Automatic rolling equipment for tailgate sealing strip and method of using same

Abstract

The application discloses a tail door sealing strip automatic rolling equipment and a use method thereof, and relates to the field of automobile assembly assembly line.The tail door sealing strip automatic rolling equipment comprises a track operation system, a rolling operation trolley system, a lifting system, a hanging system and an automatic rolling system.The track operation system is connected with the rolling operation trolley system, the lifting system and the hanging system are both connected with the rolling operation trolley system, and the rolling operation trolley system can drive the lifting system and the hanging system to reciprocate along the X direction and the Y direction.The automatic rolling system comprises a collaborative robot, a 3D camera device, an electric gun driving device and a clamping and rolling device.The rolling process of the application is accurate in positioning, reliable in performance, strong in practicability, can effectively guarantee the sealing quality of the tail door frame and the tail door sealing strip, can reduce the labor intensity of workers, can meet the assembly precision requirement, and is strong in universality.

Description

TECHNICAL FIELD

[0001] The application relates to an automobile assembly line, in particular to an automatic rolling equipment for tail gate sealing strips and a use method thereof. BACKGROUND

[0002] The tail gate sealing strip is used for sealing between the tail gate and the tail gate frame of an automobile, has good corrosion resistance, weather resistance, noise reduction and heat insulation effects, and has excellent sealing and waterproof performance. During automobile assembly, the tail gate sealing strip is rolled along the tail gate frame by a rolling equipment, so that the tail gate sealing strip is fixedly connected with the tail gate frame. The existing rolling equipment has low automation and low universality, cannot be shared by multiple vehicle models, and cannot guarantee the assembly quality of the tail gate sealing strip.

[0003] CN213744342U discloses a sealing strip rolling device, which comprises a rolling box, a fixed pressing rod, a movable pressing rod and a machine box. The bottom end of the fixed pressing rod is fixedly connected with the left side of the upper part of the rolling box. First and second threaded holes are formed in the surface of the movable pressing rod from top to bottom. The sealing strip rolling device uses the fixed pressing rod and the movable pressing rod to clamp the sealing strip which has been installed on the edge of the frame. By rotating the handle to drive the first and second gears connected with the first and second screws, the first and second screws drive the movable pressing rod to move leftwards to compress the sealing strip. The power wheel is automatically moved forward by the servo motor, so that the pressing wheel clamps and fixes the sealing strip and the edge of the frame. The work personnel do not need to manually hold, and the uniform rolling and pasting surface can improve the assembly quality and the assembly efficiency of the work personnel.

[0004] CN208231687U discloses a cylinder force clamping type sealing strip installation and rolling tool for car assembly, which comprises a main shell, a movable shell, a main shaft, a passive shaft, a rolling shaft gear, a return spring, a cylinder, a pressing plate pole, a gas valve and a pressing wheel assembly. The movable shell is located on one side of the main shell, and the main shell and the movable shell are connected through a hinge cover. The main shaft passes through the pressing wheel assembly, the rolling shaft gear and the cylinder in sequence. The passive shaft passes through the pressing wheel assembly, the rolling shaft gear and then connects the pressing plate pole. The cylinder is connected with an external gas source through the gas valve. The return spring is located between the main shaft and the passive shaft. The cylinder clamping type rolling tool has a single cylinder 90° elbow type and a double cylinder straight handle type, which can be selected according to different users, different vehicle models, different use environments and operation habits. The tool is suitable for the installation and rolling of the sealing strip of the car door, the side door and the tail door of the van, is convenient and safe to use, is smooth to operate, does not damage the rubber strip, and does not leak water after rolling and rain test.

[0005] Needless to say, the technical solutions disclosed in the above two patent documents are all beneficial attempts in the technical field, but the technical solutions disclosed in the above two patent documents are not highly adaptable to the automobile assembly line and are not convenient for popularization and application in the automobile assembly line. SUMMARY

[0006] Therefore, the purpose of the present application is to provide a tailgate sealing strip automatic rolling equipment and its use method, which has accurate positioning, reliable performance, strong practicability, effectively guarantees the sealing quality of the tailgate frame and the tailgate sealing strip, reduces the labor intensity of workers, meets the assembly precision requirements, has strong universality, and is suitable for automatic rolling of tailgate sealing strips of various different vehicle models.

