Door knocker automatic splicing device and control method

Abstract

The present invention relates to an automatic splicing device for door knockers and a control method. The device is used to sequentially splice multiple component groups of door knockers, each component group includes at least one sub-component. The device includes a positioning structure and a splicing fixture. The positioning structure is used to provide a positioning surface for each sub-component of the component group spliced ​​for the first time. The positioned component group is used to provide a positioning surface for each sub-component of the component group spliced ​​for the next time. The positioning surface corresponding to each sub-component includes a first positioning reference surface and a second positioning reference surface. Multiple splicing fixtures are arranged corresponding to each sub-component. The splicing fixture is used to drive the corresponding sub-component to move to the corresponding positioning surface. The splicing fixture includes a moving seat, a suction mechanism and a driving assembly. The suction mechanism is arranged on the moving seat, and is used to suck the corresponding sub-component. The driving assembly is connected to the moving seat, and is used to drive the moving seat to sequentially perform a first stroke and a second stroke. The first stroke includes a first sub-stroke and a second sub-stroke that are performed sequentially.

Description

Technical Field

[0001] The invention relates to the technical field of automobile manufacturing, and in particular to a door ring automatic splicing device and a control method. Background Art

[0002] In the current automobile manufacturing field, the automatic splicing technology of door rings is still immature, and most door ring welding companies still mainly use manual feeding and splicing. However, the precision of manual feeding and splicing is not high, the splicing error is large, and the workers are easily fatigued, and the splicing efficiency is not high. When ordinary manipulators are used for door ring splicing, it is impossible to ensure that the splicing surfaces are absolutely parallel when the door ring steel plate parts are loaded and placed, and ordinary manipulators can only move in the general direction during splicing, and cannot adjust the details of the splicing surface, resulting in the splicing surfaces not being able to fit completely when the door ring is spliced, and it is easy to have problems such as irregular edge positions of door ring steel plate parts and large splicing errors. Summary of the invention

[0003] The object of the present invention is to provide an automatic splicing device and control method for a door knocker, which can divide the door knocker into multiple component groups, and splice the multiple component groups in sequence through a splicing fixture, provide a positioning surface for each sub-component of the component group to be spliced ​​for the first time through a positioning structure, and the positioned component group provides a positioning surface for each sub-component of the component group to be spliced ​​for the next time, so as to ensure the positioning and splicing accuracy of each component group; the sub-component is driven to move in a first sub-stroke and a second sub-stroke by a first driving unit in cooperation with a second driving unit to eliminate the misalignment between the first splicing surface of the sub-component and the first positioning reference surface, so that the first splicing surface of the sub-component is completely fitted with the first positioning reference surface.

[0004] To achieve the above object, according to a first aspect of the present invention, there is provided a door knocker automatic splicing device, the splicing device is used to sequentially splice a plurality of component groups of the door knocker, each of the component groups includes at least one sub-component, the door knocker automatic splicing device includes:

[0005] A positioning structure is used to provide a positioning surface for each of the sub-components of the component group that is spliced ​​for the first time, and the positioned component group is used to provide a positioning surface for each of the sub-components of the component group that is spliced ​​for the next time, and the positioning surface corresponding to each of the sub-components includes a first positioning reference surface and a second positioning reference surface;

[0006] A plurality of splicing fixtures are provided corresponding to each of the sub-components, each of the splicing fixtures is used to drive the corresponding sub-component to move to the corresponding positioning surface, and the splicing fixtures include:

[0007] Mobile seat;

[0008] A suction mechanism, disposed on the movable seat, for sucking the corresponding sub-component;

[0009] A driving assembly is connected to the moving seat and is used to drive the moving seat to move in a first stroke and a second stroke in sequence. The driving assembly includes:

[0010] A first driving unit is provided with a controllably retractable first driving end, wherein the first driving end is rotatably connected to the moving seat;

[0011] A second driving unit is provided with a controllably retractable second driving end, wherein the second driving end is connected to the moving seat;

[0012] The first driving unit cooperates with the second driving unit to drive the moving seat to move in a first stroke, wherein the first stroke includes a first sub-stroke and a second sub-stroke performed sequentially;

[0013] In the first sub-stroke, the first driving end and the second driving end extend synchronously to drive the moving seat to move along a first direction perpendicular to the first positioning reference surface, so that the first splicing surface of the sub-component contacts the first positioning reference surface;

[0014] In the second sub-stroke, the first driving end and the second driving end extend asynchronously to deflect the moving seat and drive the first joint surface of the sub-component to fit with the first positioning reference surface.

