Door panel assembly system

Abstract

The present invention provides a door panel assembly system, including a processing and conveying device, a door panel placement device, a screw driving device, a riveting device, a snap-on installation device, and a door panel removal device, wherein the automobile door panel workpiece to be assembled is placed in a mold device for circulation and is sequentially transported to the above-mentioned devices through the processing and conveying device, thereby automatically completing each process and the transportation therebetween. The system also includes a mold storage device, a reflux conveying device, and a door panel assembly control device. The door panel assembly control device includes a mold information storage unit that stores the mold identification number and the workpiece identification number in correspondence, a mold information acquisition unit, a mold reflux judgment unit, and a mold reflux control unit. The device can obtain the corresponding mold identification number based on the workpiece identification number of the next automobile door panel workpiece to be assembled, and is used to determine whether to remove the stored mold device and reflux it for use, thereby realizing the automatic transfer of the mold device and the automatic switching of the corresponding mold device when the assembly product is switched.

Description

Technical Field

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

[0002] The processing and assembly of automotive door panels involves multiple steps, including screwing, riveting, and installing clips. Currently, during assembly, workers typically carry the door panel workpiece to the corresponding workbench, secure it, and then switch tools to perform each step. Due to the numerous assembly steps and the wide variety of automotive door panel models, traditional assembly methods are inherently inefficient and labor-intensive. Workers need to adapt to the production process for each model of door panel, resulting in a high learning curve. Errors and omissions are also common when switching production lines, impacting efficiency. Furthermore, automotive door panels are large in size and easily bumped during manual handling, impacting quality.

[0003] Therefore, to improve the assembly efficiency of automotive door panels, a door panel assembly line capable of automatic or semi-automatic assembly is needed. In this door panel assembly line, the automotive door panel workpieces need to be automatically transported to each assembly station, and all door panel assembly processes such as screw driving, welding, clip installation, and quality inspection need to be automatically completed in sequence, while ensuring the assembly quality of each station. In addition, due to the large number of automotive door panel models (front and rear door panels of various different car models), to ensure overall production efficiency, the door panel assembly line also needs to be able to handle the situation of switching between assembly product models, without requiring too much manual intervention during the switching. Summary of the Invention

[0004] 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 product model switching. The present invention adopts the following technical solutions:

[0005] 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 placement device, a screw driving device, a riveting device, a snap-fit installation device, and a door panel removal device which are arranged in sequence, respectively used to place the door panel assembly mold device, screw, rivet, snap-fit installation on the automobile door panel workpiece, and remove the assembled automobile door panel workpiece; a mold storage device, which is arranged after the door panel removal device, and comprises a plurality of storage and conveying units arranged in sequence, for storing and conveying empty door panel assembly mold devices; 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 snap-fit installation device and the door panel removal device in sequence; a reflux conveying device, for conveying an empty door panel assembly mold device; and a door panel assembly control device. A control device for controlling the assembly process of the automobile door panel workpiece, which at least includes: a mold information storage unit, which stores the mold identification number of each mold device for door panel assembly and the corresponding workpiece identification number of the automobile door panel workpiece; a mold storage information storage unit, which stores the storage position identification number of each storage and conveying unit and the mold identification number corresponding to the storage situation; a mold information acquisition unit, which 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 reflow judgment unit, which traverses the mold identification numbers stored in the mold storage information storage unit, and determines whether the mold identification number is consistent with the mold identification number acquired by the mold information acquisition unit; a mold reflow control unit, which controls the mold storage device, the reflow conveying device and the door panel placement device when the mold reflow judgment unit determines that it is yes, and reflows the stored corresponding door panel assembly mold device to the door panel placement device.

[0006] 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 at the same height and arranged in the screwing device, the riveting device, and the snap-fit installation device, and the conveying direction is from the snap-fit installation device to the screwing device, the door panel placing device has a mold pushing part that can be raised and lowered and the conveying direction can be switched, the door panel taking-out device has a mold receiving part that can be raised and lowered and the conveying direction can be switched, and the mold reflux control part controls the operation of multiple storage conveying units, the mold receiving part, the three lower-level conveying units and the mold pushing part to convey the stored door panel assembly mold device to the mold pushing part.

