Vehicle door sealing strip pasting device

Abstract

The invention discloses a vehicle door sealing strip pasting device. The technical problem that in the prior art, sealing strip pasting production efficiency is low is solved. The vehicle door sealing strip pasting device comprises a sealing strip storage module, a sealing strip pasting module, a vehicle door containing rotary table and a vehicle door gripper module, the sealing strip storage module comprises a support, a feeding driving assembly and at least one material box, and the material box is provided with a sealing strip guiding assembly and a plurality of material positions used for containing sealing strips; the support comprises a material storage area and a material supply area, and the output end of the material supply driving assembly acts on the material box so that the material box can be switched between the material storage area and the material supply area. According to the sealing strip conveying device, the sealing strips are placed in the material box in advance, that is, the sealing strips are placed in the corresponding material positions of the material box one by one, then the material box is driven to move through the material supply driving assembly, and the sealing strips are correspondingly conveyed into the sealing strip conveying assembly; and then the vehicle door on the vehicle door placing rotary table is grabbed through the vehicle door gripper module to paste the sealing strip, so that the pasting efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of sealing strip pasting, and in particular relates to a sealing strip pasting device for a vehicle door. Background Art

[0002] Sealing strips are used in car doors, windows, front and rear windshields, engine hoods and trunk lids, etc. They can play the role of waterproofing, dustproofing, sound insulation, temperature insulation, shock absorption, decoration, etc. There are two main bonding forms of sealing strips. Here we take the door sealing strip as an example. The first form is the buckle clamping and bonding form, and the second form is the full bonding form.

[0003] During the manual operation process, since manual pasting cannot guarantee the pasting pressing force, it is easy to loosen later, affecting the bonding quality, thereby reducing the appearance quality of the car door; in the overall press-fit type, the sealing strip needs to be placed manually before each bonding of the car door, and then automatic bonding is performed, which has low production efficiency. Summary of the invention

[0004] In order to solve the current technical problem of low production efficiency of sealing strip pasting, the present application provides a vehicle door sealing strip pasting device.

[0005] In a first aspect of the present application, a door sealing strip pasting device is provided, comprising:

[0006] A sealing strip storage module, comprising a support, a feeding drive assembly and at least one material box arranged on the support, the material box being provided with a sealing strip guide assembly and a plurality of material positions for placing sealing strips, the support comprising a storage area and a feeding area, the output end of the feeding drive assembly acting on the material box so that the material box switches between the storage area and the feeding area;

[0007] The sealing strip pasting module comprises a frame, and a sealing strip conveying assembly and a sealing strip pasting assembly mounted on the frame, wherein the sealing strip conveying assembly is used to clamp the sealing strip output by the sealing strip guide assembly and convey it to the sealing strip pasting assembly;

[0008] A door placement turntable is used to place the door and limit the position of the door;

[0009] The vehicle door gripper module is used to grab the vehicle door placed on the turntable and move it to the location of the sealing strip pasting assembly, so as to paste the sealing strip onto the vehicle door together with the sealing strip pasting assembly.

[0010] In some embodiments, the number of the material boxes is two, and the bracket is provided with two material storage areas and a material supply area located between the two material storage areas; the two material boxes are respectively located in the corresponding material storage areas.

[0011] In some embodiments, the sealing strip storage module further includes two locking mechanisms, and the material box is dynamically coupled to or separated from the feed drive assembly through the corresponding locking mechanisms.

[0012] In some embodiments, the feed drive assembly comprises:

[0013] A mounting seat, dynamically coupled or decoupled with the corresponding material box through the locking mechanism;

[0014] A material box driving member, arranged on the mounting seat;

[0015] The transmission mechanism is used to transmit the power of the material box driving member and drive the mounting seat and the material box coupled with its power to switch between the material supply area and the corresponding material storage area.

[0016] In some embodiments, the vehicle door sealing strip pasting device further includes a controller, a sealing strip sensor provided on the sealing strip conveying assembly, and a vehicle door model sensor provided on the vehicle door placement turntable, and the controller is configured as follows:

[0017] Acquiring the door model through the door model sensor;

[0018] Controlling the feeding drive assembly to move the material box equipped with the corresponding sealing strip to the feeding area;

[0019] Determine whether there is a sealing strip at the entrance of the sealing strip conveying assembly; if there is no sealing strip, control the feeding drive assembly to continue moving until there is a sealing strip at the entrance of the sealing strip conveying assembly;

[0020] The sealing strip conveying assembly is controlled to clamp the sealing strip and convey it to the sealing strip pasting assembly; and the vehicle door gripper module is controlled to grip the vehicle door and move it to the location of the sealing strip pasting assembly, and jointly with the sealing strip pasting assembly, the sealing strip is pasted onto the vehicle door.