[0015] Optionally, the first driving unit further includes a movable connecting piece for connecting the first driving end and the moving seat, and the second driving unit further includes a fixed connecting piece for connecting the second driving end and the moving seat, and a movable hole is provided on the moving seat, and the movable connecting piece moves within the movable hole.

[0016] Optionally, the driving assembly further includes:

[0017] A third driving unit, used for driving the moving seat to move in a second stroke, is provided with a controllably retractable third driving end, and the third driving end is connected to the moving seat;

[0018] In the second stroke, the third driving end drives the moving seat to move along a second direction perpendicular to the first direction so that the second joint surface of the sub-component fits with the second positioning reference surface.

[0019] Optionally, the suction mechanism comprises:

[0020] A first vacuum suction cup is disposed at one side of the moving seat and is used to suck one side of the sub-component to cooperate with the first driving unit and the second driving unit to drive the sub-component to move in the first stroke;

[0021] The second vacuum suction cup is arranged at the other side of the moving base, and is used for sucking the other side of the sub-component to cooperate with the third driving unit to drive the sub-component to move in the second stroke.

[0022] Optionally, the splicing fixture further includes:

[0023] A lifting mechanism, used to drive the movable seat and the driving assembly to move up and down;

[0024] A proportional valve, used for controlling and adjusting the driving thrust of the first driving unit, the second driving unit and the third driving unit;

[0025] A force sensor is arranged at the first driving unit, the second driving unit and the third driving unit, and is used to detect the driving thrust to determine whether the sub-component is moved into place.

[0026] Optionally, the door knocker automatic splicing device further includes:

[0027] A component fixing mechanism, arranged at the bottom of the subcomponent, for fixing the subcomponent after it is moved into place;

[0028] A visual inspection mechanism, arranged beside the sub-components, for inspecting the weld gaps formed after all the component groups are spliced ​​together;

[0029] The gap error elimination mechanism is arranged beside the sub-component, and comprises a torque motor and a cam mechanism arranged on the torque motor, wherein the cam mechanism is provided with a knocking head for knocking the sub-component forming the weld gap to eliminate the weld gap.

[0030] According to a second aspect of the present invention, a control method for a door knocker automatic splicing device is provided, comprising the following steps:

[0031] Controlling the splicing fixture to splice each of the component groups in sequence;

[0032] After each component group is spliced, the component fixing mechanism of the door knocker automatic splicing device is controlled to fix each sub-component of the component group spliced ​​this time.

[0033] Optionally, controlling the splicing fixture to sequentially splice each of the component groups comprises the following steps:

[0034] Control the suction mechanism corresponding to each of the sub-components of the component group to be spliced ​​to suck one side of the sub-component;

[0035] Controlling the driving assembly corresponding to each of the sub-components of the component group to be spliced ​​to move the first stroke;

[0036] Control the suction mechanism corresponding to each of the sub-components of the component group to be spliced ​​to suck the other side of the sub-component;

[0037] The driving assembly corresponding to each of the sub-components of the component group being spliced ​​this time is controlled to move the second stroke.

[0038] Optionally, the controlling the splicing fixture to sequentially splice each of the component groups further includes the following steps:

[0039] After the driving assembly completes the movement of the first stroke, the driving thrust of the first driving unit and the second driving unit on the corresponding sub-component is maintained until the component fixing mechanism fixes the corresponding sub-component.

