A vehicle door seal attaching device

Abstract

The application discloses a vehicle door sealing strip pasting device, which solves the technical problem of low production efficiency of the sealing strip pasting device in the prior art. The vehicle door sealing strip pasting device comprises a sealing strip storage module, a sealing strip pasting module, a vehicle door placing turntable and a vehicle door gripper module. The sealing strip storage module comprises a support, a feeding driving assembly and at least one material box. The material box is provided with a sealing strip guiding assembly and a plurality of material positions for placing the sealing strip. The support comprises a storage area and a feeding area. The output end of the feeding driving assembly acts on the material box to switch the material box between the storage area and the feeding area. In the application, the sealing strip is placed in the material box in advance, that is, each sealing strip is placed in the corresponding material position of the material box. Then, the material box is driven to move by the feeding driving assembly, the sealing strip is transported to the sealing strip conveying assembly, and then the vehicle door placed on the vehicle door placing turntable is gripped by the vehicle door gripper module to paste the sealing strip, thereby improving the pasting efficiency.

Description

Technical Field

[0001] This application belongs to the field of sealing strip bonding technology, specifically relating to a door sealing strip bonding device. Background Technology

[0002] Car doors, windows, front and rear windshields, hood, and trunk lid all use weatherstripping, which serves multiple functions including waterproofing, dustproofing, sound insulation, heat insulation, shock absorption, and decoration. There are two main types of weatherstripping bonding; here, we'll use car door weatherstripping as an example. The first type is a combination of snap-fit ​​and adhesive bonding, and the second type is a fully adhesive bonding method.

[0003] In manual operation, manual pasting cannot guarantee the adhesive pressure, which can easily lead to loosening later, affecting the bonding quality and thus reducing the appearance quality of the car door. In the overall press-fitting method, the sealing strip needs to be placed manually before each door is bonded, and then the automatic bonding is performed, which results in low production efficiency. Summary of the Invention

[0004] To address the current technical problem of low production efficiency in sealing strip pasting, this application provides a door sealing strip pasting device.

[0005] In a first aspect of this application, a door sealing strip adhesive device is provided, comprising:

[0006] A sealing strip storage module includes a bracket, a feeding drive assembly, and at least one material box disposed on the bracket. The material box is provided with a sealing strip guide assembly and several material positions for placing sealing strips. 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.

[0007] A sealing strip pasting module includes a frame, and a sealing strip conveying assembly and a sealing strip pasting assembly mounted on the frame. The sealing strip conveying assembly is used to clamp the sealing strip output by the sealing strip guiding assembly and convey it to the sealing strip pasting assembly.

[0008] A door placement turntable is provided for placing the door and limiting its movement.

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

[0010] In some embodiments, there are two material bins, and the support has two storage areas and a feeding area located between the two storage areas; the two material bins are respectively located in the corresponding storage areas.

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

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

[0013] The mounting base is dynamically coupled to or separated from the corresponding material box via the locking mechanism;

[0014] A hopper drive unit is located on the mounting base;

[0015] The transmission mechanism is used to transmit the power of the material box drive component and drive the mounting base and the material box coupled with it to switch between the feeding area and the corresponding storage area.

[0016] In some embodiments, the door sealing strip pasting device further includes a controller, a sealing strip sensor disposed on the sealing strip delivery assembly, and a door model sensor disposed on the door placement turntable, wherein the controller is configured to:

[0017] The door model is obtained through the door model sensor;

[0018] The feeding drive assembly is controlled to move the hopper equipped with the corresponding sealing strip to the feeding area;

[0019] Determine whether there is a sealing strip at the inlet 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 inlet of the sealing strip conveying assembly.

[0020] The system controls the sealing strip delivery assembly to clamp the sealing strip and deliver it to the sealing strip pasting assembly; and controls the door gripper module to grab the door and move it to the location of the sealing strip pasting assembly, and together with the sealing strip pasting assembly, paste the sealing strip onto the door.

[0021] In some embodiments, the sealing strip guiding assembly includes a guide roller, a guide plate, a guide wheel, and a guide groove arranged sequentially along the sealing strip feeding direction; the guide roller is provided with guide channels corresponding one-to-one with the material positions; the guide plate, the guide wheel, and the guide groove are all corresponding one-to-one with the material positions;

[0022] The guide plate 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 also includes a baffle, which is disposed on the bracket and located in front 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 along the height direction;

[0026] The sealing strip storage module also includes a heating device, which is located on top of the bracket.

