Rolling device for car body door opening sealing strip

Abstract

The invention provides a rolling device for a vehicle body door opening sealing strip. The rolling device comprises a mechanical arm, a rolling head and a floating mechanism, and the mechanical arm is provided with an end capable of moving at multiple degrees of freedom; the rolling head is arranged at the end and provided with two rolling wheels, the axes of the two rolling wheels are parallel and arranged in a spaced mode, and when the rolling device works, the two rolling wheels are located on the two sides of the spigot edge of the automobile body door opening respectively. The two rolling wheels clamp the sealing strip and move along the spigot edge of the vehicle body door opening so that the sealing strip can be rolled on the spigot edge of the vehicle body door opening. The rolling head is connected with the end portion through a floating mechanism, the floating mechanism can enable the rolling head to move in the first direction and the second direction relative to the end portion, the first direction is parallel to the axis direction of the rolling wheels, and the second direction is parallel to the plane where the axes of the two rolling wheels are located and perpendicular to the axis direction of the rolling wheels. According to the rolling device for the vehicle body door opening sealing strip, the mounting qualification rate of the sealing strip is increased.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a rolling device for a sealing strip of a vehicle body door opening. Background Art

[0002] In the final assembly workshop of the vehicle factory, after the body door opening sealing strip is installed on the body, it is often necessary to use a rolling tool for rolling or a rubber hammer for hammering to ensure the fit between the sealing strip and the stop edge (BR-Line) of the body door opening to meet the vehicle's waterproof sealing performance.

[0003] In order to improve production efficiency, on some production lines, a rolling head is installed on a robotic arm, and the robotic arm drives the rolling head to move to complete the installation of the body door opening sealing strip. However, when the sealing strip is installed by the robotic arm driving the rolling head, the qualified rate of the sealing strip installation is low. Summary of the invention

[0004] In order to at least partially solve the above-mentioned problems, an embodiment of the present application provides a rolling device for a sealing strip of a vehicle body door opening, the rolling device comprising a mechanical arm, a rolling head and a floating mechanism, the mechanical arm having an end portion capable of moving in multiple degrees of freedom; the rolling head is arranged at the end portion, the rolling head having two rolling wheels, the axes of the two rolling wheels being parallel and spaced apart, when the rolling device is working, the two rolling wheels are respectively located on both sides of the stop edge of the vehicle body door opening, the two rolling wheels clamp the sealing strip and move along the stop edge of the vehicle body door opening to achieve rolling of the sealing strip onto the stop edge of the vehicle body door opening; the rolling head is connected to the end portion by a floating mechanism, the floating mechanism enabling the rolling head to move relative to the end portion in a first direction and a second direction, wherein the first direction is a direction parallel to the axis of the rolling wheel, and the second direction is a direction parallel to the plane where the axes of the two rolling wheels are located and perpendicular to the axis of the rolling wheel.

[0005] In some embodiments, the floating mechanism includes a first mounting plate, a second mounting plate, a third mounting plate, a first floating component and a second floating component; the first mounting plate is connected to the end through the first floating component, and the first floating component enables the first mounting plate to move in a first direction relative to the end; the second mounting plate is fixedly connected vertically to the first mounting plate; the third mounting plate is connected in parallel to the second mounting plate through the second floating component, and the second floating component enables the third mounting plate to move in a second direction relative to the second mounting plate, and the rolling head is fixedly connected to the third mounting plate.

[0006] In some embodiments, the first floating assembly includes a first cylinder and a first sliding mechanism; the first mounting plate and the second mounting plate form a T-shape, the first mounting plate is slidably connected to the end through the first sliding mechanism, and the first cylinder is fixedly arranged on the end; the piston rod of the first cylinder is connected to the second mounting plate, and the extension and retraction direction of the piston rod of the first cylinder is parallel to the first mounting plate and perpendicular to the second mounting plate.