[0007] The tailgate sealing strip automatic rolling equipment in the present application comprises a track running system, a rolling running trolley system, a lifting system, a hanging system and an automatic rolling system; the track running system is connected with the rolling running trolley system, the lifting system and the hanging system are both connected with the rolling running trolley system, and the rolling running trolley system can drive the lifting system and the hanging system to reciprocate along the X direction and the Y direction; the automatic rolling system comprises a collaborative robot, a 3D camera device, an electric gun driving device and a clamping and rolling device, the head end of the collaborative robot is connected with the lifting system, and the 3D camera device, the electric gun driving device and the clamping and rolling device are all connected with the tail end of the collaborative robot.

[0008] Further, the lifting system comprises a lifting sleeve, a lifting guide support and a lifting cylinder, the outside of the lifting sleeve is provided with a sleeve mounting seat for fixed connection with the rolling running trolley system, the lifting guide support is connected with the inside of the lifting sleeve in a manner that can slide along the Z direction with one degree of freedom, the lower part of the lifting guide support is provided with a robot connecting seat, the lifting cylinder is fixedly connected with the outside of the lifting sleeve, the output shaft of the lifting cylinder can stretch and contract along the Z direction, and the output shaft of the lifting cylinder is connected with the robot connecting seat.

[0009] Further, the head end of the collaborative robot is provided with a first mounting seat, the first mounting seat is fixedly connected with the robot connecting seat; the tail end of the collaborative robot is provided with a second mounting seat, and the 3D camera device, the electric gun driving device and the clamping and rolling device are all fixedly connected with the second mounting seat.

[0010] Further, the track running system comprises an X-direction track, an X-direction moving support, an X-direction roller assembly and an X-direction driving device, the X-direction roller assembly is arranged on the upper side of the X-direction moving support, the X-direction roller assembly is connected with the X-direction track, and the X-direction driving device can drive the X-direction roller assembly to reciprocate along the X-direction on the X-direction track.

[0011] Further, the rolling operation trolley system comprises a trolley support, further comprises a Y-direction roller assembly and a Y-direction driving device arranged on the trolley support, the Y-direction roller assembly is connected with the X-direction moving support, and the Y-direction driving device can drive the Y-direction roller assembly to reciprocate along the Y direction on the X-direction moving support.

[0012] Further, the hitching system comprises a connecting extension support, a Y-direction position adjusting assembly, a hitching assembly mounting support and a hitching device, the rear part of the connecting extension support is connected with the rolling operation trolley system, the front part of the connecting extension support is connected with the Y-direction position adjusting assembly, the upper part of the hitching assembly mounting support is connected with the Y-direction position adjusting assembly, and the lower part of the hitching assembly mounting support is connected with the hitching device.

[0013] Further, the hitching device comprises a clamping cylinder and two clamping positioning assemblies, the upper parts of the two clamping positioning assemblies are connected with the hitching assembly mounting support, and the clamping cylinder can drive the two clamping positioning assemblies to move towards or away from each other.

[0014] Further, the two clamping positioning assemblies each comprise a movable support, a Z-direction driving cylinder, a Z-direction guide and a clamping piece, the movable support is connected with the hitching assembly mounting support in a mode that can slide along the X direction in single degree of freedom; the clamping cylinder can drive the two movable supports to move towards or away from each other; the Z-direction guide is connected with the movable support in a mode that can slide along the Z direction in single degree of freedom, the Z-direction driving cylinder is connected with the movable support, and the output shaft of the Z-direction driving cylinder can drive the Z-direction guide to move along the Z direction; and the clamping piece is connected with the Z-direction guide.

[0015] Further, the Y-direction position adjusting assembly comprises a Y-direction mounting support connected with the connecting extension support and a Y-direction mounting piece connected with the hitching assembly mounting support, the Y-direction mounting piece is connected with the Y-direction mounting support in a detachable mode, a plurality of mounting holes are arranged on the Y-direction mounting support along the Y direction at intervals, and the Y-direction mounting piece can be connected with part of the mounting holes, so that the mounting position of the Y-direction mounting piece in the Y direction is adjustable.

[0016] The use method of the tailgate sealing strip automatic rolling equipment in the application comprises the following steps:

[0017] S1, according to the vehicle model queue vehicle model information, when the vehicle reaches the automatic rolling station, the hitching system and the automatic rolling system are located at the initial position, the hitching system and the automatic rolling system are driven to move along the X direction synchronously with the vehicle through the track operation system, and at this time, the hitching system, the lifting system and the automatic rolling system are located outside the side wall of the vehicle.