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

[0028] The first ends of both belt drive mechanisms are hinged to the frame, and the telescopic cylinder acts on the second end of the belt drive mechanism.

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

[0030] Base;

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

[0032] A plurality of door clamping assemblies are disposed on the support base and correspond one-to-one with the placement position. Each door clamping assembly includes a door limiting member, a door clamping member, and a clamping drive member for driving the door clamping member to move. The door limiting member and the door clamping member together constrain the door in the X, Y and Z directions.

[0033] The door fixing area defined by the door limiting member, the door clamping member, and the clamping drive member is set 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 robot's moving end;

[0037] The frame includes a gripper drive, a gripper clamp, and a gripper limiter. The drive end of the gripper drive acts on the gripper clamp to clamp the door in the Y direction. The gripper limiter cooperates with the door to provide constraints in the X and Z directions of the door.

[0038] A door sealing strip pasting device according to one or more embodiments of this application includes a sealing strip storage module, a sealing strip pasting module, a door placement turntable, and a door gripper module. The sealing strip storage module includes a bracket, a feeding drive assembly, and at least one material box disposed on the bracket. The material box is provided with a sealing strip guiding assembly and several material positions for placing sealing strips. 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 mounted on the frame. The sealing strip conveying assembly is used to clamp the sealing strip output by the sealing strip guiding assembly and convey it to the sealing strip pasting assembly. The door placement turntable is used to place the door and limit the door movement. The door gripper module is used to grab the door on the door placement turntable and move it to the location of the sealing strip pasting assembly so as to paste the sealing strip onto the door together with the sealing strip pasting assembly. This application improves bonding efficiency by pre-placing the sealing strips in the material bins, placing each sealing strip individually in its corresponding slot. The material bin is then moved by a feeding drive assembly, transporting the sealing strips to a sealing strip conveying assembly. Finally, a door gripper module picks up the door from the turntable for sealing strip application, thus improving bonding efficiency. In other words, multiple sealing strips can be pre-stored in their respective material bins and then transported to the sealing strip conveying assembly, eliminating the need to place each sealing strip and apply it to the door individually, saving time and effort. Attached Figure Description

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

[0040] Figure 2 It shows Figure 1 A schematic diagram of the sealing strip storage module structure.

[0041] Figure 3 It shows Figure 2 A magnified view of part A.

[0042] Figure 4 It shows Figure 2 A schematic diagram of the locking mechanism and the feeding drive assembly.

[0043] Figure 5 It shows Figure 1 A schematic diagram of the sealing strip pasting module structure.

[0044] Figure 6 It shows Figure 5 A partial structural diagram of the sealing strip storage module.

[0045] Figure 7 It shows Figure 1A schematic diagram of the turntable structure for placing car doors.

[0046] Figure 8 It shows Figure 7 A magnified view of part B.

[0047] Figure 9 It shows Figure 7 A magnified view of part C.

[0048] Figure 10 It shows Figure 7 A magnified view of part D.

[0049] Figure 11 It shows Figure 7 A magnified view of a portion of point E.

[0050] Figure 12 It shows Figure 1 A schematic diagram of the door handle module structure.

[0051] Figure 13 It shows Figure 12 Test diagram of the door gripper module.

[0052] Figure label explanation: 10 - Door sealing strip adhesive device;

[0053] 100-Sealing strip storage module, 110-Bracket, 111-Storage area, 112-Feeding area, 113-Baffle, 120-Feeding drive assembly, 121-Mounting base, 122-Box drive component, 123-Transmission mechanism, 1231-Gear, 1232-Rack, 130-First box, 131-Second box, 140-Sealing strip guide assembly, 141-Material position, 142-Guide roller, 143-Guide plate, 144-Guide wheel, 145-Guide groove, 150-Locking mechanism;