[0040] Optionally, the control method of the door knocker automatic splicing device further includes the following steps:

[0041] Controlling the visual inspection mechanism of the door ring automatic splicing device to inspect the weld gaps formed after all the component groups are spliced ​​together;

[0042] The gap error elimination mechanism of the door ring automatic splicing device is controlled to knock the sub-component forming the weld gap to eliminate the weld gap.

[0043] The beneficial effects of the present invention are as follows: the door knocker is divided into a plurality of component groups, and the plurality of component groups are spliced ​​in sequence by a splicing fixture; a positioning surface is provided for each sub-component of the component group spliced ​​for the first time by a positioning structure; the positioned component group provides a positioning surface for each sub-component of the component group spliced ​​for the next time, thereby ensuring the positioning and splicing accuracy of each component group; the sub-component is driven to move in a first sub-stroke and a second sub-stroke by a first driving unit in cooperation with a second driving unit, so as to eliminate the misalignment between the first splicing surface of the sub-component and the first positioning reference surface, so that the first splicing surface of the sub-component is completely fitted with the first positioning reference surface;

[0044] By setting a component fixing mechanism, the sub-components after being positioned and spliced ​​in place can be fixed to prevent the position of the sub-components after being positioned and spliced ​​from shifting again;

[0045] By setting up a visual inspection mechanism in conjunction with a gap error elimination mechanism, it is possible to detect whether a weld gap is formed after all component groups are spliced ​​together, and to knock the sub-components that form the weld gap to eliminate the weld gap, thereby ensuring the subsequent door ring welding pass rate.

[0046] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic structural plan view of a door knocker automatic splicing device shown in one embodiment of the present invention;

[0048] Figure 2 It is a schematic structural stereogram of a tooling platform of an automatic door knocker splicing device shown in one embodiment of the present invention;

[0049] Figure 3 A schematic structural stereogram of a splicing fixture of an automatic door knocker splicing device shown in one embodiment of the present invention;

[0050] Figure 4 It is a schematic structural stereogram of a door knocker automatic splicing device shown in one embodiment of the present invention;

[0051] Figure 5 It is a schematic structural diagram of the door knocker sub-components of the door knocker automatic splicing device before splicing shown in one embodiment of the present invention;

[0052] Figure 6 It is a schematic structural plan view of a splicing fixture of an automatic splicing device for door knockers shown in one embodiment of the present invention;

[0053] Figure 7 It is a schematic structural cross-sectional view of a splicing fixture of an automatic splicing device for door knockers shown in one embodiment of the present invention;

[0054] Figure 8 It is a schematic structural diagram of a gap error elimination mechanism of a door ring automatic splicing device shown in one embodiment of the present invention;

[0055] Fig. 9 A schematic flow chart of a control method of a door knocker automatic splicing device according to an embodiment of the present invention;

[0056] Fig.10 for Fig. 9 Schematic flow chart of step S10;

[0057] In the figure: 1. component group; 11. sub-component; 12. first component; 13. second component; 14. third component; 15. fourth component; 2. positioning structure; 21. movable positioning member; 22. fixed positioning member; 3. splicing fixture; 31. moving seat; 311. movable hole; 32. suction mechanism; 321. first vacuum suction cup; 322. second vacuum suction cup; 33. driving assembly; 331. first driving unit; 332. second driving unit; 333. movable connecting member; 334. fixed connecting member; 335. third driving unit; 34. lifting mechanism; 35. proportional valve; 36. bottom plate; 37. support plate; 38. support frame; 4. splicing gantry; 5. fixed frame; 6. tooling platform; 7. component fixing mechanism; 8. visual inspection mechanism; 9. gap error elimination mechanism; 91. torque motor; 92. cam mechanism; 93. knocking head. DETAILED DESCRIPTION