[0021] In some embodiments, the sealing strip guide assembly includes a guide roller, a guide sheet, a guide wheel and a guide groove arranged in sequence along the sealing strip feeding direction; the guide roller is provided with a guide channel corresponding to the material level one by one; the guide sheet, the guide wheel and the guide groove all correspond to the material level one by one;

[0022] The guide piece is rotatably connected to the material box and is used to cooperate with the groove of the sealing strip to limit the sealing strip;

[0023] The guide wheel is rotatably connected to the material box and is used to press against the sealing strip to drive the sealing strip to move;

[0024] The sealing strip storage module further comprises a baffle, which is arranged on the bracket and located at the front side of the guide groove along the sealing strip feeding direction and is spaced apart from the guide groove.

[0025] In some embodiments, two guide rollers are provided, and the two guide rollers are spaced apart in the height direction;

[0026] The sealing strip storage module further comprises a heating device, and the heating device is arranged on the top of the bracket.

[0027] In some embodiments, the sealing strip conveying assembly includes a belt transmission mechanism disposed on opposite sides of the sealing strip and a telescopic cylinder connected to the belt transmission mechanism;

[0028] The first ends of the two belt transmission mechanisms are both hingedly mounted on the frame, and the telescopic cylinder acts on the second ends of the belt transmission mechanisms.

[0029] In some embodiments, the door placement turntable includes:

[0030] Base;

[0031] A support seat, rotatably connected to the base, the support seat being provided with at least two placement positions for placing the vehicle door;

[0032] A plurality of door clamping assemblies, arranged on the support seat and corresponding to the positions of the placement positions one by one, the door clamping assemblies comprising a door stopper, a door clamping member and a clamping driving member for driving the door clamping member to move, the door stopper and the door clamping member jointly constrain the door in the X direction, the Y direction and the Z direction;

[0033] The door fixing area limited by the door stopper, the door clamping member and the clamping drive member is arranged at an angle to the vertical plane.

[0034] In some embodiments, the door gripper module includes:

[0035] robot;

[0036] The frame is connected to the moving end of the robot;

[0037] A gripper drive, a gripper clamp and a gripper limiter are arranged on the frame, wherein the driving end of the gripper drive acts on the gripper clamp to clamp the vehicle door in the Y direction; the gripper limiter cooperates with the vehicle door to generate constraints in the X and Z directions of the vehicle door.

[0038] According to one or more embodiments of the present application, a vehicle door sealing strip pasting device is provided, which includes a sealing strip storage module, a sealing strip pasting module, a vehicle door placement turntable and a vehicle door gripper module. The sealing strip storage module includes a bracket, a feeding drive assembly and at least one material box arranged on the bracket. The material box is provided with a sealing strip guide assembly and a plurality of material positions for placing the sealing strip. The bracket includes a storage area and a feeding area. The output end of the feeding drive assembly acts on the material box to switch the material box between the storage area and the feeding area. The sealing strip pasting module includes a frame, and a sealing strip conveying assembly and a sealing strip pasting assembly installed on the frame. The sealing strip conveying assembly is used to clamp the sealing strip output by the sealing strip guide assembly and convey it to the sealing strip pasting assembly. The vehicle door placement turntable is used to place the vehicle door and limit the vehicle door. The vehicle door gripper module is used to grab the vehicle door on the vehicle door placement turntable and move it to the location of the sealing strip pasting assembly, so as to paste the sealing strip to the vehicle door together with the sealing strip pasting assembly. The present application improves the pasting efficiency by placing the sealing strips in the material box in advance, that is, placing each sealing strip one by one in the corresponding material position of the material box, and then driving the material box to move through the feeding drive assembly, transporting the corresponding sealing strips to the sealing strip conveying assembly, and then grabbing the door on the turntable through the door gripper module to paste the sealing strip. That is, multiple sealing strips can be placed in the corresponding material box in advance for storage, and then transported to the sealing strip conveying assembly, without placing one sealing strip and pasting it on the door, which saves efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A system diagram of a door sealing strip pasting device in one or more embodiments of the present application is shown.

[0040] Figure 2 Shows Figure 1 Schematic diagram of the sealing strip storage module structure.

[0041] Figure 3 Shows Figure 2 A local enlarged schematic diagram of point A.

[0042] Figure 4 Shows Figure 2 Schematic diagram of the locking mechanism and the structure of the feed drive assembly.

[0043] Figure 5 Shows Figure 1 Schematic diagram of the sealing strip pasting module structure.