[0007] In some embodiments, the second floating assembly includes a push rod, two cylinders, two springs and a second sliding mechanism; the second mounting plate is slidably connected to the third mounting plate through the second sliding mechanism, a mounting block is provided on the second mounting plate, the push rod is provided on the mounting block, and the extension direction of the push rod is the same as the second direction; a mounting groove is provided at a position corresponding to the mounting block of the third mounting plate, and the mounting groove is "concave" shaped, the two cylinders are respectively provided at two ends of the mounting groove and the axes are colinearly provided, the two springs are respectively provided in the two cylinders, and the two ends of the push rod are respectively slidably located in the two cylinders and respectively abut against the two springs.

[0008] In some embodiments, the rolling device further includes a locking assembly, which is used to lock the sliding of the third mounting plate relative to the second mounting plate.

[0009] In some embodiments, the locking assembly includes a second cylinder, a locking wedge and a locking hole; the second cylinder is arranged on the first mounting plate, the locking wedge is arranged on the piston rod of the second cylinder, the extension and retraction direction of the piston rod of the second cylinder is parallel to the first mounting plate and perpendicular to the second mounting plate; the locking hole is arranged on the third mounting plate, two guide wheels are arranged in the locking hole, and the guide wheels are used to guide the locking wedge to be inserted into the locking hole; a through hole is opened on the second mounting plate, and the locking wedge can pass through the through hole and enter the locking hole to achieve locking.

[0010] In some embodiments, the rolling device further includes a driving motor, which is disposed on the third mounting plate. The driving motor is transmission-connected to the rolling wheel, and an output shaft of the driving motor is perpendicular to the axis of the rolling wheel.

[0011] In some embodiments, the rolling device also includes a controller, which is used to control the robotic arm and the drive motor. The controller is configured to control the speed of the drive motor based on the movement speed of the end so that the movement speed of the rim of the rolling wheel matches the movement speed of the end.

[0012] In some embodiments, the rolling device also includes a first camera, which is arranged at the end and is used to obtain an image of the vehicle body door opening. The controller is also configured to: control the robotic arm to move to the rolling starting position based on the image of the vehicle body door opening obtained by the first camera.

[0013] In some embodiments, the rolling device further includes a second camera, which is disposed on the third mounting plate, and a lens of the second camera faces the rolling wheel to obtain an image when the rolling wheel rolls the sealing strip.

[0014] The inventors of the present application discovered that the stop edge of the vehicle door opening may have irregular shapes or uneven surfaces due to manufacturing errors, and that there may also be errors in the stopping position of the vehicle body when installing the sealing strip. Therefore, when the rolling head is driven by a robotic arm to move along a preset trajectory of the stop edge, the rolling head cannot adapt well to the shape changes of the stop edge and the offset of the vehicle body position, which results in the rolling effect of the rolling head on the sealing strip being not uniform enough. There may be situations where the rolling force is too small, resulting in insufficient rolling, or the rolling force is too large, resulting in extrusion and deformation of the sealing strip and the vehicle body sheet metal, and the qualified rate of sealing strip installation is low. Therefore, in the rolling device for the sealing strip of the door opening of the vehicle body provided in the embodiment of the present application, the rolling head and the end of the mechanical arm are connected by a floating mechanism. The floating mechanism enables the rolling head to move in the first direction and the second direction at the end of the mechanical arm, so that when the mechanical arm moves along a preset trajectory, the rolling head can adapt to the shape changes of the stop edge along its inner edge and in the direction perpendicular to the plane where the stop edge is located and the stop position error of the vehicle body, thereby avoiding excessive or insufficient rolling pressure of the rolling head on the sealing strip due to changes in the shape of the stop edge, thereby improving the qualified rate of sealing strip installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0016] Figure 1 is a schematic structural diagram of a rolling device provided in an embodiment of the present application;

[0017] Figure 2 It is a partial structural schematic diagram of a rolling device provided in an embodiment of the present application;

[0018] Figure 3 It is a side view of a partial structure of a rolling device provided in an embodiment of the present application;

[0019] Figure 4 is a schematic diagram of an internal structure of a rolling device provided in an embodiment of the present application from an angle;

[0020] Figure 5 is a schematic diagram of the internal structure of the rolling device provided in an embodiment of the present application from another angle;

[0021] Figure 6It is a schematic diagram of a locking assembly of a rolling device provided in an embodiment of the present application.