[0007] The door panel assembly system provided by the present invention may also have such technical features, wherein the door panel placing device has a reader for reading the electronic tag, the processing and conveying device includes three upper conveying units arranged in the screwing device, the riveting device, and the snap-fit installation device and having the same height, and the conveying direction thereof is from the screwing device to the snap-fit installation device, and the three upper conveying units are respectively located above the three lower conveying units, and the mold reflux control part includes: a first reflux control unit, for controlling the mold receiving part to rise and fall to be flush with the storage conveying unit, and controlling the mold receiving part and the storage conveying unit to convey, and convey the door panel assembly mold device to the door panel removal device, and then controlling the mold receiving part and the mold pushing part to rise and fall to be flush with the lower conveying unit, and controlling the mold receiving part and the three lower conveying units to be flush with the lower conveying unit. The upper conveying unit and the mold pushing part convey the door panel assembly mold device to the door panel placement device; the reflow mold judgment unit is used to control the reader to read the electronic tag to obtain the mold identification number, and judge whether the mold identification number is consistent with the mold identification number obtained by the mold information acquisition part; and the second reflow control unit, when the reflow mold judgment unit judges to be no, controls the mold pushing part to rise and fall to be flush with the upper conveying unit, and controls the mold pushing part and the upper conveying unit to convey the taken out door panel assembly mold device to the next workstation, and then controls the mold pushing part to rise and fall to be flush with the lower conveying unit, and controls the storage conveying unit, the mold receiving part, the three lower conveying units, and the mold pushing part to convey, and convey the stored door panel assembly mold device to the door panel placement device.

[0008] The door panel assembly system provided by the present invention may also have such technical features, wherein the mold reflow control part also includes: a reflow recovery judgment unit, which judges whether a plurality of the door panel assembly mold devices are taken out from the mold storage device when the reflow mold judgment unit judges to be yes; and a reflow recovery control unit, which controls the three upper conveying units, the mold receiving part and the storage conveying unit to convey the taken out mismatched door panel assembly mold devices back to the mold storage device when the reflow recovery judgment unit judges to be yes.

[0009] The door panel assembly system provided by the present invention may also have such technical features, wherein the door panel removal device has a mold receiving part that can be raised and lowered and the conveying direction can be switched, and the door panel assembly control device also includes: a mold storage judgment part, which judges whether there is a vacant storage position in the mold storage device based on the information of the mold storage information storage part; and a mold storage control part, which controls the mold receiving part and the storage and conveying unit to work when the mold storage judgment part judges that it is yes, and moves the stored door panel assembly mold device back one storage position in turn, and conveys the door panel assembly mold device on the mold receiving part to the storage and conveying unit closest to the door panel removal device for storage.

[0010] The door panel assembly system provided by the present invention may also have such technical features, wherein each of the storage and conveying units includes: two parallel conveying rails, the spacing of which is adapted to the door panel assembly mold device, for carrying and conveying the door panel assembly mold device; a storage blocking mechanism, which is arranged between the two conveying rails and located at an end away from the door panel removal device, for blocking one end of the door panel assembly mold device carried on the conveying rail; and a storage non-return mechanism, which is a one-way release structure, which is arranged between the two conveying rails and located at an end close to the door panel removal device, for blocking the other end of the door panel assembly mold device carried on the conveying rail, the mold storage control part first controls all the storage blocking mechanisms to release, and then controls the mold receiving part and the storage and conveying unit to convey the door panel assembly mold device, and controls the storage blocking mechanism to block after the conveying is completed.

[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 of the same height arranged in the screw driving device, the riveting device, and the snap-fit installation device, and the conveying direction is from the screw driving device to the snap-fit installation device, and the door panel assembly control device also includes a processing and conveying control part for controlling the conveying of the automobile door panel workpiece during the processing process.

[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] Functions and effects of the invention

[0015] The door panel assembly system according to the present invention includes a processing and conveying device, a door panel placement device, a screw driving 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 screw driving, riveting, snap-on installation, and removal operations. Therefore, the system of the present invention can automatically complete each door panel assembly process and the transportation work between each process. 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 assembly product switching situations. Specifically, the door panel assembly control device includes a mold information storage unit that stores mold identification numbers and workpiece identification numbers of automobile door panel workpieces, a mold information acquisition unit, a mold reflow judgment unit, and a mold reflow control unit. The mold information acquisition unit can obtain the corresponding mold identification number based on the workpiece identification number of the next automobile door panel workpiece to be assembled; the mold reflow judgment unit can determine whether to remove and reflow the stored mold device based on the next mold identification number to be used and the currently stored mold identification number. The mold reflow control unit can control the mold storage unit and the reflow conveying unit to remove and reflow the corresponding mold device to the mold placement unit when the judgment is yes, thereby realizing automatic transfer of the mold device and automatic switching of the corresponding mold device when switching assembly products. As described above, the door panel assembly system of the present invention can not only automatically complete each door panel assembly process, but also temporarily store and reflow the used mold device, thereby effectively coping with the switching of the assembly products, saving a lot of manpower and time, and improving the production efficiency of automobile door panel products and the consistency of the final products. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

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

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

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

[0023] Figure 8 This is a three-dimensional diagram of the mold pushing portion in an embodiment of the present invention;

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

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

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

[0027] Figure 12 This is a schematic structural diagram of the reverse release of the door panel placement non-return mechanism according to an embodiment of the present invention;

[0028] Figure 13 This is a schematic structural diagram of a positive release mechanism for placing a door panel according to an embodiment of the present invention;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0044] Figure 29 is a perspective view of a mold storage device according to an embodiment of the present invention;

[0045] Figure 30 is a perspective view of a storage and delivery unit according to an embodiment of the present invention;

[0046] Figure 31 Schematic diagram of a mold conveying device along a processing direction according to an embodiment of the present invention;

[0047] Figure 32 Schematic diagram of a mold conveying device along the backflow direction in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] 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.