[0044] Figure 6 Shows Figure 5 Schematic diagram of the local structure of the sealing strip storage module.

[0045] Figure 7 Shows Figure 1Schematic diagram of the door placement turntable structure.

[0046] Figure 8 Shows Figure 7 A partial enlarged schematic diagram of point B.

[0047] Fig. 9 Shows Figure 7 A partial enlarged schematic diagram of point C.

[0048] Fig.10 Shows Figure 7 A local enlarged schematic diagram of point D.

[0049] Fig.11 Shows Figure 7 A partial enlarged schematic diagram of point E.

[0050] Fig.12 Shows Figure 1 Schematic diagram of the door gripper module structure.

[0051] Fig.13 Shows Fig.12 Door gripper module test diagram.

[0052] Description of reference numerals: 10 - door sealing strip pasting device;

[0053] 100-seal strip storage module, 110-bracket, 111-storage area, 112-feeding area, 113-baffle, 120-feeding drive assembly, 121-mounting seat, 122-material box drive member, 123-transmission mechanism, 1231-gear, 1232-rack, 130-first material box, 131-second material box, 140-seal strip guide assembly, 141-material level, 142-guide roller, 143-guide sheet, 144-guide wheel, 145-guide groove, 150-locking mechanism;

[0054] 200-seal strip pasting module, 210-frame, 220-seal strip conveying assembly, 221-belt transmission mechanism, 222-telescopic cylinder, 230-seal strip pasting assembly, 240-seal strip sensor, 241-waste paper recycling device, 242-rolling wheel, 243-cutter, 244-reflection switch;

[0055] 300-car door placement turntable, 310-car door model sensor, 320-base, 330-support seat, 340-placement position, 350-car door clamping assembly, 351-car door limiting member, 3511-first Y-direction limiting wheel, 3512-second Y-direction limiting wheel, 3513-Z-direction limiting wheel, 352-car door clamping member, 3521-first reference positioning member, 3522-second reference positioning member, 353-clamping drive member, 360-rotating cylinder;

[0056] 400-door gripper module, 410-frame, 420-gripper driving member, 430-gripper clamping member, 440-gripper limiting member;

[0057] 500-car door, 510-limiting hole, 600-sealing strip. DETAILED DESCRIPTION

[0058] In order to make the technical personnel in the technical field to which the present application belongs to understand the present application more clearly, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0059] See also Figure 1 , Figure 2 , Figure 5 , Figure 7 and Fig.12 In a first aspect of the present application, a sealing strip pasting device 10 is provided. The sealing strip pasting device 10 comprises a sealing strip storage module 100, a sealing strip pasting module 200, a door placement turntable 300 and a door gripper module 400. The sealing strip storage module 100 comprises a bracket 110, a feeding drive assembly 120 and at least one material box arranged on the bracket 110. The material box is provided with a sealing strip guide assembly 140 and a plurality of material positions 141 for placing sealing strips 600. The bracket 110 comprises a storage area 111 and a feeding area 112. The output end of the feeding drive assembly 120 acts on the material box so that the material box is in the storage area 111 and the feeding area 112. The sealing strip pasting module 200 includes a frame 210, and a sealing strip conveying assembly 220 and a sealing strip pasting assembly 230 installed on the frame 210, the sealing strip conveying assembly 220 is used to clamp the sealing strip 600 output by the sealing strip guide assembly 140, and convey it to the sealing strip pasting assembly 230; the door placement turntable 300 is used to place the door 500 and limit the door 500; the door gripper module 400 is used to grab the door 500 on the door placement turntable 300 and move it to the location of the sealing strip pasting assembly 230, so as to paste the sealing strip 600 onto the door 500 together with the sealing strip pasting assembly 230.

[0060] The present application improves the pasting efficiency by placing the sealing strips 600 in the material box in advance, that is, placing each sealing strip 600 one by one in the corresponding material position 141 of the material box, and then driving the material box to move by the feeding drive assembly 120, transporting the sealing strips 600 to the sealing strip conveying assembly 220 accordingly, and then grabbing the door 500 on the door placement turntable 300 by the door gripper module 400 to paste the sealing strips 600. That is, multiple sealing strips 600 can be placed in the corresponding material box in advance for storage, and then transported to the sealing strip conveying assembly 220, without placing a sealing strip 600 and pasting it on the door 500, which saves efficiency.