[0018] S2, the hanging system and the lifting system are driven along the Y direction by the rolling operation trolley system, so that the hanging device of the hanging system is moved to the top of the middle part of the front windshield cross beam of the vehicle, and the automatic rolling system is located at the top of the middle part of the tail door frame;

[0019] S3, the middle part of the front windshield cross beam of the vehicle is clamped and positioned by the hanging system, so that the relative position between the automatic rolling equipment of the tail door seal strip and the vehicle is accurate;

[0020] S4, the automatic rolling system is driven downward by the lifting system to approach the tail door frame;

[0021] S5, the 3D camera device of the automatic rolling system takes a picture of the vehicle body to perform precise positioning and identification of the vehicle body position, the electric gun driving device and the clamping and rolling device are driven by the collaborative robot to move, so that the clamping and rolling device corresponds to the position of the tail door seal strip on the tail door frame, the electric gun driving device is started, the electric gun driving device drives the clamping and rolling device to clamp the tail door seal strip, and the collaborative robot drives the electric gun driving device and the clamping and rolling device to roll along the tail door frame, so as to fix the tail door seal strip and the tail door frame;

[0022] S6, the electric gun driving device drives the clamping and rolling device to release the tail door seal strip, and the collaborative robot drives the electric gun driving device to drive the clamping and rolling device away from the tail door frame; the automatic rolling system is driven upward by the lifting system to move away from the tail door frame;

[0023] S7, the clamping and positioning of the middle part of the front windshield cross beam of the vehicle by the hanging system is released;

[0024] S8, the hanging system and the lifting system are driven along the Y direction by the rolling operation trolley system, so that the hanging system, the lifting system and the automatic rolling system are moved to the outside of the side wall of the vehicle;

[0025] S9, the hanging system and the automatic rolling system are driven along the X direction by the track operation system, so that the hanging system and the automatic rolling system are moved to the initial position, and the next working cycle is prepared.

[0026] The beneficial effects of the present application are:

[0027] (1) The tail door seal strip automatic rolling equipment can be applied to an automobile assembly line, has the advantages of simple structure, accurate positioning in the rolling process, reliable performance, strong practicability, synchronization with the vehicle on the assembly line, effective guarantee of the sealing quality of the tail door frame and the tail door seal strip, reduction of the labor intensity of workers, meeting of the assembly precision requirement, strong universality and application to automatic rolling of tail door seal strips of various vehicle models.

[0028] (2) The tail gate sealing strip automatic rolling equipment of the application clamps and positions the middle part of the cross beam on the front windshield of the vehicle through the hanging device, ensures the accurate relative position of the vehicle and the rolling operation trolley system, so as to ensure that the rolling operation trolley system, the lifting system, the hanging system and the automatic rolling system can be synchronized with the vehicle;

[0029] (3) The Y-direction mounting piece of the hanging system of the tail gate sealing strip automatic rolling equipment of the application has multiple positions in the Y-direction, which can adjust the position of the Y-direction mounting piece for vehicles of different widths, so as to adjust the position of the hanging assembly mounting bracket in the Y-direction relative to the rolling operation trolley system and the automatic rolling system, and further improve the versatility of the tail gate sealing strip automatic rolling equipment. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to make the purpose, technical scheme and beneficial effects of the application more clear, the application provides the following drawings for illustration:

[0031] Figure 1 It is a structural schematic diagram of the application (at this time, the hanging system clamps and positions);

[0032] Figure 2 It is a structural schematic diagram of the application (at this time, the automatic rolling system clamps the tail gate sealing strip);

[0033] Figure 3 It is a structural schematic diagram of the track operation system of the application;

[0034] Figure 4 It is a structural schematic diagram of the rolling operation trolley system of the application;

[0035] Figure 5 It is a structural schematic diagram of the lifting system of the application;

[0036] Figure 6 It is a structural schematic diagram of the hanging system of the application;

[0037] Figure 7 It is a structural schematic diagram of the automatic rolling system of the application.