[0049] <Example>

[0050] 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.

[0051] 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.

[0052] The structure and function of each part will be described in detail below.

[0053] like Figure 2-3 As shown, the door panel placement device 10 is used to place the mold device 20, and its structure corresponds to the design of the mold device 20. The structure and function of the mold device 20 will be described below.

[0054] like Figure 4-5 As shown, the mold device 20 includes a supporting unit 21 , a cover plate 22 and a connecting unit 23 .

[0055] 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.

[0056] like Figure 6 As shown, four guide blocks 2111 are provided under the support frame 211, and a downward circular groove is provided in the middle of the guide block 2111. When the mold device 20 is transported to the assembly station, the output ends of the four lifting cylinders on the assembly station can be respectively embedded in the four circular grooves to lift the mold device 20, thereby positioning and fixing the mold device 20 to facilitate the assembly operation on the station.

[0057] The mold holders 212 are L-shaped metal parts, each 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 holders 212. The supporting mold is engaged between the mold holders 212.

[0058] 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, a plurality of press heads 223, and a U-shaped opening and closing arm 224.

[0059] The cover frame 221 is formed by welding aluminum profiles.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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 .

[0065] 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.

[0066] It should be noted that there are many models of door panel products, corresponding to a variety of different mold devices 20. The structure of the cover frame 221 and the structure and distribution of the pressure head 223 are different, but the overall dimensions of all mold devices 20 are the same, and they can be transferred using a transfer mechanism with the same structure.

[0067] Furthermore, in this embodiment, an electronic tag (RFID) is provided on the automotive door panel workpiece. Reading this tag allows identification of the model of the automotive door panel workpiece. A product detection sensor (not shown) is also provided on the mold assembly 20 for reading this 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 assembly 20. Reading this tag allows identification of the model of the mold assembly 20. A mold detection sensor is also provided in the door panel placement device 10 for reading this tag.

[0068] like Figure 2-3 As shown, the door panel placement device 10 includes a door panel placement mechanism 11 and a door panel placement lifting mechanism 15 .

[0069] The door panel placement mechanism 11 is used to position, open, close and push the mold device 20 at the current workstation. The door panel placement mechanism 11 includes a mold pushing portion 12 , a lifting and positioning portion 13 and a rotation driving portion 14 .

[0070] 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 .

[0071] Two chain conveyor tracks 121 are arranged in parallel, with a spacing matching the width of the mold assembly 20, capable of carrying and transporting the mold assembly 20. The chain conveyor tracks include a drive gear and an endless chain mounted on the drive gear. The structure is conventional and will not be described in detail. In this embodiment, the chain conveyor tracks 121 utilize a double-speed chain to accelerate the conveying cycle.

[0072] Both ends of the transmission shaft 122 are connected to the two driving gears of the two chain conveyor tracks 311 through bearing assemblies, so as to keep the conveying speeds of the two chain conveyor tracks 121 consistent.

[0073] 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.

[0074] The lifting and positioning unit 13 includes four lifting cylinders 131, each mounted on a bracket within the door panel placement device 10. These four cylinders 131 are located at the four corners of the rectangle and at the same vertical height. The arrangement of these four cylinders 131 corresponds to the arrangement of the four positioning blocks 2111 at the bottom of the mold assembly 20. The output ends of these cylinders 131 fit into circular positioning grooves. During lifting and positioning, the four cylinders 131 lift simultaneously, their output ends contacting the bottom surface of the circular positioning grooves, thereby steadily lifting the mold assembly 20.

[0075] 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 .

[0076] The rotary drive motor 141 is used to drive the cover plate 22 to rotate.

[0077] The rotation transmission assembly 142 includes a bearing 1421, an opening and closing rod 1422, and a circular pusher 1423. The opening and closing rod 1422 has two circular ends, one of which is larger than the other 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.

[0078] 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.

[0079] The rotation limit assembly 143 includes four perforated plates 1431 and four proximity sensors 1432, which are used to limit the maximum stroke of the opening and closing rod 1422. Two of the perforated plates 1431 are arranged above the output end of the rotation drive motor 141, and the other two are arranged below. Two proximity sensors 1432 are installed in the holes of the two upper perforated plates 1431 through nuts, and the other two proximity sensors 1432 are installed below in the same way. Among 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 means that the opening and closing rod 1422 has swung upward to the predetermined maximum position, that is, the cover plate 22 has been closed in place. The same applies to the two lower proximity sensors 1432.

[0080] like Figure 2 、 9 As shown, the door panel placement lifting mechanism 15 includes a bracket 151, multiple vertical guide rails 152, a bracket 153, a lifting transmission assembly 154, a lifting drive motor 155 and a counterweight cylinder 156.