[0058] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0060] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0061] See also Figures 1 to 8, a preferred embodiment of the present application shows an automatic splicing device for door knockers, the splicing device is used to sequentially splice multiple component groups 1 of door knockers, each component group 1 includes at least one subcomponent 11, the automatic splicing device for door knockers includes a positioning structure 2 and multiple splicing fixtures 3, the positioning structure 2 is used to provide a positioning surface for each subcomponent 11 of the component group 1 spliced ​​for the first time, the positioned component group 1 is used to provide a positioning surface for each subcomponent 11 of the component group 1 spliced ​​for the next time, and the positioning surface corresponding to each subcomponent 11 includes a first positioning reference surface and a second positioning reference surface. Multiple splicing fixtures 3 are arranged corresponding to each subcomponent 11, each splicing fixture 3 is used to drive its corresponding subcomponent 11 to move to the corresponding positioning surface, and the splicing fixture 3 includes a moving seat 31, a suction mechanism 32 and a driving assembly 33. The suction mechanism 32 is arranged on the moving seat 31, and is used to suck its corresponding subcomponent 11. The driving assembly 33 is connected to the moving seat 31, and is used to drive the moving seat 31 to move in the first stroke and the second stroke in sequence. The driving assembly 33 includes a first driving unit 331 and a second driving unit 332. The first driving unit 331 is provided with a controllably retractable first driving end, and the first driving end is rotatably connected to the moving seat 31. The second driving unit 332 is provided with a controllably retractable second driving end, and the second driving end is connected to the moving seat 31. The first driving unit 331 and the second driving unit 332 cooperate to drive the moving seat 31 to move in a first stroke, and the first stroke includes a first sub-stroke and a second sub-stroke performed in sequence. In the first sub-stroke, the first driving end and the second driving end extend synchronously to drive the moving seat 31 to move in a first direction perpendicular to the first positioning reference plane, so that the first splicing surface of the sub-component 11 contacts the first positioning reference plane. In the second sub-stroke, the first driving end and the second driving end extend asynchronously to deflect the moving seat 31 and drive the first splicing surface of the sub-component 11 to fit with the first positioning reference plane.

[0062] According to the scheme of the embodiment of the present invention, the door knocker is divided into multiple component groups 1, and the multiple component groups 1 are spliced ​​in turn by means of a splicing fixture 3. The positioning structure 2 provides a positioning surface for each sub-component 11 of the component group 1 to be spliced ​​for the first time, and the positioned component group 1 provides a positioning surface for each sub-component 11 of the component group 1 to be spliced ​​for the next time, so as to ensure the positioning and splicing accuracy of each component group 1; the first driving unit 331 cooperates with the second driving unit 332 to drive the sub-component 11 to move the first sub-stroke and the second sub-stroke, so as to eliminate the misalignment between the first splicing surface of the sub-component 11 and the first positioning reference surface, so that the first splicing surface of the sub-component 11 is completely fitted with the first positioning reference surface.

[0063] The following is a detailed description with specific embodiments:

[0064] Specifically, see Figure 4In this embodiment, the door ring automatic splicing equipment also includes a splicing gantry 4, a fixed frame 5 and a tooling platform 6. The fixed frame 5 is arranged on the top of the splicing gantry 4, and is used to fix the positioning structure 2 and the splicing fixture 3. The tooling platform 6 is arranged in the middle of the splicing gantry 4, and is used to carry the component group of the door ring. Among them, the door ring is divided into two component groups 1, each component group 1 includes two sub-components 11, and a total of four sub-components 11 are spliced ​​into a door ring. In order to ensure the positioning accuracy when the sub-components 11 are spliced, the first component 12 and the second component 13 of a component group 1 (the first component 12 and the second component 13 are located at a diagonal side) are first positioned by the positioning structure 2, including a movable positioning member 21 that can be lifted and lowered and a fixed positioning member 22 (please refer to Figure 1 , Figure 2 and Figure 5 ). Specifically, two groups of movable positioning members 21 in different directions are respectively provided at the first component 12, which serve as the first positioning reference surface and the second positioning reference surface of the first component 12 respectively; one group of movable positioning members 21 and one group of fixed positioning members 22 are respectively provided at the second component 13, which serve as the first positioning reference surface and the second positioning reference surface of the second component 13 respectively. Only when two groups of positioning members in different directions are provided at each subcomponent 11 can the subcomponent 11 be accurately positioned.