[0054] 200-Sealing strip pasting module, 210-Frame, 220-Sealing strip conveying assembly, 221-Belt drive mechanism, 222-Telescopic cylinder, 230-Sealing strip pasting assembly, 240-Sealing strip sensor, 241-Waste paper recycling device, 242-Rolling roller, 243-Cutter, 244-Through-photoelectric switch;

[0055] 300-Door placement turntable, 310-Door model sensor, 320-Base, 330-Support seat, 340-Placement position, 350-Door clamping assembly, 351-Door limiting component, 3511-First Y-direction limiting wheel, 3512-Second Y-direction limiting wheel, 3513-Z-direction limiting wheel, 352-Door clamping component, 3521-First reference positioning component, 3522-Second reference positioning component, 353-Clamping drive component, 360-Rotary cylinder;

[0056] 400-Door gripper module, 410-Frame, 420-Gripper drive component, 430-Gripper clamping component, 440-Gripper limiting component;

[0057] 500 - Door, 510 - Limiting hole, 600 - Sealing strip. Detailed Implementation

[0058] To enable those skilled in the art to more clearly understand this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0059] Please see Figure 1 , Figure 2 , Figure 5 , Figure 7 and Figure 12 According to a first aspect of this application, a door sealing strip pasting device 10 is provided. The door sealing strip pasting device 10 includes 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 includes a bracket 110, a feeding drive assembly 120, and at least one material box disposed on the bracket 110. The material box is provided with a sealing strip guiding assembly 140 and a plurality of material positions 141 for placing sealing strips 600. The bracket 110 includes a storage area 111 and a feeding area 112. The output end of the feeding drive assembly 120 acts on the material box to cause the material box to move between the storage area 111 and the feeding area 112. Switching between zones 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 mounted on the frame 210. The sealing strip conveying assembly 220 is used to clamp the sealing strip 600 output by the sealing strip guiding 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 grip 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] This application improves bonding efficiency by pre-placing the sealing strips 600 in the material bins, that is, placing each sealing strip 600 in its corresponding material position 141. Then, the material bin is moved by the feeding drive assembly 120, transporting the sealing strips 600 to the sealing strip conveying assembly 220. Finally, the door gripper module 400 grips the door 500 on the door placement turntable 300 for bonding the sealing strips 600, thus saving efficiency. In other words, multiple sealing strips 600 can be pre-placed in their corresponding material bins for storage and then transported to the sealing strip conveying assembly 220, eliminating the need to bond each sealing strip 600 to the door 500 individually.

[0061] like Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, there are two material boxes. The support 110 has two storage areas 111 and a feeding area 112 located between the two storage areas 111. The two material boxes are located in their respective storage areas 111. That is, the corresponding sealing strip 600 can be placed in the corresponding material box in the storage area 111. When the sealing strip 600 needs to be pasted, the material box containing the corresponding sealing strip 600 can be sent to the feeding area 112. The two storage areas 111 are located on both sides of the feeding area 112. When the material box on the left moves to the feeding area 112, the material box on the right is located in the storage area 111; when the material box on the right moves to the feeding area 112, the material box on the left is located in the 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 bins are dynamically coupled or decoupled from the feeding drive assembly 120 through the corresponding locking mechanisms 150. That is, a set of feeding drive assemblies 120 can drive the two material bins back and forth between the corresponding storage area 111 and feeding area 112. Specifically, when it is necessary to move the left material bin to the feeding area 112, the left material bin is dynamically coupled to the feeding drive assembly 120 through the locking mechanism 150, and the locking mechanism 150 of the right material bin is decoupled from the feeding drive assembly 120, and the feeding drive assembly 120 drives the left material bin to the feeding area 112; that is, when it is necessary to move the right material bin to the feeding area 112, the right material bin is dynamically coupled to the feeding drive assembly 120 through the locking mechanism 150, and the locking mechanism 150 of the left material bin is decoupled from the feeding drive assembly 120, and the feeding drive assembly 120 drives the right material bin to the feeding area 112.