[0081] 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.

[0082] 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.

[0083] 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 mechanism. Furthermore, the bracket 153 is equipped with a mold detection sensor for reading the electronic tag on the mold assembly 20 placed on the bracket 153.

[0084] The lifting drive motor 155 drives the bracket 153 to move up and down through the lifting transmission assembly 154 .

[0085] 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.

[0086] 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 .

[0087] The blocking mechanism 17 for placing the door panel is arranged between the two chain conveying rails 121 and is located on the side close to the next workstation to prevent the mold device 20 from being transported forward by mistake. The blocking mechanism 17 for placing the door panel includes a blocking support 171, a blocking member 172, a blocking wheel 173, and a blocking cylinder 174.

[0088] The blocking support 171 and the blocking member 172 are both special-shaped metal parts. The blocking support 171 is installed on the upper end of the blocking cylinder 174, and the output end (piston rod) of the blocking cylinder 174 passes through the through hole in the middle of the support 171. The raised part in the middle of the blocking member 172 is hinged to the blocking support 171 and can rotate relative to the blocking support 171. One end of the blocking member 172 is in contact with the output end of the blocking cylinder 174, and a pair of blocking wheels 173 are installed on the other end. Figure 10 In the state, the output end of the blocking cylinder 174 is retracted, and the blocking wheel 173 is higher than the height of the two chain conveyor rails 121, thereby blocking the mold device 20 placed on the chain conveyor rails 121. When the output end of the blocking cylinder 174 is extended, it pushes the blocking member 172 to rotate, driving the blocking wheel 173 at one end thereof to rotate to a height lower than the upper surface of the chain conveyor rails 121, thereby allowing the placed mold device 20 to pass.

[0089] like Figure 11 As shown, the door panel placement blocking mechanism 16 is arranged between the two chain conveyor tracks 121 and is located on the side close to the next workstation. The door panel placement blocking mechanism 16 includes a base 161, a blocking support 162, a connecting rod 163, a blocking member 164 and a blocking drive cylinder 165.

[0090] The base 161 is mounted on the bracket 153 .

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] like Figure 13 As 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.

[0098] In addition, the door panel placement device 10 also includes an operation terminal for operators to start and control the corresponding operation process of assembly.

[0099] 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.

[0100] 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.

[0101] The pressing unit 311 includes two pressing blocks 3111 symmetrically arranged above the cover plate 22 , and respectively used to press the two side edges of the cover plate 22 in the length direction.

[0102] Each pressing block 3111 includes a main board 31111, a bottom plate 31112 disposed at the bottom of the main board 31111, and two reinforcing ribs 31113 connecting the main board 31111 and the bottom plate 31112. The main board 31111 is connected to the bracket, and the reinforcing ribs 31113 are disposed on the side of the main board 31111.

[0103] The lifting unit 312 can push the mold device 20 to rise, and includes four lifting blocks 3121 and a lifting drive assembly 3122 .

[0104] The four lifting blocks 3121 are all rectangular blocks, which are arranged below the supporting unit and are used to support the four corners of the mold device 20.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] When the mold assembly 20 moves to 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 automobile 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 automobile door panel workpiece, and at the fifth workstation, the cover plate 22 must be opened to photograph and inspect the assembled automobile door panel workpiece.

[0109] After the process at the current station is completed, the lifting unit 312 lowers the mold device 20, and then the mold device 20 will flow to the next station. The end shape of the screw driving mechanism is similar to that of a screwdriver and can be rotated and pressed down to drive the screw. It is a prior art and will not be described in detail.

[0110] 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.

[0111] 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.

[0112] The two second horizontal moving units 322 are respectively mounted on the two first moving members 3213 .

[0113] 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 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.

[0114] 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 .

[0115] like Figure 20 As shown, each screw-driving lifting unit 323 includes a lifting drive 3231, a lifting track 3232, and a mounting member 3233 that is liftably disposed on the lifting track 3232. The lifting drive 3231 is a motor connected to the mounting member 3233 via a lead screw structure and is used to drive the mounting member 3233 along the lifting track 3232. The length of the lifting track 3232 is perpendicular to the plane of the first guide rail 3212 and the second guide rail 3222. The mounting member 3233 is used to mount the screw-driving mechanism 33, enabling the screw-driving mechanism 33 to move synchronously with the mounting member 3233, thereby performing screw-driving operations at different points on the automotive door panel workpiece.

[0116] 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.

[0117] 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 .

[0118] 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.

[0119] like Figure 23As 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.

[0120] The buckle feeding portion 53 includes a vibration plate 531 , a discharge channel 532 , and a buckle pushing unit 533 .

[0121] The vibration plate 531 arranges a plurality of disordered buckles in order and outputs them in sequence by vibration, which is a prior art.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] like Figure 27As shown, the door panel taking-out device 60 includes a detection camera module 61 , a door panel grabbing module 62 , a workpiece conveying module 63 , a door panel taking-out mechanism 64 , and a door panel taking-out lifting mechanism 65 .