[0061] like Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, there are two material boxes, and the bracket 110 is provided with two material storage areas 111 and a material supply area 112 located between the two material storage areas 111; the two material boxes are respectively located in the corresponding material storage areas 111. That is, the corresponding sealing strip 600 can be placed in the corresponding material box in the material storage area 111, and when the sealing strip 600 needs to be pasted, the material box with the corresponding sealing strip 600 can be sent to the material supply area 112. The two material storage areas 111 are located on both sides of the material supply area 112. When the material box on the left side is moved to the material supply area 112, the material box on the right side is located in the material storage area 111; when the material box on the right side is moved to the material supply area 112, the material box on the left side is located in the material storage area 111.

[0062] like Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, the sealing strip storage module 100 further includes two locking mechanisms 150, and the material box is dynamically coupled or separated from the feeding drive assembly 120 through the corresponding locking mechanisms 150. That is, two material boxes can be driven to and from the corresponding storage area 111 and feeding area 112 through a set of feeding drive assemblies 120. That is, when it is necessary to drive the material box on the left to move to the feeding area 112, the material box on the left is dynamically coupled to the feeding drive assembly 120 through the locking mechanism 150, and the locking mechanism 150 of the material box on the right is separated from the feeding drive assembly 120, and the feeding drive assembly 120 drives the material box on the left to move to the feeding area 112; that is, when it is necessary to drive the material box on the right to move to the feeding area 112, the material box on the right is dynamically coupled to the feeding drive assembly 120 through the locking mechanism 150, and the locking mechanism 150 of the material box on the left is separated from the feeding drive assembly 120, and the feeding drive assembly 120 drives the material box on the right to move to the feeding area 112.

[0063] like Figure 2 , Figure 3 and Figure 4As shown, in some embodiments, the feed drive assembly 120 includes a mounting seat 121, a material box driving member 122 and a transmission mechanism 123. The mounting seat 121 is power-coupled or separated with the corresponding material box through a locking mechanism 150; the material box driving member 122 is disposed on the mounting seat 121; the transmission mechanism 123 is used to transmit the power of the material box driving member 122, and drive the mounting seat 121 and the material box coupled with its power to switch between the feeding area 112 and the corresponding storage area 111.

[0064] like Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, the number of the material box driving member 122 is one, and the material box driving member 122 is arranged on the mounting seat 121; one of the mounting seat 121 and the material box is provided with a card slot, and the other is provided with a telescopic card member that cooperates with the card slot, and the mounting seat 121 can be selectively connected to one of the material boxes. The telescopic card member includes a telescopic rod and a card member that acts on the telescopic rod. When the mounting seat 121 needs to be dynamically coupled with the corresponding material box, the mounting seat 121 moves the card member to a position where it cooperates with the card slot, and the telescopic card member extends the card member to cooperate with the card slot, thereby realizing the dynamic coupling between the mounting seat 121 and the corresponding material box. That is, the two material boxes can be driven to and from the corresponding material storage area 111 and the material feeding area 112 by a set of feeding drive components 120, thereby simplifying the device structure.

[0065] like Figure 2 , Figure 3 and Figure 4 As shown, in other embodiments, the transmission mechanism 123 includes a rack 1232 provided on the bracket 110 and a gear 1231 connected to the output end of the material box driving member 122. The material box driving member 122 can be a motor, and the output end of the material box driving member 122 acts on the gear 1231, and the gear 1231 is engaged with the rack 1232, thereby driving the mounting seat 121 and the material box coupled to the mounting seat 121 to move, that is, it can move from the feeding area 112 to the storage area 111 or from the storage area 111 to the feeding area 112.

[0066] In some embodiments, the door sealing strip pasting device 10 further includes a controller, a sealing strip sensor 240 provided on the sealing strip conveying assembly 220 and a door model sensor 310 provided on the door placing turntable 300, and the controller is configured as follows:

[0067] Obtaining the model of the door 500 through the door model sensor 310;

[0068] It is understandable that if there are two types of vehicle doors 500, and the width dimensions of the two types of vehicle doors 500 are inconsistent, the width dimension of the vehicle door 500 in the X direction can be obtained through the vehicle door model sensor 310, so as to obtain the sealing strip 600 matching the vehicle door 500. Control the feeding drive assembly 120 to move the material box equipped with the corresponding sealing strip 600 to the feeding area 112;

[0069] It is understandable that the sizes of the sealing strips 600 of different car models are different. Therefore, by obtaining the model of the vehicle door 500, the model of the corresponding sealing strip 600 can be obtained, and then the material box containing the corresponding sealing strip 600 can be moved to the feeding area 112 through the feeding drive assembly 120 to feed the sealing strip 600.