[0063] like Figure 2 , Figure 3 and Figure 4As shown, in some embodiments, the feeding drive assembly 120 includes a mounting base 121, a hopper drive component 122, and a transmission mechanism 123. The mounting base 121 is dynamically coupled or decoupled from the corresponding hopper through a locking mechanism 150. The hopper drive component 122 is disposed on the mounting base 121. The transmission mechanism 123 is used to transmit the power of the hopper drive component 122 and drive the mounting base 121 and its dynamically coupled hopper 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, there is only one material box drive component 122, which is mounted on the mounting base 121. The mounting base 121 and the material box each have a slot and a telescopic locking component that engages with the slot. The mounting base 121 can be selectively connected to one of the material boxes. The telescopic locking component includes a telescopic rod and a locking element that functions as the telescopic rod. When the mounting base 121 needs to be dynamically coupled to the corresponding material box, the mounting base 121 moves the locking element to engage with the slot, and the telescopic locking element extends to engage with the slot, thereby achieving dynamic coupling between the mounting base 121 and the corresponding material box. That is, by using a single feeding drive assembly 120 to drive two material boxes back and forth between the corresponding storage area 111 and feeding area 112, the device structure is simplified.

[0065] like Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, the transmission mechanism 123 includes a rack 1232 disposed on the bracket 110 and a gear 1231 connected to the output end of the hopper drive 122. The hopper drive 122 can be a motor, and the output end of the hopper drive 122 acts on the gear 1231. The gear 1231 meshes with the rack 1232, thereby driving the mounting base 121 and the hopper that is poweredly coupled to the mounting base 121 to move, that is, to 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 disposed on the sealing strip conveying assembly 220, and a door model sensor 310 disposed on the door placement turntable 300. The controller is configured to:

[0067] The door model 500 is obtained through door model sensor 310;

[0068] Understandably, if there are two models of door 500, and the X-axis width dimensions of the two door 500 models are different, the X-axis width dimension of door 500 can be obtained through door model sensor 310, thereby obtaining the matching sealing strip 600 for door 500. The control feeding drive assembly 120 moves the material box containing the corresponding sealing strip 600 to the feeding area 112;

[0069] It is understandable that the sealing strip 600 has different sizes for different car models. Therefore, by obtaining the model number of the car door 500, the corresponding sealing strip 600 model number can be obtained. Then, the material box containing the corresponding sealing strip 600 can be moved to the material supply area 112 by the material supply drive assembly 120 to supply the sealing strip 600.

[0070] Determine whether there is a sealing strip 600 at the inlet 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 inlet of the sealing strip conveying assembly 220.

[0071] Understandably, the sealing strip sensor 240 located in the sealing strip conveying assembly 220 automatically detects whether there is a sealing strip. If there is, the sealing strip 600 is clamped by the sealing strip conveying assembly 220 and then conveyed. If no sealing strip is detected, the feeding drive assembly 120 continues to move and jumps to the next material position 141.

[0072] The control panel 220 clamps the sealing strip 600 and delivers it to the sealing strip pasting assembly 230; and the control panel 400 grabs the door 500 and moves it to the location of the sealing strip pasting assembly 230, and together with the sealing strip pasting assembly 230, pastes the sealing strip 600 onto the door 500.

[0073] Understandably, as the sealing strip 600 is conveyed to the sealing strip pasting assembly 230, the door gripper module 400 can simultaneously grasp the door 500 and move it to the location of the sealing strip pasting assembly 230. Then, together with the sealing strip pasting assembly 230, the sealing strip 600 is pasted onto the door 500. This achieves a fully automated process for conveying, cutting, and pasting a single sealing strip; it also allows for free switching between multiple vehicle models and is compatible with various sealing strips 600 on multiple vehicle models.

[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 arranged sequentially along the feeding direction of the sealing strip 600; the guide roller 142 is provided with a guide channel corresponding to the material position 141; the guide plate 143, the guide wheel 144, and the guide groove 145 are all corresponding to the material position 141; the material strip is fed sequentially through the material position 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 plate 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 plate 143 is horizontally arranged, and the axis of rotation of the guide plate 143 is parallel to the vertical direction. The horizontally arranged guide plate 143 cooperates with the groove of the sealing strip 600 to prevent the sealing strip 600 from flipping during the feeding process and to ensure 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 axis of rotation of the guide wheel 144 is in the horizontal direction. 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, the backing paper is still attached. The backing paper is usually a smooth surface. Therefore, when the guide wheel 144 presses against the sealing strip 600, it presses against the side away from the backing paper, which can drive the sealing strip 600 to move in 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. The baffle 113 is disposed on the bracket 110 and located in front 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 sequentially through the material level 141, guide channel, guide plate 143, guide wheel 144, and guide groove 145, and then pulled to the baffle 113. This ensures that each strip is pulled out at the same position, preventing inconsistent lengths of the strips from being pulled out later when the material box moves into the feeding area 112, which would affect the output efficiency of the sealing strip 600. The guide plate 143 serves as a limit, and the guide wheel 144 guides the movement of the sealing strip 600 during the pulling process.