[0140] 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.

[0141] like Figures 27-28 As shown, the door panel grabbing module 62 includes a grabbing moving portion 621 and two sets of clamping components 622, which can grab both sides of the automobile door panel workpiece and move it.

[0142] 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.

[0143] 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.

[0144] The workpiece conveying module 63 is a belt-type conveyor line, which is used to convey the automobile door panel workpiece that has completed the shooting inspection to a predetermined position.

[0145] Therefore, after the mold device 20 is opened, the upper surface of the automobile door panel workpiece can be photographed by the upper camera assembly 612. Then, the door panel grasping module 62 grasps the automobile door panel workpiece and moves it above the lower camera assembly 613. At this time, the lower camera assembly 613 can photograph the lower surface of the automobile door panel workpiece. Then, based on the photographic results of the two surfaces, the assembly of the automobile door panel workpiece can be tested to determine whether it is properly assembled. The door panel grasping module 62 then places the automobile door panel workpiece on the workpiece conveying module 63, which conveys the automobile door panel workpiece to a predetermined location.

[0146] 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 14, 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.

[0147] The mold storage device 100 is arranged after the door panel taking-out device 60 , that is, after the last assembly station, and is used to temporarily store the used mold devices 20 and transport the temporarily stored mold devices 20 back to the assembly station for reuse.

[0148] like Figure 29 As shown, the mold storage device 100 includes a plurality of storage and conveying units 90 arranged in sequence. In this embodiment, there are three storage and conveying units 90 , which can temporarily store three mold devices 20 .

[0149] like Figure 30 As shown, each storage and conveying unit 90 includes two conveying rails 91, a transmission assembly 92, a drive motor 93, a storage blocking mechanism 94, and a storage non-return mechanism 95.

[0150] The two conveyor rails 91 are arranged parallel to each other, and the distance between them matches the width of the mold device 20. The two ends of the mold device 20 in the width direction can be placed on the two conveyor rails 91 respectively, so that the mold device 20 can be transported. The conveyor rails 91 of the multiple storage and conveying units 90 are all aligned along the conveying direction.

[0151] The conveying track 91 is a synchronous belt conveying track, including a mounting frame 911, a driving wheel 912, a driven wheel 913, a synchronous belt 914, and a limit baffle 915. The driving wheel 912 and the driven wheel 913 can be rotatably mounted on the mounting frame 911 at the same height, and the synchronous belt 914 is sleeved on the driving wheel 912 and the driven wheel 913. Two limit baffles 915 are mounted on the mounting frame 911 and are respectively located on the outside of the two synchronous belts 914. The distance between the two limit baffles 915 is slightly larger than the width of the mold device 20, and is used to guide and limit the mold device 20 during the conveying process. In order to reduce structural obstruction and clearly show the transmission structure, Figure 30 Only the limiting baffle 915 on one side is shown.

[0152] The two driving wheels 912 on the two conveyor tracks 91 are connected by a transmission assembly 92, allowing for synchronous rotation. The transmission assembly 92 includes a transmission shaft 921 and bearings 922. The ends of the transmission shaft 921 are connected to the two driving wheels 912 via bearings 922. The drive motor 93 is a reduction motor, with its output end connected to one of the driving wheels 912. Driven by the drive motor 93 and the transmission assembly 92, the two driving wheels 912 rotate synchronously, driving the two timing belts 914 to rotate synchronously, thereby conveying the mold assembly 20 in a single direction. By changing the rotation direction of the output end of the drive motor 93, the conveying direction of the two conveyor tracks 91 can be changed.

[0153] In this embodiment, the length of the conveyor track 91 is greater than the length of the mold assembly 20. A storage blocking mechanism 94 and a storage non-return mechanism 95 are disposed between the two conveyor tracks 91 of a storage and conveyor unit 90. The storage blocking mechanism 95 is located at the end away from the door panel assembly line, while the storage non-return mechanism 96 is located at the end closer to the door panel assembly line. When a mold assembly 20 is conveyed to the middle of a storage and conveyor unit 90, the storage blocking mechanism 95 and the storage non-return mechanism 96 block the mold assembly 20, thereby temporarily storing the mold assembly 20.

[0154] The structure of the storage blocking mechanism 94 is consistent with the above-mentioned door panel placement blocking mechanism 17, and the structure of the storage non-return mechanism 95 is consistent with the structure of the above-mentioned door panel placement non-return mechanism 95, and will not be repeated.

[0155] like Figure 31 As shown, as described above, the first and fifth stations have a mold pushing part 12 and a mold receiving part that can be raised and lowered and the conveying direction can be switched. The second to fourth stations all have upper and lower conveying units. The upper conveying unit 711 conveys along the D1 direction in the figure, and the lower conveying unit 721 conveys along the D2 direction.