[0038] The marks in the drawings are as follows:

[0039] 1-Track operation system, 11-X-direction track, 12-X-direction moving bracket, 13-X-direction driving device;

[0040] 2-Rolling operation trolley system, 21-Trolley bracket, 22-Y-direction roller assembly, 23-Y-direction driving device;

[0041] 3-Lifting system, 31-Lifting sleeve, 32-Lifting guide bracket, 33-Lifting cylinder, 34-Sleeve mounting seat, 35-Robot connecting seat;

[0042] 4-hitch system, 41-connection extension bracket, 42-Y-direction position adjustment assembly, 421-Y-direction mounting bracket, 422-Y-direction mounting piece, 43-hitch assembly mounting bracket, 44-clamping cylinder, 45-clamping positioning assembly, 451-movable bracket, 452-Z-direction drive cylinder, 453-Z-direction guide piece, 454-clamping piece;

[0043] 5-automatic rolling system, 51-collaborative robot, 511-first mounting seat, 512-second mounting seat, 52-3D camera device, 53-electric gun driving device, 54-clamping and rolling device;

[0044] 6-vehicle. DETAILED DESCRIPTION

[0045] The technical solutions of the present application will be described in detail below in combination with the drawings and examples.

[0046] As Figures 1-7 shown, the automatic rolling equipment for tail door sealing strip in the embodiment includes a track running system 1, a rolling running trolley system 2, a lifting system 3, a hitch system 4, and an automatic rolling system 5; the track running system 1 is connected with the rolling running trolley system 2, the lifting system 3 and the hitch system 4 are both connected with the rolling running trolley system 2, and the rolling running trolley system 2 can drive the lifting system 3 and the hitch system 4 to reciprocate along the X direction and the Y direction; the automatic rolling system 5 includes a collaborative robot 51, a 3D camera device 52, an electric gun driving device 53, and a clamping and rolling device 54, the head end of the collaborative robot 51 is connected with the lifting system 3, and the 3D camera device 52, the electric gun driving device 53, and the clamping and rolling device 54 are all connected with the tail end of the collaborative robot 51.

[0047] The track operation system 1 is connected with the rolling operation trolley system 2, and the track operation system 1 can drive the rolling operation trolley to reciprocate along the X direction, and the rolling operation trolley can reciprocate along the Y direction relative to the track operation system 1. Since the lifting system 3 and the hanging system 4 are connected with the rolling operation trolley system 2, the rolling operation trolley system 2 drives the lifting system 3 and the hanging system 4 to reciprocate along the X direction and the Y direction. The lifting system 3 is connected with the collaborative robot 51, so that the rolling operation trolley system 2 drives the collaborative robot 51 to move when the rolling operation trolley system 2 moves. As described above, the hanging system 4 and the collaborative robot 51 can move synchronously while the rolling operation trolley moves along the X direction and the Y direction, so that the hanging system 4 and the collaborative robot 51 move synchronously with the vehicle 6. The lifting system 3 drives the collaborative robot 51 to move along the Z direction, so as to approach or move away from the tail door frame of the vehicle 6. The collaborative robot 51 is a prior art, which can drive the 3D camera device 52, the electric gun driving device 53 and the clamping and rolling device 54 to move along a predetermined trajectory. The 3D camera device 52 can take pictures of the vehicle body of the vehicle 6 to identify the position of the vehicle body. The collaborative robot 51 drives the electric gun driving device 53 and the clamping and rolling device 54 to move, so that the clamping and rolling device corresponds to the position of the tail door sealing strip on the tail door frame. The electric gun driving device 53 is started, and the electric gun driving device 53 drives the clamping and rolling device 54 to clamp the tail door sealing strip. The collaborative robot 51 drives the electric gun driving device 53 and the clamping and rolling device 54 to roll along the tail door frame, so as to fix the tail door sealing strip to the tail door frame. The tail door sealing strip automatic rolling equipment can be applied to an automobile assembly line. The tail door sealing strip automatic rolling equipment has simple structure, accurate positioning in rolling process, reliable performance, strong practicability, and can move synchronously with the vehicle 6 on the assembly line, effectively ensures the sealing quality of the tail door frame and the tail door sealing strip, reduces the labor intensity of workers, meets the assembly precision requirement, has strong universality, and is suitable for automatic rolling of tail door sealing strips of various vehicle models.

[0048] In the embodiment, the lifting system 3 comprises a lifting sleeve 31, a lifting guide support 32 and a lifting cylinder 33. The lifting sleeve 31 is externally provided with a sleeve mounting seat 34 for fixed connection with the rolling operation trolley system 2. The lifting guide support 32 is connected with the inside of the lifting sleeve 31 in a manner that can slide along the Z direction with one degree of freedom. The lower part of the lifting guide support 32 is provided with a robot connecting seat 35. The lifting cylinder 33 is fixedly connected with the outside of the lifting sleeve 31. The output shaft of the lifting cylinder 33 can stretch and contract along the Z direction, and the output shaft of the lifting cylinder 33 is connected with the robot connecting seat 35. The lifting sleeve 31 plays a guiding role and can ensure the one degree of freedom sliding of the lifting guide support 32.