[0065] See also Figure 1 , Figure 6 and Figure 7 The first driving unit 331 also includes a movable connecting member 333 for connecting the first driving end and the moving seat 31, and the second driving unit 332 also includes a fixed connecting member 334 for connecting the second driving end and the moving seat 31. The moving seat 31 is provided with a movable hole 311, and the movable connecting member 333 moves within the movable hole 311. In the process of the splicing fixture 3 driving the first component 12 and the second component 13 to move toward the first positioning reference plane, the first drive unit 331 and the second drive unit 332 are always driven synchronously, and since the first splicing surface of the subcomponent 11 always has an angle with the first positioning reference plane when loading and placing, it cannot be parallel. Therefore, during the movement process, the first splicing surface is first in point contact with the first positioning reference plane at an angle. At this time, one of the drive units is blocked so that its corresponding drive end cannot continue to extend. Since the first drive end is connected to the moving seat 31 through the movable connecting member 333, at this time, the other drive unit drives its corresponding drive end to continue to extend, driving the moving seat 31 to rotate (at this time, the movable connecting member 333 moves in a limited position in the movable hole 311 to avoid motion interference and cause the moving seat 31 to be unable to rotate), so that the first splicing surface of the subcomponent 11 gradually fits completely with the first positioning reference plane for positioning. It should be noted here that each time the subcomponent 11 is moved, it is sucked by the suction mechanism 32. Therefore, it can be considered that during the movement, the subcomponent 11, the suction mechanism 32 and the moving seat 31 are a whole.

[0066] See also Figure 3 and Figure 6 , the driving assembly 33 also includes a third driving unit 335, which is used to drive the moving seat 31 to move in the second stroke, and is provided with a controllably retractable third driving end, and the third driving end is connected to the moving seat 31. Specifically, in the present embodiment, the first driving unit 331, the second driving unit 332 and the third driving unit 335 are all driven by cylinders. In the second stroke, the third driving end drives the moving seat 31 to move in a second direction perpendicular to the first direction so that the second joint surface of the sub-component 11 is aligned with the second positioning reference surface. After the first joint surfaces of the first component 12 and the second component 13 are positioned, it is necessary to keep the first joint surfaces thereof in continuous alignment with the first positioning reference surface, so the first driving unit 331 and the second driving unit 332 will continue to maintain the driving thrust, and at the same time, the third driving unit 335 drives the moving seat 31 and the sub-component 11 to move in the second stroke along the second direction toward the second positioning reference surface. During the movement, the first joint surface is always completely aligned with the first positioning joint surface. Since the position of the positioning surface is an accurate position set in advance, when the first joint surface of the subcomponent 11 is accurately positioned, the second joint surface of the subcomponent 11 will naturally be completely aligned after contacting the second positioning reference surface. At this time, the first component 12 and the second component 13 complete the overall positioning.

[0067] See also Figure 1 , Figure 2 and Figure 5 The door knocker splicing device also includes a component fixing mechanism 7, which is arranged at the bottom of the sub-component 11 and is used to fix the sub-component 11 after it is moved into position. After the first component 12 and the second component 13 are positioned, they are fixed by the component fixing mechanism 7 to prevent the positioned positions from shifting again. Specifically, in this embodiment, the component fixing mechanism 7 is an electromagnet, which fixes the sub-component 11 by energizing and adsorbing. Specifically, in this embodiment, the above-mentioned fixed positioning member 22 is arranged on the electromagnet, and the movable positioning member 21 is arranged on the fixing frame 5.

[0068] Specifically, see Figure 5 In this embodiment, the third component 14 and the fourth component 15 of another component group 1 are located at the other diagonal side. After the first component 12 and the second component 13 are positioned, the two ends of the second component 13 are used as the first positioning reference planes of the third component 14 and the fourth component 15, and the two ends of the first component 12 are used as the second positioning reference planes of the third component 14 and the fourth component 15. Repeat the above steps to splice the third component 14 and the fourth component 15 with the first component 12 and the second component 13 respectively. After the overall splicing is completed, the third component 14 and the fourth component 15 are also adsorbed and fixed by using electromagnets.