[0156] When starting to assemble a car door panel, the car door panel workpiece is placed in the corresponding mold device 20 at the first station, and the mold device 20 is moved along the Figure 7 The mold assembly is sequentially transported to each workstation in the direction indicated by D1 for assembly. After inspection at the inspection station, the automobile door panel is removed from the mold assembly 20. The mold receiving unit at the fifth workstation is lowered to ground level and works in conjunction with the mold storage unit 100 to transport the empty mold assembly 20 to the mold storage unit 100 for temporary storage.

[0157] like Figure 32As shown, the mold devices 20 temporarily stored in the mold storage device 100 can be returned for reuse. The mold pushing section 12 and the mold receiving section are both lowered to ground level. At this time, the multiple storage and conveying units 91, the mold receiving section of the fifth station, the lower conveying units 721 of the second to fourth stations, and the mold pushing section 12 of the first station form a relatively coherent conveying line, which can sequentially convey the mold devices 20 temporarily stored in the mold storage device 100 back to the first station.

[0158] like Figure 1 As shown, the door panel assembly system 1000 also includes a door panel assembly control device, which includes: a production information storage unit 1001, an assembly information storage unit 1002, a mold information storage unit 1003, a door panel information acquisition unit 1004 to be assembled, 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 storage judgment unit 1012, a mold storage control unit 1013, a mold reflow judgment unit 1014, a mold reflow control unit 1015, a door panel removal control unit 1016 and a door panel assembly control unit 1017 for controlling the above-mentioned units.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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 .

[0163] 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 .

[0164] The mold storage information storage unit 1006 stores the storage information of the mold device 20 in the mold storage device 100, including the storage location identification number of each storage and conveying unit 90, and whether each storage location stores the mold device 20, and stores the corresponding mold identification number of the mold device 20 (i.e., temporarily stored on the storage and conveying unit 90).

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] The lifting control unit 10111 controls the mold pushing part 12 to rise to be flush with the upper conveying unit 711.

[0171] After the mold pusher 12 has ascended, the first conveyor control unit 10112 controls the mold pusher 12 and the upper conveyor unit 711 in the screw driving device 30 to operate, thereby transporting the mold assembly 20 from the first station to the second station. Specifically, it first controls the blocking mechanism to release the movement, and then controls the chain conveyor track to rotate simultaneously, the same below.

[0172] 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.

[0173] 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.

[0174] 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 to operate, thereby conveying the mold device 20 from the fourth station to the fifth station.

[0175] The mold storage determination unit 1012 determines whether there is any free storage space in the mold storage device 100 based on the information in the mold storage information storage unit 1006 .

[0176] When the mold storage determination unit 1012 determines "yes," the mold storage control unit 1013 controls the mold receiving unit at the fifth station and all storage and conveying units 90 to operate, moving the stored mold devices 20 one storage position backward in sequence and conveying the used mold devices 20 to the storage and conveying unit 90 closest to the fifth station for temporary storage. Specifically, the mold storage control unit 1013 controls all storage blocking mechanisms 94 to release and controls all conveying rails 91 to convey away from the fifth station, transporting each stored mold device 20 to a storage position further away from the fifth station in sequence and conveying the received mold device 20 to the conveying rail 91 closest to the fifth station. The control unit then controls all storage blocking mechanisms 94 to block the mold devices 20. The storage check mechanism 95 blocks the mold devices 20 in the other direction.

[0177] The mold reflow determination unit 1014 is used to determine whether the mold device 20 in the mold storage device 100 needs to be reflowed to the first workstation for reuse. The mold reflow determination unit 1014 traverses the mold identification numbers stored in the mold storage information storage unit 1006 and sequentially determines whether each mold identification number is consistent with the mold identification number obtained by the mold information acquisition unit 1005 (that is, whether there is a next automobile door panel workpiece to be assembled in the stored mold device 20 that can be used). If they are consistent, reflow is determined to be necessary; otherwise, reflow is determined not to be performed, and the worker can directly place the corresponding mold device 20 at the first workstation.

[0178] When the mold reflow determination unit 1014 determines that reflow is necessary, the reflow conveying control unit 1015 controls the mold storage device 100, the processing conveying device 71, the reflow conveying device 72, the mold pushing unit 12, and the mold receiving unit to transport the corresponding mold device 20 back to the first workstation for reuse. The reflow conveying control unit 1015 includes a first reflow control unit 10151, a reflow mold determination unit 10152, a second reflow control unit 10153, a reflow recovery determination unit 10154, and a reflow recovery control unit 10155.