[0070] Determine whether there is a sealing strip 600 at the entrance of the sealing strip conveying assembly 220; if there is no sealing strip 600, control the feeding drive assembly 120 to continue moving until there is a sealing strip 600 at the entrance of the sealing strip conveying assembly 220;

[0071] It can be understood that the sealing strip sensor 240 provided in the sealing strip conveying component 220 automatically detects whether there is a rubber strip. If so, the sealing strip 600 is clamped by the sealing strip conveying component 220 and then conveyed; if not, the feeding drive component 120 continues to move and jumps to the next material level 141.

[0072] Control the sealing strip conveying assembly 220 to clamp the sealing strip 600 and convey it to the sealing strip pasting assembly 230; and control the vehicle door gripper module 400 to grab the vehicle door 500 and move it to the location of the sealing strip pasting assembly 230, and work together with the sealing strip pasting assembly 230 to paste the sealing strip 600 onto the vehicle door 500.

[0073] It is understandable that when the sealing strip 600 is transported to the sealing strip pasting assembly 230, the vehicle door 500 can be grasped and moved to the location of the sealing strip pasting assembly 230 by controlling the vehicle door gripper module 400, and then the sealing strip 600 is pasted to the vehicle door 500 together with the sealing strip pasting assembly 230. That is, a fully automatic process of transporting, cutting and pasting a single rubber strip can be realized; and multiple vehicle models can be switched freely, and multiple vehicle models and multiple sealing strips 600 can be compatible at the same time.

[0074] like Figure 2 and Figure 3As shown, in some embodiments, the sealing strip guide assembly 140 includes a guide roller 142, a guide plate 143, a guide wheel 144 and a guide groove 145 which are sequentially arranged along the feeding direction of the sealing strip 600; the guide roller 142 is provided with a guide channel corresponding to the material level 141 one by one; the guide plate 143, the guide wheel 144 and the guide groove 145 all correspond to the material level 141 one by one; the material strip is fed sequentially through the material level 141, the guide channel, the guide plate 143, the guide wheel 144 and the guide groove 145.

[0075] like Figure 2 and Figure 3 As shown, in some embodiments, the guide piece 143 is rotatably connected to the material box and is used to cooperate with the groove of the sealing strip 600 to limit the sealing strip 600; the guide piece 143 is horizontally arranged, and the rotation axis of the guide piece 143 is parallel to the vertical direction. The horizontally arranged guide piece 143 cooperates with the groove of the sealing strip 600 to prevent the sealing strip 600 from flipping over during the feeding process, thereby ensuring the feeding posture of the sealing strip 600.

[0076] like Figure 2 and Figure 3 As shown, in some embodiments, the guide wheel 144 is rotatably connected to the material box, and is used to press against the sealing strip 600 to drive the sealing strip 600 to move; the guide wheel 144 is vertically arranged, and the rotation axis of the guide wheel 144 is horizontal, and the vertically arranged guide wheel 144 presses against the sealing strip 600 to drive the sealing strip 600 to move. When the sealing strip 600 is not pasted, there is still a backing paper that has not been peeled off, and the backing paper is usually a smooth surface, so the guide wheel 144 presses against the sealing strip 600 to press against the side away from the backing paper, that is, it can drive the sealing strip 600 to move along the direction of rotation of the guide wheel 144.

[0077] like Figure 2 and Figure 3 As shown, in some embodiments, the sealing strip storage module 100 further includes a baffle 113, which is disposed on the bracket 110 and located at the front side of the guide groove 145 along the feeding direction of the sealing strip 600, and is spaced apart from the guide groove 145. The corresponding sealing strip 600 is manually pulled to the baffle 113 through the material level 141, the guide channel, the guide sheet 143, the guide wheel 144 and the guide groove 145 in sequence, that is, the position where each rubber strip is pulled out is consistent, so as to avoid the later material box moving to the feeding area 112, and the length of the rubber strip pulled out is different, which affects the later output efficiency of the sealing strip 600. The guide sheet 143 plays a role of limiting, and the guide wheel 144 plays a role of guiding movement in the process of pulling the sealing strip 600.

[0078] like Figure 2 and Figure 3As shown, in some embodiments, two guide rollers 142 are provided, and the two guide rollers 142 are arranged at intervals in the height direction; the sealing strip storage module 100 further includes a heating device (not shown in the figure), which is arranged on the top of the bracket 110. That is, the guide rollers 142 can be arranged in multiple layers. In winter or when the temperature is relatively low, in order to avoid the viscosity of the sealing strip 600 from being reduced, the guide rollers 142 can be arranged at a higher position, and then the guide rollers 142 at the higher position are heated by the heating device, wherein the heating device can be heated by a heater or an air conditioner, and the sealing strip 600 can be heated, thereby avoiding the viscosity of the sealing strip 600 from being reduced.