[0049] In the embodiment, the first end of the collaborative robot 51 is provided with a first mounting seat 511, and the first mounting seat 511 is fixedly connected with the robot connecting seat 35; the tail end of the collaborative robot 51 is provided with a second mounting seat 512, and the 3D camera device 52, the electric gun driving device 53 and the clamping and rolling device 54 are fixedly connected with the second mounting seat 512.

[0050] In the embodiment, the track operation system 1 comprises an X-direction track 11, an X-direction moving bracket 12, an X-direction roller assembly and an X-direction driving device 13. The X-direction roller assembly is arranged on the upper side of the X-direction moving bracket 12 and is connected with the X-direction track 11. The X-direction driving device 13 can drive the X-direction roller assembly to reciprocate along the X-direction on the X-direction track 11. The length of the X-direction track 11 is along the X-direction, and is used for guiding the movement of the X-direction roller assembly. The X-direction driving device 13 is installed on the X-direction moving bracket 12 and is in transmission connection with the X-direction roller assembly.

[0051] In the embodiment, the rolling operation trolley system 2 comprises a trolley bracket 21, and further comprises a Y-direction roller assembly 22 and a Y-direction driving device 23 arranged on the trolley bracket 21. The Y-direction roller assembly 22 is connected with the X-direction moving bracket 12, and the Y-direction driving device 23 can drive the Y-direction roller assembly 22 to reciprocate along the Y-direction on the X-direction moving bracket 12. The X-direction moving bracket 12 is provided with a guide rail along the Y-direction, the Y-direction roller assembly 22 is in sliding connection with the guide rail of the X-direction moving bracket 12, the Y-direction driving device 23 is in transmission connection with the Y-direction roller assembly 22, and the Y-direction driving device 23 can drive the Y-direction roller assembly 22 to drive the trolley bracket 21 to move along the Y-direction.

[0052] In the embodiment, the hitching system 4 comprises a connecting extension support 41, a Y-direction position adjusting assembly 42, a hitching assembly mounting support 43 and a hitching device. The rear part of the connecting extension support 41 is connected with the rolling operation trolley system 2, the front part of the connecting extension support 41 is connected with the Y-direction position adjusting assembly 42, the upper part of the hitching assembly mounting support 43 is connected with the Y-direction position adjusting assembly 42, and the lower part of the hitching assembly mounting support 43 is connected with the hitching device. In the embodiment, the hitching device comprises a clamping cylinder 44 and two clamping positioning assemblies 45. The upper parts of the two clamping positioning assemblies 45 are connected with the hitching assembly mounting support 43, and the clamping cylinder 44 can drive the two clamping positioning assemblies 45 to move towards or away from each other. In the embodiment, each of the two clamping positioning assemblies 45 comprises a movable support 451, a Z-direction driving cylinder 452, a Z-direction guide 453 and a clamping piece 454. The movable support 451 is connected with the hitching assembly mounting support 43 in a manner that it can slide in a single degree of freedom along the X-direction. The clamping cylinder 44 can drive the two movable supports 451 to move towards or away from each other. The Z-direction guide 453 is connected with the movable support 451 in a manner that it can slide in a single degree of freedom along the Z-direction. The Z-direction driving cylinder 452 is connected with the movable support 451, and the output shaft of the Z-direction driving cylinder 452 can drive the Z-direction guide 453 to move along the Z-direction. The clamping piece 454 is connected with the Z-direction guide 453. The connecting extension support 41 is two beams with lengths along the X-direction, and the two clamping positioning assemblies 45 are arranged at intervals along the X-direction. The rear part of the connecting extension support 41 is connected with the trolley support 21 of the rolling operation trolley system 2. The hitching system 4 has a certain distance between the Y-direction position adjusting assembly 42, the hitching assembly mounting support 43, the hitching device and the trolley support 21 through the connecting extension support 41, so that the hitching device can clamp and position the middle part of the front windshield upper cross beam of the vehicle 6, ensure the relative position between the vehicle 6 and the rolling operation trolley system 2, and ensure that the rolling operation trolley system 2, the lifting system 3, the hitching system 4 and the automatic rolling system 5 can move synchronously with the vehicle 6. When clamping and positioning, the Z-direction guide 453 and the clamping piece 454 are first driven by the Z-direction driving cylinder 452 to move downwards along the Z-direction and approach the middle part of the front windshield upper cross beam of the vehicle 6, at this time, the two clamping pieces 454 are respectively located on the front and rear sides of the front windshield upper cross beam. Then, the two movable supports 451 are driven by the clamping cylinder 44 to move towards each other, so that the two clamping pieces 454 move towards each other, thereby clamping and positioning the middle part of the front windshield upper cross beam of the vehicle 6.When the positioning and clamping is released, the clamping cylinder 44 drives the two movable supports 451 to move in opposite directions, so that the two clamping pieces 454 move in opposite directions, the two clamping pieces 454 loosen the front windshield upper beam, and then the Z-direction driving cylinder 452 drives the Z-direction guide 453 and the clamping piece 454 to move upward along the Z-direction away from the front windshield upper beam of the vehicle 6.