[0179] The first reflux control unit 10151 controls the mold receiving unit to descend to the same level as the storage and conveying unit 90, and controls both to convey the mold device 20 closest to the fifth station to the fifth station. It then controls the mold pushing unit 12 and the mold receiving unit to ascend and descend to the same level as the lower conveying unit 721. The stored mold device 20 closest to the fifth station is then conveyed back to the first station via the relatively continuous storage and conveying unit 90, the mold receiving unit, the three lower conveying units 721, and the mold pushing unit 12. Simultaneously, all storage and conveying units 90 are controlled to operate simultaneously, moving the stored mold devices 20 one storage position toward the fifth station. During reflux, the first reflux control unit 10151 controls all storage blocking mechanisms 94 and all storage check mechanisms 95 to release the stored mold devices.

[0180] The reflow mold judgment unit 10152 controls the reader in the first workstation to read the mold identification number of the reflowed mold device 20, and determines whether the mold identification number is consistent with the mold identification number obtained by the mold information acquisition unit 1005, thereby determining whether the mold device 20 reflowed to the first workstation should be used. When it is determined to be consistent, the assembly work of the next workpiece can be started.

[0181] When the reflow mold judgment unit 10152 judges as no, the second reflow control unit 10153 controls the mold pushing part 12 to rise to be flush with the upper conveying unit 711, and controls the mold pushing part 12 and the upper conveying unit 711 to convey, and conveys the taken out mold device 20 to the next workstation; then controls the mold pushing part 12 to descend to be flush with the lower conveying unit 721, and then controls the storage conveying unit 90, the mold receiving part, the three lower conveying units 721, and the mold pushing part 12 to convey, and conveys the stored mold device 20 closest to the fifth workstation back to the first workstation.

[0182] That is, the stored mold devices 20 are taken out in turn in a circular flow manner, and it is determined in turn whether it is the mold device 20 to be used for the next workpiece. The unmatched mold device 20 taken out first is temporarily stored on the processing and conveying device 71.

[0183] When the return mold determination unit 10152 determines that it is yes, the return mold recovery determination unit 10154 determines whether multiple mold devices 20 are taken out from the mold storage device 100 and whether the unmatched mold devices 20 need to be recovered.

[0184] When the reflux recovery judgment unit 10154 determines that it is yes, the reflux recovery control unit 10155 controls the three upper conveying units 711, the mold receiving part and the storage conveying unit 90 to sequentially convey the remaining mold devices 20 back to the mold storage device 100 for storage.

[0185] The door panel removal control unit 1016 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 1016 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.

[0186] 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.

[0187] 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.

[0188] After the upper camera assembly 612 completes shooting, the first grabbing control unit controls the door panel grabbing module 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.

[0189] 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.

[0190] 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.

[0191] After the lower camera assembly 613 completes shooting, the second grabbing control unit controls the door panel grabbing module 62 to move the automobile door panel workpiece and place it on the workpiece conveying module 63 .

[0192] The door panel offline conveying control unit controls the workpiece 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.

[0193] Based on the above-mentioned door panel assembly system 1000, the process of automatically assembling an automobile door panel specifically includes the following steps:

[0194] 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;

[0195] It should be noted that, at this time, the mold pushing portion 12 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 .

[0196] 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;

[0197] Step S3: The mold reflow determination unit 1014 determines whether to perform mold reflow based on the mold identification number obtained by the mold information acquisition unit 1005 and the information in the mold storage information storage unit 1006. If the determination is no, the process proceeds to step S4; if the determination is yes, the process proceeds to step S5.

[0198] Step S4: There is no corresponding mold device 20 in the mold storage device 100. The worker places the corresponding mold device 20 at the first workstation, and then proceeds to step S6.

[0199] Step S5: The mold reflow control unit 1015 controls the mold storage device 100, the reflow conveying device 72, the mold pushing unit 12, etc. to reflow the corresponding mold device 20 to the first station, and then enters step S6;

[0200] Specifically, as described above, each stored mold device 20 is taken out in turn in a circular flow manner for judgment until the mold device 20 to be used is taken out, and the remaining mold devices 20 are transported back to the mold storage device 100 again.

[0201] Step S6: 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 S7;

[0202] In step S7, the 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 S8;

[0203] In step S8, 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 S9;

[0204] Step S9: 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 S10;

[0205] Step S10, 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 S11;

[0206] In step S11, 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 S12;

[0207] Step S12: 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 S13;

[0208] Step S13: 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 S14;

[0209] Step S14: 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 S15;

[0210] Step S15: 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 S16;

[0211] In step S16, the door panel removal control unit 1014 controls the door panel removal device 60 to photograph both surfaces of the assembled automobile door panel workpiece, and determines whether the assembled automobile door panel workpiece is qualified based on the photographic results. The qualified and unqualified products are transported to different predetermined locations, and then the process proceeds to step S17.

[0212] In step S17, the mold storage determination unit 1012 determines whether there is an empty storage location in the mold storage device 100. If the determination is yes, the process proceeds to step S18. If the determination is no, a corresponding warning message is generated and the process enters the end state.

[0213] In step S18, the mold storage control unit 1013 controls the mold receiving unit and the storage and conveying unit 90 of the fifth station to operate, and conveys the used mold device 20 to the storage and conveying unit 90 closest to the fifth station for temporary storage, and then enters the end state.