[0069] It should be noted that during the splicing process, due to production errors, the size errors of sub-components 11 at the same position but in different batches will gradually accumulate during the positioning and splicing process, and eventually accumulate to the splicing positions of the third component 14 and the fourth component 15 with the first component 12 (i.e., the last step of the door ring splicing), resulting in weld gaps. Therefore, please refer to Figure 1 , Figure 2 and Figure 8 , the door knocker automatic splicing device also includes a visual inspection mechanism 8 and a gap error elimination mechanism 9. The visual inspection mechanism 8 is arranged next to the sub-component 11, and is used to detect the weld gap formed after all the component groups 1 are spliced. The gap error elimination mechanism 9 is arranged next to the sub-component 11, including a torque motor 91 and a cam mechanism 92 arranged on the torque motor 91, and a knocking head 93 is arranged on the cam mechanism 92 for knocking the sub-component 11 that forms the weld gap to eliminate the weld gap. The visual inspection mechanism 8 (in this embodiment, the visual inspection mechanism 8 is an industrial camera) replaces manual inspection of the weld gap, and the torque motor 91 current setting is given according to the size of the weld gap, and the cam mechanism 92 is controlled to drive the knocking head 93 to knock the first component 12 to eliminate the weld gap. If the weld gap is not eliminated, repeat the above steps until the weld gap is eliminated. In this embodiment, the first component 12 is provided with five gap error elimination mechanisms 9.

[0070] Specifically, see Figure 3 , Figure 6 and Figure 7In this embodiment, the splicing fixture 3 further includes a lifting mechanism 34, a proportional valve 35, a force sensor, a bottom plate 36, a support plate 37, a support frame 38 and an oil cylinder. Among them, the first drive unit 331 and the second drive unit 332 are arranged on the bottom plate 36 and connected to the moving seat 31, the support plate 37 is arranged above the bottom plate 36 and a support frame 38 is arranged between the support plate 37 and the bottom plate 36, the moving seat 31 is movably arranged between the bottom plate 36 and the support plate 37, and the third drive unit 335 is arranged below the support plate 37 and connected to the moving seat 31. The lifting mechanism 34 is arranged above the support plate 37, and is used to drive the moving seat 31 and the driving assembly 33 to move up and down, and the lifting mechanism 34 is driven by the oil cylinder. The proportional valve 35 is arranged on the lifting mechanism 34, and is used to control and adjust the driving thrust of the first drive unit 331, the second drive unit 332 and the third drive unit 335. The force sensors are arranged at the first drive unit 331, the second drive unit 332 and the third drive unit 335, and are used to detect the driving thrust to determine whether the subcomponent 11 has moved into place (when the splicing surface of the subcomponent 11 is completely in contact with the positioning surface, the three drive units will be subject to resistance, and the corresponding driving thrust will also increase. When the driving thrust reaches a certain value, it means that the subcomponent 11 has moved into place). It should be noted that, since the positions and shapes of the subcomponents 11 are different, their moving directions and the positions sucked by the suction mechanism 32 are also different. Therefore, the positions of the driving units and the suction mechanisms 32 on the splicing fixtures 3 corresponding to the subcomponents 11 are also different. In this embodiment, only the splicing fixture 3 corresponding to the first component 12 is selected for structural introduction, and other structures of the splicing fixtures 3 are not displayed.

[0071] Specifically, see Figure 3 , Figure 6 and Figure 7In this embodiment, the suction mechanism 32 includes a first vacuum suction cup 321 and a second vacuum suction cup 322. The first vacuum suction cup 321 is arranged on one side of the moving seat 31, and is used to suck one side of the sub-component 11 to cooperate with the first driving unit 331 and the second driving unit 332 to drive the sub-component 11 to move in the first stroke. The second vacuum suction cup 322 is arranged on the other side of the moving seat 31, and is used to suck the other side of the sub-component 11 to cooperate with the third driving unit 335 to drive the sub-component 11 to move in the second stroke. Since the driving component 33 needs to rotate and move in the second sub-stroke when performing the first stroke, if both sides of the sub-component 11 are adsorbed and fixed in advance by the suction mechanism 32, it will be subject to motion interference when performing the rotational movement of the second sub-stroke. Therefore, when performing the first stroke, only one side of the sub-component 11 is adsorbed and fixed by the first vacuum suction cup 321. It should be noted that, due to the different positions and shapes of the various sub-components 11, the positions and quantities of the first vacuum suction cup 321 and the second vacuum suction cup 322 corresponding to each sub-component 11 are also different. Only the structure of the suction mechanism 32 corresponding to the first component 12 is displayed here, and other suction mechanisms 32 are not displayed.