[0078] like Figure 2 and Figure 3As shown, in some embodiments, two guide rollers 142 are provided, and the two guide rollers 142 are spaced apart along the height direction; the sealing strip storage module 100 also includes a heating device (not shown in the figure), which is located on the top of the bracket 110. That is, the guide rollers 142 can be provided in multiple layers. In winter or when the temperature is low, in order to avoid the sealing strip 600 from becoming less sticky, the guide rollers 142 can be set at a higher position, and then heated at the higher guide rollers 142 by the heating device. The heating device can be a heater or an air conditioner, which can raise the temperature of the sealing strip 600, thereby preventing the sealing strip 600 from becoming less sticky.

[0079] like Figure 5 As shown, in some embodiments, the sealing strip conveying assembly 220 includes belt drive mechanisms 221 located on opposite sides of the sealing strip 600 and telescopic cylinders 222 connected to the belt drive mechanisms 221; the first ends of the two belt drive mechanisms 221 are hinged to the frame 210, and the telescopic cylinders 222 act on the second ends of the belt drive mechanisms 221. That is, the telescopic cylinders 222 can drive the corresponding two belt drive mechanisms 221 to open or clamp the sealing strip 600, and then the belt drive mechanisms 221 can drive the sealing strip 600 to move. After ensuring that the sealing strip 600 moves to the belt drive mechanism 221 in a fixed posture, the two drive mechanisms 123 clamp the sealing strip 600, and then the belt drive mechanism 221 drives the sealing strip 600 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, which will not be described in detail in this application. That is, the sealing strip pasting assembly 230 can realize the conveying of the sealing strip 600, the peeling and cutting of the backing paper, and the recycling of the backing paper.

[0081] like Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 11As shown, in some embodiments, the door placement turntable 300 includes a base 320, a support 330, and a plurality of door clamping assemblies 350. The support 330 is rotatably connected to the base 320 and has at least two placement positions 340 for placing the door 500. The plurality of door clamping assemblies 350 are disposed on the support 330 and correspond one-to-one with the positions 340. Each door clamping assembly 350 includes a door limiting member 351, a door clamping member 352, and a clamping drive member 353 for driving the door clamping member 352 to move. The door limiting member 351 and the door clamping member 352 together constrain the door 500 in the X, Y, and Z directions. In some embodiments, the support 330 is also provided with a rotating member, such as a rotary cylinder 360, which drives the support 330 to rotate 180 degrees, thereby allowing selective application of sealing strips 600 to the doors 500 in the two placement positions 340. In other embodiments, the support base can be manually rotated 330-180°. Limits can be set at the corresponding positions, and the rotation can be stopped by manually rotating to the corresponding position.

[0082] like Figure 7 As shown, in some embodiments, the door 500 fixing area defined by the door limiting member 351, door clamping member 352, and clamping drive member 353 is set at an angle to the vertical plane. Two placement positions 340 are arranged opposite each other, and the placement positions 340 are set at an angle to the vertical plane, so that the door 500 is placed at an angle in the placement positions 340; that is, the door 500 fixing area defined by the door limiting member 351, door clamping member 352, and clamping drive member 353 is set at an angle, and the door 500 is also placed at an angle in the placement positions 340, which is convenient for later gripping by a robotic arm.