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, arranged after the door panel taking-out device, comprises a plurality of sequentially arranged storage and conveying units for storing and conveying the empty door panel assembly mold devices; 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 storage information storage unit stores the storage location identification number of each storage and conveying unit and the mold identification number corresponding to the storage status; 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 reflow determination unit, traversing the mold identification number stored in the mold storage information storage unit, and determining whether the mold identification number is consistent with the mold identification number obtained by the mold information acquisition unit; The mold reflow control unit controls the mold storage device, the reflow conveying device and the door panel placement device to reflow the stored corresponding door panel assembly mold device to the door panel placement device when the mold reflow judgment unit determines that the mold reflow is yes. The reflux conveying device includes three lower conveying units at the same height, which are arranged in the screwing device, the riveting device, and the buckle installation device, and the conveying direction is from the buckle installation device to the screwing device. The door panel placement device has a mold pushing part that can be raised and lowered and can switch the conveying direction. The door panel removal device has a mold receiving part that can be raised and lowered and can switch the conveying direction. The mold reflow control unit controls the plurality of storage and conveying units, the mold receiving unit, the three lower conveying units, and the mold pushing unit to operate, and conveys the stored door panel assembly mold device to the mold pushing unit. Wherein, the door panel placement device has a reader for reading the electronic tag. The processing conveying device includes three upper conveying units at the same height, which are arranged in the screw driving device, the riveting device, and the buckle installation device. The conveying direction is from the screw driving device to the buckle installation device, and the three upper conveying units are respectively located above the three lower conveying units. The mold reflow control unit includes: The first reflow control unit is used to control the mold receiving part to be raised and lowered to be flush with the storage and conveying unit, and to control the mold receiving part and the storage and conveying unit to convey the door panel assembly mold device to the door panel removal device, and then control the mold receiving part and the mold pushing part to be raised and lowered to be flush with the lower conveying unit. and controlling the mold receiving portion, the three lower conveying units, and the mold pushing portion to convey the door panel assembly mold device to the door panel placement device; a reflow mold determination unit, configured to control the reader to read the electronic tag to obtain the mold identification number, and determine whether the mold identification number is consistent with the mold identification number obtained by the mold information acquisition unit; and The second reflow control unit controls the mold pushing part to be raised and lowered to be flush with the upper conveying unit when the reflow mold judgment unit judges that it is no, and controls the mold pushing part and the upper conveying unit to convey the taken-out door panel assembly mold device to the next workstation, and then controls the mold pushing part to be raised and lowered to be flush with the lower conveying unit, and controls the storage conveying unit, the mold receiving part, the three lower conveying units, and the mold pushing part to convey, and convey the stored door panel assembly mold device to the door panel placement device.

2. The door panel assembly system according to claim 1, Its characteristics are: in, The mold reflow control unit also includes: a reflow recovery judgment unit, which judges whether a plurality of the door panel assembly mold devices are taken out from the mold storage device when the reflow mold judgment unit judges that the result is yes; as well as The reflux recovery control unit controls the three upper conveying units, the mold receiving unit and the storage conveying unit to convey the taken out unmatched door panel assembly mold device back to the mold storage device when the reflux recovery judgment unit judges to be yes.

3. The door panel assembly system according to claim 1, Its characteristics are: The door panel removal device has a mold receiving portion that can be raised and lowered and can switch the conveying direction. The door panel assembly control device also includes: a mold storage determination unit configured to determine whether there is any free storage space in the mold storage device based on information from the mold storage information storage unit; and The mold storage control unit controls the operation of the mold receiving unit and the storage and conveying unit when the mold storage judgment unit judges that the answer is yes, moves the stored door panel assembly mold device back one storage position in turn, and conveys the door panel assembly mold device on the mold receiving unit to the storage and conveying unit closest to the door panel removal device for storage.

4. The door panel assembly system according to claim 3, Its characteristics are: Each of the storage and delivery units includes: Two parallel conveying tracks, the spacing of which is adapted to the door panel assembly mold device, are used to carry and convey the door panel assembly mold device; a storage blocking mechanism, disposed between the two conveying rails and located at an end away from the door panel taking-out device, for blocking one end of the door panel assembly mold device placed on the conveying rails; and The storage check mechanism is a one-way release structure, which is arranged between the two conveying rails and located near one end of the door panel taking-out device, and is used to block the other end of the door panel assembly mold device placed on the conveying rail. The mold storage control unit first controls all the storage blocking mechanisms to release, then controls the mold receiving unit and the storage conveying unit to convey the door panel assembly mold device, and controls the storage blocking mechanism to block after the conveying is completed.

5. The door panel assembly system according to claim 1, Its characteristics are: in, The door panel assembly control device also includes: A processing and conveying control unit, used for controlling the conveying of the automobile door panel workpiece during processing; 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.

6. 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.

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