[0079] like Figure 5 As shown, in some embodiments, the sealing strip conveying assembly 220 includes a belt transmission mechanism 221 disposed on opposite sides of the sealing strip 600 and a telescopic cylinder 222 connected to the belt transmission mechanism 221; the first ends of the two belt transmission mechanisms 221 are both hingedly mounted on the frame 210, and the telescopic cylinder 222 acts on the second end of the belt transmission mechanism 221. That is, the corresponding two belt transmission mechanisms 221 can be driven by the telescopic cylinder 222 to open or clamp the sealing strip 600, and then the sealing strip 600 is driven to move by the belt transmission mechanism 221. After ensuring that the sealing strip 600 moves to the belt transmission mechanism 221 in a fixed posture, the sealing strip 600 is clamped by two driving transmission mechanisms 123, and then the sealing strip 600 is driven by the belt transmission mechanism 221 to be conveyed forward to the sealing strip pasting assembly 230.

[0080] like Figure 5 and Figure 6 As shown, in some embodiments, the sealing strip pasting assembly 230 can refer to the prior art and is not described in detail in this application, that is, the sealing strip pasting assembly 230 can realize the transportation of the sealing strip 600, the peeling and cutting of the base paper, and the recycling of the base paper.

[0081] like Figure 7 , Figure 8 , Fig. 9 , Fig.10 and Fig.11As shown, in some embodiments, the door placement turntable 300 includes a base 320, a support base 330 and a plurality of door clamping assemblies 350, the support base 330 is rotatably connected to the base 320, and the support base 330 is provided with at least two placement positions 340 for placing the door 500; the plurality of door clamping assemblies 350 are provided on the support base 330 and correspond to the positions of the placement positions 340 one by one, and the door clamping assembly 350 includes a door stopper 351, a door clamping member 352 and a clamping driving member 353 for driving the door clamping member 352 to move, and the door stopper 351 and the door clamping member 352 jointly constrain the door 500 in the X direction, the Y direction and the Z direction. In some embodiments, the support base 330 is further provided with a rotating member, such as a rotating cylinder 360, and the rotating cylinder 360 drives the support base 330 to rotate 180 degrees, so that the sealing strip 600 can be selectively pasted on the doors 500 at the two placement positions 340. In other embodiments, the support seat 330180° can also be directly rotated manually, and some limit stops can be set at corresponding positions, and the rotation can be stopped when the support seat 330180° is manually rotated to the corresponding position.

[0082] like Figure 7 As shown, in some embodiments, the door 500 fixing area limited by the door stopper 351, the door clamping member 352 and the clamping driver 353 is set at an angle to the vertical plane. The two placement positions 340 are arranged opposite to each other, and the placement positions 340 are arranged at an angle to the vertical plane, so that the door 500 is placed obliquely at the placement positions 340; that is, the door 500 fixing area limited by the door stopper 351, the door clamping member 352 and the clamping driver 353 is set obliquely, and at this time, the door 500 is also placed obliquely on the placement position 340, which is convenient for the robot to clamp later.

[0083] like Figure 7 , Figure 8 , Fig. 9 , Fig.10 and Fig.11As shown, in some embodiments, the door stopper 351 and the door 500 clamping member constrain the door 500 in the X direction; the door stopper 351 constrains the door 500 in the Y direction and the Z direction. In some embodiments, the door clamping member 352 is a clamping block; the door stopper 351 is a limiting wheel, and the limiting wheel can be a nylon wheel. A door driving member and a clamping member are provided on one side of the door 500 along the X direction, and a first reference positioning member 3521 is provided on the other side; a second reference positioning member 3522 and the same number of door model sensors 310 as the second reference positioning member 3522 are also provided on one side of the first reference positioning member 3521. Along the X direction of the door 500, the door stopper 351 and the door clamping member 352 constrain the door 500 in the X direction. Along the Y direction of the vehicle door 500, two groups of limiting wheels are arranged at intervals in the height direction, and the outer diameter of the limiting wheel located at the bottom, i.e., the first Y-direction limiting wheel 3511, is larger than the outer diameter of the limiting wheel located at the top, i.e., the second Y-direction limiting wheel 3512, thereby forming an inclined limiting surface in the Y direction of the vehicle door 500. Along the Z direction of the vehicle door 500, a Z-direction limiting wheel 3513 is provided at the bottom of the support seat 330, that is, the vehicle door 500 can be supported in the Z direction to play a limiting role.

