed at one end between the two chain conveyor tracks and is used to block one end of the door panel assembly mold device placed on the chain conveyor tracks. The anti-return mechanism is located at the other end between the two chain conveyor tracks, and is used to block the other end of the door panel assembly mold device placed on the chain conveyor tracks. The blocking mechanism of the upper conveying unit and the mold pushing part is located at one downstream end of the processing and conveying direction. The lower conveying unit and the blocking mechanism of the mold receiving part are located at the downstream end of the return conveying direction.

4. The door panel assembly equipment according to claim 1, Its features are: in, The door panel assembly mold device includes: Support unit for holding the automobile door panel workpiece; A cover plate is rotatably connected to the support unit; Multiple pressure heads are disposed on the side of the cover plate facing the support unit. The distribution and extension length of the multiple pressure heads are adapted to the surface shape of the automobile door panel workpiece, and are used to press and fix the placed automobile door panel workpiece when the cover plate is rotated and closed. Multiple positioning blocks, higher than the bottom of the support unit, each positioning block having a positioning groove in the middle; and A U-shaped opening and closing arm is provided at one end of the cover plate that is connected to the support unit, and is used to drive the cover plate to rotate.

5. The door panel assembly equipment according to claim 4, Its features are: in, The door panel placement device includes: A door panel placement mechanism for positioning the door panel assembly mold device, which holds the automotive door panel workpiece, to a predetermined assembly position; and A lifting mechanism for placing the door panel is used to drive the door panel placement mechanism to rise and fall. The door panel placement mechanism includes: The lifting and positioning part includes a plurality of positioning cylinders distributed to match the distribution of the positioning blocks. The output ends of the plurality of positioning cylinders are respectively embedded in the plurality of positioning slots and extend upward, thereby lifting and positioning the door panel assembly mold device; and The rotary drive unit is used to drive the cover plate to rotate and open / close. When the door panel assembly mold device is lifted and positioned, the opening / closing rod of the rotary drive unit is inserted into the U-shaped opening / closing arm.

6. The door panel assembly equipment according to claim 4, Its features are: in, The snap-fit ​​mounting device includes: A snap-fit ​​clamping mechanism is used to clamp the door panel assembly mold device in the closed state. A support for snap-fit ​​installation, used to hold the snap-fit ​​to be assembled; The snap-fit ​​feeding section is used to sequentially feed the snap-fits to the snap-fit ​​mounting support section; and The snap-on installation mechanism uses a robotic arm to grab the snap-on from the snap-on installation support and install it onto the predetermined snap-on installation position on the automobile door panel workpiece.

7. The door panel assembly equipment according to claim 4, Its features are: in, The door panel removal device includes: A door panel removal mechanism is used to take the door panel assembly mold device, which holds the assembled automobile door panel workpiece, from the snap-fit ​​mounting device, and to open the cover plate of the door panel assembly mold device. An inspection camera module is used to photograph and inspect the assembled automotive door panel workpiece. The workpiece conveying module is used to convey the assembled automobile door panel workpiece to a predetermined position; The door panel gripping module is used to grip the assembled automotive door panel workpiece, photograph it, and place it onto the workpiece conveying module. The detection camera module includes: The upper camera assembly includes multiple cameras disposed above the door panel removal mechanism for capturing images of the assembled automotive door panel workpiece from above. as well as The lower camera assembly includes multiple cameras positioned below for capturing images of the assembled automotive door panel workpiece from below. The lower camera assembly is vertically offset from the upper camera assembly. The door panel gripping module is used to grip the assembled car door panel workpiece and move it above the lower camera assembly for taking pictures.

8. The door panel assembly equipment according to claim 4, Its features are: in, The screw-driving device includes: A screw-driving clamping mechanism is used to clamp the door panel assembly mold device in the closed state. A screw-driving mechanism for driving screws into the automotive door panel workpiece; and A moving mechanism for driving screws is used to move the screw-driving mechanism to various predetermined screw-driving positions on the automotive door panel workpiece. The riveting device includes: A riveting clamping mechanism is used to clamp the door panel assembly mold device in the closed state; A riveting mechanism for riveting the automotive door panel workpiece; and A riveting moving mechanism is used to move the riveting mechanism to various predetermined riveting positions of the automobile door panel workpiece.

Images