[0083] like Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 11As shown, in some embodiments, the door limiting member 351 and the door 500 clamping member constrain the door 500 in the X direction; the door limiting member 351 constrains the door 500 in the Y and Z directions. In some embodiments, the door clamping member 352 is a clamping block; the door limiting member 351 is a limiting wheel, which can be a nylon wheel. A door drive member and a clamping member are provided on one side of the door 500 in the X direction, and a first reference positioning member 3521 is provided on the other side; a second reference positioning member 3522 and a door model sensor 310 of the same number 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 limiting member 351 and the door clamping member 352 constrain the door 500 in the X direction. Along the Y-axis of the door 500, two sets of limiting wheels are provided, spaced apart along the height direction. The outer diameter of the lower limiting wheel, i.e., the first Y-axis limiting wheel 3511, is larger than the outer diameter of the upper limiting wheel, i.e., the second Y-axis limiting wheel 3512, thus forming an inclined limiting surface in the Y-axis of the door 500. Along the Z-axis of the door 500, the bottom of the support base 330 is provided with a Z-axis limiting wheel 3513, which can support the door 500 in the Z-axis and play a limiting role.

[0084] like Figure 7 , Figure 12 and Figure 13 As shown, in some embodiments, the door gripper module 400 includes a robot, a frame 410, and a gripper drive 420, a gripper clamping member 430, and a gripper limiting member 440 disposed on the frame 410. The frame 410 is connected to the moving end of the robot. The driving end of the gripper drive 420 acts on the gripper clamping member 430 to clamp the door 500 in the Y direction. The gripper limiting member 440 cooperates with the door 500 to create constraints in the X and Z directions of the door 500. That is, in the Y direction of the door 500, the clamping member includes a fixed end and a moving end, wherein the gripper drive 420 drives the moving end to move, thereby cooperating with the fixed end to clamp the door 500 in the Y direction. The door 500 is provided with two limiting holes 510. The limiting holes 510 can be small round holes. The gripper limiting member 440 can be a limiting pin. The limiting pin can be pushed to extend and retract by the gripper driving member 420, such as a cylinder, so as to be inserted into or removed from the limiting holes 510 of the door 500, thereby limiting the door 500 in the X and Z directions.

[0085] In this embodiment of the 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 that the use and loading of materials do not interfere with each other.

[0086] A set of hoppers can be configured within the program to specify the corresponding adhesive strip type for each material position 141;

[0087] The material box is driven to move in a stepping motion by the material box drive component 122, as well as the transmission of gear 1231 and rack 1232.

[0088] The program can set the type of adhesive strip corresponding to each material position 141 in the material box, transmit the signal to the sealing strip storage module 100, and the material box drive component 122 moves to the position corresponding to that type of adhesive strip.

[0089] If a certain type of adhesive strip is found to be used up, the material box drive 122 will drive the material box back to the storage area 111 and alarm to alert personnel.

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

[0091] The sealing strip sensor 240 automatically detects whether there is a sealing strip. If there is, it is clamped by the sealing strip conveying assembly 220 and automatically conveyed by the belt drive mechanism 221. If no sealing strip is detected, it automatically jumps to the next material position 141.

[0092] After the rubber strip is clamped, the belt drive mechanism 221 automatically conveys and outputs it forward;

[0093] After the through-beam switch 244 detects that the adhesive strip has reached the designated position, the cylinder pushes the blade down to cut the rubber part of the adhesive strip, without cutting the backing paper tape.

[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 drive mechanism 221 pushes the adhesive strip forward until it reaches the adhesive roller.

[0096] The robot grasps the car door 500, and the conveying speed is controlled by the difference between two sets of distance detection switches on the conveying mechanism, which matches the robot's movement speed.

[0097] After the adhesive strip is applied, another set of blades cuts off the excess portion and pushes the excess strip into the paper recycling device via a cylinder.

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

[0099] The staff placed the car door 500 on the placement surface and clamped the car door 500 with the car door clamping assembly 350;

[0100] The door model sensor 310 detects different types of doors 500 based on the location of different car models;

[0101] Obtain the door type 500 and transmit it to the robot and the rubber seal storage module 100;

[0102] The rotary 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 car door 500, it releases the clamping drive component 353.

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

[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 drive component 420.

[0106] After the robot drives the door gripper module 400 to the designated position, the gripper drive component 420 controls the gripper limit component 440 and the gripper clamping component 430 to clamp the door 500.

[0107] After clamping the car door 500, a feedback signal is sent indicating that the robot has reached its position; the robot then begins the next step.