[0084] like Figure 7 , Fig.12 and Fig.13 As shown, in some embodiments, the door gripper module 400 includes a robot, a frame 410, and a gripper driver 420, a gripper clamp 430, and a gripper stopper 440 disposed on the frame 410. The frame 410 is connected to the moving end of the robot; the driving end of the gripper driver 420 acts on the gripper clamp 430 to clamp the door 500 in the Y direction of the door 500; the gripper stopper 440 cooperates with the door 500 to generate constraints in the X and Z directions of the door 500. That is, in the Y direction of the door 500, the clamp includes a fixed end and a movable end, wherein the gripper driver 420 drives the movable end to move, thereby cooperating with the fixed end to clamp the door 500 in the Y direction. Two limiting holes 510 are provided on the vehicle door 500. The limiting holes 510 may be small round holes. The gripping limiting member 440 may be a limiting pin. The limiting pin may be extended or retracted by a gripping driving member 420, such as a cylinder, so as to be inserted into the limiting hole 510 of the vehicle door 500 or moved out of the limiting hole 510 of the vehicle door 500, thereby limiting the vehicle door 500 in the X and Z directions.

[0085] In the embodiment of the present application, the working principle of the sealing strip storage module 100 is as follows: the bracket 110 is provided with a first material box 130 and a second material box 131, and the two sets of material boxes realize material use and material loading without interfering with each other;

[0086] A group of material boxes can set the type of rubber strip corresponding to each material level 141 in the program;

[0087] The material box is driven to move in a step-by-step manner through the transmission of the material box driving member 122 and the gear 1231 and the rack 1232;

[0088] The program can be set by setting each material position 141 of the material box to correspond to the type of rubber strip, and the signal is transmitted to the sealing strip storage module 100, and the material box driving member 122 moves to the position corresponding to the type of rubber strip;

[0089] If it is detected that a certain type of rubber strip is used up, the material box driving member 122 drives the material box to return to the material storage area 111 and alarms to remind personnel.

[0090] The working principle of the sealing strip pasting module 200 is:

[0091] The sealing strip sensor 240 automatically detects whether there is a rubber strip. If so, it is clamped by the sealing strip conveying assembly 220 and automatically conveyed by the belt transmission mechanism 221. If not, it automatically jumps to the next material level 141.

[0092] After the rubber strip is clamped, the belt transmission mechanism 221 automatically transports and outputs forward;

[0093] After the shoot-through switch 244 detects that the rubber strip has reached the designated position, the cylinder pushes the blade down to cut off the rubber part of the rubber strip, but the bottom paper tape is not cut off;

[0094] The cylinder pushes the roller to clamp the cut part, and the motor drives the roller to bring the cut part and the bottom paper into the recycling device;

[0095] The belt transmission mechanism 221 pushes the rubber strip to continue moving forward and reach the pasting roller portion.

[0096] The robot grabs the car door 500, and controls the conveying speed by the difference between the two sets of distance detection switches of the conveying mechanism, which matches the movement speed of the robot;

[0097] After the pasting is completed, another set of blades cuts off the excess part of the adhesive strip and pushes the excess adhesive strip into the paper recycling device through the cylinder.

[0098] The working principle of the door placement turntable 300 is:

[0099] The staff places the vehicle door 500 on the platform and clamps the vehicle door 500 through the vehicle door clamping assembly 350;

[0100] The door model sensor 310 senses different types of doors 500 through different vehicle model positions;

[0101] Obtain the type of the vehicle door 500 and transmit it to the robot and the rubber strip and sealing strip storage module 100;

[0102] The rotating cylinder 360 drives the car door 500 to rotate 180°, waiting for the robot to grab the car door 500;

[0103] After the robot grabs the vehicle door 500 , the clamping drive member 353 is released.

[0104] The working principle of the door gripper module 400 is:

[0105] After obtaining the vehicle model, the door gripper module 400 controls the extension and retraction state of the gripper limiter 440 and the opening and closing state of the gripper clamping member 430 through the gripper driving member 420;

[0106] After the robot drives the door gripper module 400 to the designated position, the gripper driving member 420 controls the gripper limiting member 440 and the gripper clamping member 430 to clamp the door 500;

[0107] After the door 500 is clamped, a signal of being in place is fed back; the robot starts the next action.

[0108] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0109] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise" and "counterclockwise" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0110] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0111] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0112] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A door sealing strip pasting device, characterized in that: include: A sealing strip storage module, comprising a support, a feeding drive assembly and at least one material box arranged on the support, the material box being provided with a sealing strip guide assembly and a plurality of material positions for placing sealing strips, the support comprising a storage area and a feeding area, the output end of the feeding drive assembly acting on the material box so that the material box switches between the storage area and the feeding area; The sealing strip pasting module comprises a frame, and a sealing strip conveying assembly and a sealing strip pasting assembly mounted on the frame, wherein the sealing strip conveying assembly is used to clamp the sealing strip output by the sealing strip guide assembly and convey it to the sealing strip pasting assembly; A door placement turntable is used to place the door and limit the position of the door; The vehicle door gripper module is used to grab the vehicle door placed on the turntable and move it to the location of the sealing strip pasting assembly, so as to paste the sealing strip onto the vehicle door together with the sealing strip pasting assembly.