[0053] In the embodiment, the Y-direction position adjusting assembly 42 includes a Y-direction mounting support 421 connected with the connecting extension support 41 and a Y-direction mounting piece 422 connected with the hanging assembly mounting support 43, the Y-direction mounting piece 422 is detachably connected with the Y-direction mounting support 421, a plurality of mounting holes are arranged on the Y-direction mounting support 421 in the Y-direction, and the Y-direction mounting piece 422 can be connected with part of the mounting holes to realize the adjustable mounting position of the Y-direction mounting piece 422 in the Y-direction. The mounting holes on the Y-direction mounting support 421 are arranged in two rows, each row of mounting holes is arranged in multiple columns in the Y-direction, for example, ten columns, the Y-direction mounting piece 422 is connected with four mounting holes of the Y-direction mounting support 421 through two rows and two columns of four bolts, and the Y-direction mounting piece 422 connected with different mounting holes can realize the adjustable mounting position in the Y-direction. The Y-direction mounting piece 422 has multiple positions in the Y-direction, which can adjust the position of the Y-direction mounting piece 422 for vehicles 6 of different widths, thereby adjusting the position of the hanging assembly mounting support 43 relative to the rolling operation trolley system 2 and the automatic rolling system 5 in the Y-direction, and further improving the universality of the tail door sealing strip automatic rolling equipment.

[0054] The use method of the tail door sealing strip automatic rolling equipment in the embodiment includes the following steps:

[0055] S1, according to the vehicle model queue vehicle model information, when the vehicle reaches the automatic rolling station, the hanging system 4 and the automatic rolling system 5 are located at the initial position, the hanging system 4 and the automatic rolling system 5 are moved along the X-direction synchronously with the vehicle 6 through the track operation system 1, and the hanging system 4, the lifting system 3 and the automatic rolling system 5 are located outside the side wall of the vehicle 6 at this time;

[0056] S2, the hanging system 4 and the lifting system 3 are moved along the Y-direction by the rolling operation trolley system 2, so that the hanging device of the hanging system 4 moves to the upper middle part of the front windshield upper beam of the vehicle 6, and the automatic rolling system 5 is located above the middle part of the tail door frame;

[0057] S3, as shown in Figure 1 , the middle part of the front windshield upper beam of the vehicle 6 is clamped and positioned by the hanging system 4, so that the relative position between the tail door sealing strip automatic rolling equipment and the vehicle 6 is accurate;

[0058] S4. The lifting system 3 drives the automatic rolling system 5 to move downwards and bring it closer to the tailgate frame;

[0059] S5, such as Figure 2 As shown, the 3D camera device 52 of the automatic rolling system 5 takes pictures of the vehicle body of the vehicle 6 for precise positioning and identification of the vehicle body position. The collaborative robot 51 drives the electric gun drive device 53 and the clamping rolling device 54 to move, so that the clamping rolling device corresponds to the position of the tailgate sealing strip on the tailgate frame. The electric gun drive device 53 is activated, and the electric gun drive device 53 drives the clamping rolling device 54 to clamp the tailgate sealing strip. The collaborative robot 51 drives the electric gun drive device 53 and the clamping rolling device 54 to roll around the tailgate frame, thereby fixing the tailgate sealing strip to the tailgate frame. Among them, the distance between the clamping rollers in the clamping rolling device 54 should be 50% thicker than the sheet metal gap of the tailgate frame. The diameter of the clamping rollers in the clamping rolling device 54 should be designed to be 12mm, and the length of the clamping rollers should be between 40-50mm.