[0108] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0109] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0110] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0111] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0112] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which 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 includes a bracket, a baffle disposed on the bracket, a feeding drive assembly, and at least one material box disposed on the bracket. The material box is provided with a sealing strip guide assembly and several material positions for placing sealing strips. 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. A sealing strip pasting module includes a frame, and a sealing strip conveying assembly and a sealing strip pasting assembly mounted on the frame. The sealing strip conveying assembly clamps the sealing strip output from the sealing strip guiding assembly and conveys it to the sealing strip pasting assembly. The sealing strip guiding assembly includes a guide roller, a guide plate, a guide wheel, and a guide groove arranged sequentially along the sealing strip feeding direction. The guide roller has guide channels corresponding to the material positions. The guide plate, the guide wheel, and the guide groove all correspond to the material positions. The guide plate 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 baffle of the sealing strip storage module is located on the front side of the guide groove along the sealing strip feeding direction and is spaced apart from the guide groove. A door placement turntable is provided for placing the door and limiting its position. The door gripper module is used to grip the door on the door placement turntable and move it to the location of the sealing strip pasting assembly, so as to work together with the sealing strip pasting assembly to paste the sealing strip onto the door.

2. The door sealing strip pasting device according to claim 1, characterized in that, The number of material bins is two, and the support has two storage areas and a feeding area located between the two storage areas; the two material bins are respectively located in the corresponding storage areas.

3. The door sealing strip pasting device according to claim 2, characterized in that, The sealing strip storage module also includes two locking mechanisms, and the material box is dynamically coupled or separated from the material supply drive component through the corresponding locking mechanism.

4. The door sealing strip pasting device according to claim 3, characterized in that, The feeding drive component includes: The mounting base is dynamically coupled to or separated from the corresponding material box via the locking mechanism; A hopper drive unit is located on the mounting base; The transmission mechanism is used to transmit the power of the material box drive component and drive the mounting base and the material box coupled with it to switch between the feeding area and the corresponding storage area.

5. The door sealing strip pasting device according to claim 2, characterized in that, The door sealing strip pasting device further includes a controller, a sealing strip sensor disposed on the sealing strip conveying assembly, and a door model sensor disposed on the door placement turntable. The controller is configured to: The door model is obtained through the door model sensor; The feeding drive assembly is controlled to move the hopper equipped with the corresponding sealing strip to the feeding area; Determine whether there is a sealing strip at the inlet 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 inlet of the sealing strip conveying assembly. The system controls the sealing strip delivery assembly to clamp the sealing strip and deliver it to the sealing strip pasting assembly; and controls the door gripper module to grab the door and move it to the location of the sealing strip pasting assembly, and together with the sealing strip pasting assembly, paste the sealing strip onto the door.

6. The door sealing strip pasting device according to claim 1, characterized in that, The guide rollers are provided in two, and the two guide rollers are spaced apart along the height direction; The sealing strip storage module also includes a heating device, which is located on top of the bracket.

7. The door sealing strip pasting device according to any one of claims 1-5, characterized in that, The sealing strip conveying assembly includes a belt drive mechanism disposed on opposite sides of the sealing strip and a telescopic cylinder connected to the belt drive mechanism; The first ends of both belt drive mechanisms are hinged to the frame, and the telescopic cylinder acts on the second end of the belt drive mechanism.

8. The door sealing strip pasting device according to any one of claims 1-5, characterized in that, The door placement turntable includes: Base; A support base is rotatably connected to the base, and the support base is provided with at least two placement positions for placing the vehicle door; A plurality of door clamping assemblies are disposed on the support base and correspond one-to-one with the placement position. Each door clamping assembly includes a door limiting member, a door clamping member, and a clamping drive member for driving the door clamping member to move. The door limiting member and the door clamping member together constrain the door in the X, Y and Z directions. The door fixing area defined by the door limiting member, the door clamping member, and the clamping drive member is set at an angle to the vertical plane.

9. The door sealing strip pasting device according to any one of claims 1-5, characterized in that, The door gripper module includes: robot; The frame is connected to the robot's moving end; The frame includes a gripper drive, a gripper clamp, and a gripper limiter. The drive end of the gripper drive acts on the gripper clamp to clamp the door in the Y direction. The gripper limiter cooperates with the door to provide constraints in the X and Z directions of the door.

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