2. The door sealing strip pasting device according to claim 1, characterized in that: The number of the material boxes is two, and the bracket is provided with two material storage areas and a material supply area located between the two material storage areas; the two material boxes are respectively located in the corresponding material storage areas.

3. The door sealing strip pasting device according to claim 2, characterized in that: The sealing strip storage module further comprises two locking mechanisms, and the material box is dynamically coupled or separated from the feeding drive assembly through the corresponding locking mechanisms.

4. The door sealing strip pasting device according to claim 3, characterized in that: The feed drive assembly comprises: A mounting seat, dynamically coupled or decoupled with the corresponding material box through the locking mechanism; A material box driving member, arranged on the mounting seat; The transmission mechanism is used to transmit the power of the material box driving member and drive the mounting seat and the material box coupled with its power to switch between the material supply area and the corresponding material storage area.

5. The door sealing strip pasting device according to claim 2, characterized in that: The door sealing strip pasting device further comprises a controller, a sealing strip sensor provided on the sealing strip conveying assembly, and a door model sensor provided on the door placement turntable, wherein the controller is configured as follows: Acquiring the door model through the door model sensor; Controlling the feeding drive assembly to move the material box equipped with the corresponding sealing strip to the feeding area; Determine whether there is a sealing strip at the entrance of the sealing strip conveying assembly; if there is no sealing strip, control the feeding drive assembly to continue moving until there is a sealing strip at the entrance of the sealing strip conveying assembly; The sealing strip conveying assembly is controlled to clamp the sealing strip and convey it to the sealing strip pasting assembly; and the vehicle door gripper module is controlled to grip the vehicle door and move it to the location of the sealing strip pasting assembly, and jointly with the sealing strip pasting assembly, the sealing strip is pasted onto the vehicle door.

6. The door sealing strip pasting device according to any one of claims 1 to 5, characterized in that: The sealing strip guide assembly comprises a guide roller, a guide sheet, a guide wheel and a guide groove which are sequentially arranged along the sealing strip feeding direction; the guide roller is provided with a guide channel which corresponds to the material level one by one; the guide sheet, the guide wheel and the guide groove all correspond to the material level one by one; The guide piece is rotatably connected to the material box and is used to cooperate with the groove of the sealing strip to limit the sealing strip; The guide wheel is rotatably connected to the material box and is used to press against the sealing strip to drive the sealing strip to move; The sealing strip storage module further comprises a baffle, which is arranged on the bracket and located at the front side of the guide groove along the sealing strip feeding direction and is spaced apart from the guide groove.

7. The door sealing strip pasting device according to claim 6, characterized in that: There are two guide rollers, and the two guide rollers are spaced apart in the height direction; The sealing strip storage module further comprises a heating device, and the heating device is arranged on the top of the bracket.

8. The door sealing strip pasting device according to any one of claims 1 to 5, characterized in that: The sealing strip conveying assembly includes a belt transmission mechanism disposed on opposite sides of the sealing strip and a telescopic cylinder connected to the belt transmission mechanism; The first ends of the two belt transmission mechanisms are both hingedly mounted on the frame, and the telescopic cylinder acts on the second ends of the belt transmission mechanisms.

9. The door sealing strip pasting device according to any one of claims 1 to 5, characterized in that: The door placement turntable comprises: Base; A support seat, rotatably connected to the base, the support seat being provided with at least two placement positions for placing the vehicle door; A plurality of door clamping assemblies, arranged on the support seat and corresponding to the positions of the placement positions one by one, the door clamping assemblies comprising a door stopper, a door clamping member and a clamping driving member for driving the door clamping member to move, the door stopper and the door clamping member jointly constrain the door in the X direction, the Y direction and the Z direction; The door fixing area limited by the door stopper, the door clamping member and the clamping drive member is arranged at an angle to the vertical plane.

10. The door sealing strip pasting device according to any one of claims 1 to 5, characterized in that: The door gripper module comprises: robot; The frame is connected to the moving end of the robot; A gripper drive, a gripper clamp and a gripper limiter are arranged on the frame, wherein the driving end of the gripper drive acts on the gripper clamp to clamp the vehicle door in the Y direction; the gripper limiter cooperates with the vehicle door to generate constraints in the X and Z directions of the vehicle door.

Images