[0072] See also Fig. 9 The present invention also provides a control method for a door knocker automatic splicing device, comprising the following steps:

[0073] Step S10: Control the splicing fixture 3 to splice each component group 1 in sequence;

[0074] Step S20: After each component group 1 is spliced, the component fixing mechanism 7 of the door ring automatic splicing device is controlled to fix each subcomponent 11 of the component group 1 spliced ​​this time;

[0075] Step S30: Control the visual inspection mechanism 8 of the door ring automatic splicing device to inspect the weld gaps formed after all component groups 1 are spliced;

[0076] Step S40: Control the gap error elimination mechanism 9 of the door ring automatic splicing device to knock the sub-component 11 forming the weld gap to eliminate the weld gap.

[0077] See also Fig.10 , the step S10 comprises the following steps:

[0078] Step S101: Control the suction mechanism 32 corresponding to each sub-component 11 of the component set 1 to be spliced ​​to suck one side of the sub-component 11;

[0079] Step S102: controlling the driving assembly 33 corresponding to each sub-component 11 of the component set 1 to be spliced ​​to move in a first stroke;

[0080] Step S103: Control the suction mechanism 32 corresponding to each sub-component 11 of the component set 1 to be spliced ​​to suck the other side of the sub-component 11;

[0081] Step S104: Control the driving assembly 33 corresponding to each sub-component 11 of the component set 1 to be spliced ​​this time to move in the second stroke.

[0082] The step S10 also includes the following steps:

[0083] After the driving assembly 33 completes the movement of the first stroke, the driving thrust of the first driving unit 331 and the second driving unit 332 on the corresponding sub-component 11 is maintained until the component fixing mechanism 7 fixes the corresponding sub-component 11 .

[0084] As described above, after the first stroke is completed, the driving thrust needs to be maintained to ensure that the first joint surface of the subcomponent 11 and the first positioning reference surface can continue to fit together.

[0085] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A door knocker automatic splicing device, characterized in that: The splicing device is used to sequentially splice a plurality of component groups of the door ring, each of which includes at least one sub-component. The door ring automatic splicing device includes: A positioning structure is used to provide a positioning surface for each of the sub-components of the component group that is spliced ​​for the first time, and the positioned component group is used to provide a positioning surface for each of the sub-components of the component group that is spliced ​​for the next time, and the positioning surface corresponding to each of the sub-components includes a first positioning reference surface and a second positioning reference surface; A plurality of splicing fixtures are provided corresponding to each of the sub-components, each of the splicing fixtures is used to drive the corresponding sub-component to move to the corresponding positioning surface, and the splicing fixtures include: Mobile seat; A suction mechanism, disposed on the movable seat, for sucking the corresponding sub-component; A driving assembly is connected to the moving seat and is used to drive the moving seat to move in a first stroke and a second stroke in sequence. The driving assembly includes: A first driving unit is provided with a controllably retractable first driving end, wherein the first driving end is rotatably connected to the moving seat; A second driving unit is provided with a controllably retractable second driving end, wherein the second driving end is connected to the moving seat; The first driving unit cooperates with the second driving unit to drive the moving seat to move in a first stroke, wherein the first stroke includes a first sub-stroke and a second sub-stroke performed sequentially; In the first sub-stroke, the first driving end and the second driving end extend synchronously to drive the moving seat to move along a first direction perpendicular to the first positioning reference surface, so that the first splicing surface of the sub-component contacts the first positioning reference surface; In the second sub-stroke, the first driving end and the second driving end extend asynchronously to deflect the moving seat and drive the first joint surface of the sub-component to fit with the first positioning reference surface.