[0060] S6, the electric gun drive device 53 drives the clamping and rolling device 54 to loosen the tailgate sealing strip, and the collaborative robot 51 drives the electric gun drive device 53 to drive the clamping and rolling device 54 away from the tailgate frame; the lifting system 3 drives the automatic rolling system 5 to move upward to move it away from the tailgate frame.

[0061] S7. Release the clamping and positioning of the middle part of the upper crossbeam of the windshield of the vehicle 6 by the affiliation system 4.

[0062] S8. The roller rolling trolley system 2 drives the affiliation system 4 and the lifting system 3 to move along the Y direction, so that the affiliation system 4, the lifting system 3 and the automatic roller rolling system 5 move to the outside of the side wall of the vehicle 6.

[0063] S9. The track running system 1 makes the coupling system 4 and the automatic rolling system 5 move synchronously with the vehicle 6 along the X direction, so that the coupling system 4 and the automatic rolling system 5 return to their initial positions and are ready to enter the next work cycle.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An automatic rolling device for tailgate sealing strips, characterized in that: The system includes a track running system (1), a rolling trolley system (2), a lifting system (3), a docking system (4), and an automatic rolling system (5). The track running system (1) is connected to the rolling trolley system (2), the lifting system (3) and the docking system (4) are both connected to the rolling trolley system (2), and the rolling trolley system (2) can drive the lifting system (3) and the docking system (4) to reciprocate along the X and Y directions. The automatic rolling system (5) includes a collaborative robot (51), a 3D camera device (52), an electric gun drive device (53), and a clamping rolling device (54). The head end of the collaborative robot (51) is connected to the lifting system (3), and the 3D camera device (52), the electric gun drive device (53), and the clamping rolling device (54) are all connected to the tail end of the collaborative robot (51). The attachment system (4) includes a connecting extension bracket (41), a Y-axis position adjustment component (42), an attachment component mounting bracket (43), and an attachment device. The rear part of the connecting extension bracket (41) is connected to the rolling trolley system (2), the front part of the connecting extension bracket (41) is connected to the Y-axis position adjustment component (42), the upper part of the attachment component mounting bracket (43) is connected to the Y-axis position adjustment component (42), and the lower part of the attachment component mounting bracket (43) is connected to the attachment device. The hanging device includes a clamping cylinder (44) and two clamping positioning components (45). The upper parts of the two clamping positioning components (45) are connected to the hanging component mounting bracket (43). The clamping cylinder (44) can drive the two clamping positioning components (45) to move towards or away from each other.

2. The automatic rolling equipment for tailgate sealing strips according to claim 1, characterized in that: The lifting system (3) includes a lifting sleeve (31), a lifting guide bracket (32), and a lifting cylinder (33). The lifting sleeve (31) is provided with a sleeve mounting seat (34) for fixed connection with the rolling trolley system (2). The lifting guide bracket (32) is connected to the inside of the lifting sleeve (31) in a manner that allows it to slide along the Z-direction with a single degree of freedom. The lower part of the lifting guide bracket (32) is provided with a robot connecting seat (35). The lifting cylinder (33) is fixedly connected to the outside of the lifting sleeve (31). The output shaft of the lifting cylinder (33) can extend and retract along the Z-direction, and the output shaft of the lifting cylinder (33) is connected to the robot connecting seat (35).

3. The automatic rolling equipment for tailgate sealing strips according to claim 2, characterized in that: The collaborative robot (51) has a first mounting base (511) at its head end, which is fixedly connected to the robot connecting base (35); the collaborative robot (51) has a second mounting base (512) at its tail end, and the 3D camera device (52), the electric gun drive device (53), and the clamping and rolling device (54) are all fixedly connected to the second mounting base (512).

4. The automatic rolling equipment for tailgate sealing strips according to claim 1, characterized in that: The track running system (1) includes an X-axis track (11), an X-axis moving support (12), an X-axis roller assembly, and an X-axis drive device (13). The X-axis roller assembly is disposed on the upper side of the X-axis moving support (12) and is connected to the X-axis track (11). The X-axis drive device (13) can drive the X-axis roller assembly to reciprocate along the X-axis on the X-axis track (11).

5. The automatic rolling equipment for tailgate sealing strips according to claim 4, characterized in that: The rolling trolley system (2) includes a trolley bracket (21), a Y-axis roller assembly (22) and a Y-axis drive device (23) mounted on the trolley bracket (21). The Y-axis roller assembly (22) is connected to the X-axis moving bracket (12), and the Y-axis drive device (23) can drive the Y-axis roller assembly (22) to reciprocate along the Y direction on the X-axis moving bracket (12).