2. The door knocker automatic splicing device according to claim 1, characterized in that: The first driving unit also includes a movable connecting piece for connecting the first driving end and the moving seat, and the second driving unit also includes a fixed connecting piece for connecting the second driving end and the moving seat. A movable hole is opened on the moving seat, and the movable connecting piece moves in a limited position in the movable hole.

3. The door knocker automatic splicing device according to claim 2, characterized in that: The drive assembly also includes: A third driving unit, used for driving the moving seat to move in a second stroke, is provided with a controllably retractable third driving end, and the third driving end is connected to the moving seat; In the second stroke, the third driving end drives the moving seat to move along a second direction perpendicular to the first direction so that the second joint surface of the sub-component fits with the second positioning reference surface.

4. The door knocker automatic splicing device according to claim 3, characterized in that: The suction mechanism comprises: A first vacuum suction cup is disposed at one side of the moving seat and is used to suck one side of the sub-component to cooperate with the first driving unit and the second driving unit to drive the sub-component to move in the first stroke; The second vacuum suction cup is arranged at the other side of the moving base, and is used for sucking the other side of the sub-component to cooperate with the third driving unit to drive the sub-component to move in the second stroke.

5. The door knocker automatic splicing device according to claim 4, characterized in that: The splicing fixture also includes: A lifting mechanism, used to drive the movable seat and the driving assembly to move up and down; A proportional valve, used for controlling and adjusting the driving thrust of the first driving unit, the second driving unit and the third driving unit; A force sensor is arranged at the first driving unit, the second driving unit and the third driving unit, and is used to detect the driving thrust to determine whether the sub-component is moved into place.

6. The door knocker automatic splicing device according to claim 5, characterized in that: Also includes: A component fixing mechanism, disposed at the bottom of the subcomponent, for fixing the subcomponent after it has been moved into place; A visual inspection mechanism, arranged beside the sub-components, for inspecting the weld gaps formed after all the component groups are spliced ​​together; The gap error elimination mechanism is arranged beside the sub-component, and comprises a torque motor and a cam mechanism arranged on the torque motor, wherein the cam mechanism is provided with a knocking head for knocking the sub-component forming the weld gap to eliminate the weld gap.

7. A control method for the door knocker automatic splicing device as claimed in claim 6, characterized in that: The steps include: Controlling the splicing fixture to splice each of the component groups in sequence; After each component group is spliced, the component fixing mechanism of the door knocker automatic splicing device is controlled to fix each sub-component of the component group spliced ​​this time.

8. The control method of the door knocker automatic splicing device according to claim 7, characterized in that: The controlling the splicing fixture to sequentially splice each of the component groups comprises the following steps: Control the suction mechanism corresponding to each of the sub-components of the component group to be spliced ​​to suck one side of the sub-component; Controlling the driving assembly corresponding to each of the sub-components of the component group to be spliced ​​to move the first stroke; Control the suction mechanism corresponding to each of the sub-components of the component group to be spliced ​​to suck the other side of the sub-component; The driving assembly corresponding to each of the sub-components of the component group being spliced ​​this time is controlled to move the second stroke.

9. The control method of the door knocker automatic splicing device according to claim 8, characterized in that: The controlling the splicing fixture to sequentially splice each of the component groups further includes the following steps: After the driving assembly completes the movement of the first stroke, the driving thrust of the first driving unit and the second driving unit on the corresponding sub-component is maintained until the component fixing mechanism fixes the corresponding sub-component.

10. The control method of the door knocker automatic splicing device according to claim 7, characterized in that: The following steps are also included: Controlling the visual inspection mechanism of the door ring automatic splicing device to inspect the weld gaps formed after all the component groups are spliced ​​together; The gap error elimination mechanism of the door ring automatic splicing device is controlled to knock the sub-component forming the weld gap to eliminate the weld gap.

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