6. The automatic rolling equipment for tailgate sealing strips according to claim 1, characterized in that: Both clamping and positioning assemblies (45) include a movable bracket (451), a Z-axis drive cylinder (452), a Z-axis guide (453), and a clamping member (454). The movable bracket (451) is connected to the mounting bracket (43) of the hanging assembly in a manner that allows it to slide along a single degree of freedom in the X direction. The clamping cylinder (44) can drive the two movable brackets (451) to move towards or away from each other. The Z-axis guide (453) is connected to the movable bracket (451) in a manner that allows it to slide along a single degree of freedom in the Z direction. The Z-axis drive cylinder (452) is connected to the movable bracket (451), and the output shaft of the Z-axis drive cylinder (452) can drive the Z-axis guide (453) to move along the Z direction. The clamping member (454) is connected to the Z-axis guide (453).

7. The automatic rolling equipment for tailgate sealing strips according to claim 1, characterized in that: The Y-direction position adjustment component (42) includes a Y-direction mounting bracket (421) connected to the connecting extension bracket (41) and a Y-direction mounting member (422) connected to the hanging component mounting bracket (43). The Y-direction mounting member (422) is detachably connected to the Y-direction mounting bracket (421). The Y-direction mounting bracket (421) has multiple mounting holes spaced along the Y direction. The Y-direction mounting member (422) can connect to some of the mounting holes to make the installation position of the Y-direction mounting member (422) adjustable in the Y direction.

8. A method of using an automatic rolling device for tailgate sealing strips, characterized in that, Using the automatic rolling device for tailgate sealing strips as described in any one of claims 1-7, the method includes the following steps: S1. According to the vehicle model queue information, when the vehicle arrives at the automatic rolling station, the affixing system (4) and the automatic rolling system (5) are in the initial position. The affixing system (4) and the automatic rolling system (5) move synchronously with the vehicle (6) along the X direction through the track running system (1). At this time, the affixing system (4), the lifting system (3) and the automatic rolling system (5) are located on the outside of the side wall of the vehicle (6). S2. The roller running trolley system (2) drives the affiliation system (4) and the lifting system (3) to move along the Y direction, so that the affiliation device of the affiliation system (4) moves to the center of the crossbeam of the windshield of the vehicle (6), and the automatic roller system (5) is located at the center of the tailgate frame. S3. The middle part of the upper crossbeam of the windshield of the vehicle (6) is clamped and positioned by the attachment system (4) to ensure that the relative position of the automatic rolling device of the tailgate sealing strip and the vehicle (6) is accurate. S4. The lifting system (3) drives the automatic rolling system (5) to move downwards and bring it closer to the tailgate frame; S5. The 3D camera device (52) of the automatic rolling system (5) takes pictures of the vehicle body (6) to perform precise positioning and identification of the vehicle body. The collaborative robot (51) drives the electric gun drive device (53) and the clamping rolling device (54) to move, so that the clamping rolling device (54) corresponds to the position of the tailgate sealing strip on the tailgate frame. The electric gun drive device (53) is activated, and the electric gun drive device (53) drives the clamping rolling device (54) to clamp the tailgate sealing strip. The collaborative robot (51) drives the electric gun drive device (53) and the clamping rolling device (54) to roll around the tailgate frame, thereby fixing the tailgate sealing strip to the tailgate frame. S6. The electric gun drive device (53) drives the clamping and rolling device (54) to loosen the tailgate sealing strip. The collaborative robot (51) drives the electric gun drive device (53) to drive the clamping and rolling device (54) away from the tailgate frame. The lifting system (3) drives the automatic rolling system (5) to move upward and away from the tailgate frame. S7. Release the clamping and positioning of the middle part of the upper crossbeam of the windshield of the vehicle (6) by the affixing system (4); S8. The roller rolling trolley system (2) drives the affiliation system (4) and the lifting system (3) to move along the Y direction, so that the affiliation system (4), the lifting system (3) and the automatic roller rolling system (5) move to the outside of the side wall of the vehicle (6); S9. The track running system (1) makes the abutment system (4) and the automatic rolling system (5) move synchronously with the vehicle (6) along the X direction, so that the abutment system (4) and the automatic rolling system (5) return to the initial position and are ready to enter the next work cycle.

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