[0022] The reference numerals are as follows:

[0023] 100, robotic arm; 110, end; 120, first camera; 200, rolling head; 211, first mounting plate; 212, second mounting plate; 213, third mounting plate; 214, mounting block; 215, mounting groove; 221, first sliding mechanism; 222, first cylinder; 231, second sliding mechanism; 232, cylinder; 233, push rod; 240, locking assembly; 241, second cylinder; 242, locking wedge; 243, locking hole; 244, guide wheel; 300, floating mechanism; 310, rolling wheel; 320, driving motor; 330, second camera.

[0024] It should be understood that the size of each part shown in the accompanying drawings is not drawn according to the actual proportional relationship. In addition, the same or similar reference numerals represent the same or similar components. DETAILED DESCRIPTION

[0025] The technical scheme of the preferred embodiment of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection claimed in the present application.

[0026] The words "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different parts. The words "include" or "comprise" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0027] An embodiment of the present application provides a rolling device for a sealing strip of a vehicle body door opening, so as to at least partially solve the problem of a low qualified rate of sealing strip installation when the sealing strip is installed by a rolling head driven by a mechanical arm.

[0028] The inventors of the present application discovered that the stop edge of the vehicle door opening may have irregular shapes or uneven surfaces due to manufacturing errors, and that there may also be errors in the stopping position of the vehicle body when installing the sealing strip. Therefore, when the rolling head is driven by a robotic arm to move along a preset trajectory of the stop edge, the rolling head cannot adapt well to the shape changes of the stop edge and the offset of the vehicle body position, which results in the rolling effect of the rolling head on the sealing strip being not uniform enough. There may be situations where the rolling force is too small, resulting in insufficient rolling, or the rolling force is too large, resulting in damage to the sealing strip and extrusion and deformation of the vehicle body sheet metal, and the qualified rate of sealing strip installation is low.

[0029] like Figure 1 , Figure 2 and Figure 3 As shown, an embodiment of the present application provides a rolling device for a sealing strip of a vehicle body door opening. The rolling device includes a mechanical arm 100, a rolling head 200, and a floating mechanism 300. The mechanical arm 100 has an end 110 that can move in multiple degrees of freedom, and the mechanical arm 100 drives the rolling head 200 to move through its end 110. The rolling head 200 is arranged at the end 110 of the mechanical arm 100, and the rolling head 200 has two rolling wheels 310. The axes of the two rolling wheels 310 are parallel and spaced apart. The interval between the two rolling wheels 310 can be used to accommodate the stop edge and the sealing strip to be rolled on the stop edge. The two rolling wheels 310 can be roughly cylindrical. The two rolling wheels 310 can clamp the stop edge and the sealing strip by pneumatic pressing. By setting different rolling wheel gear spacings, it is possible to achieve compatibility with vehicle body door opening sealing strips of different sizes for multiple models. When the rolling device is working, the two rolling wheels 310 are respectively located on both sides of the stop edge of the vehicle body door opening, and the two rolling wheels 310 roll the sealing strip on the stop edge of the vehicle body door opening by clamping the sealing strip and moving along the stop edge of the vehicle body door opening. Exemplarily, in this embodiment, the rolling wheels 310 can be driven by a motor, a pneumatic motor, or other driving methods.

[0030] Combination Figure 3 , the rolling head 200 is connected to the end 110 through a floating mechanism 300, and the floating mechanism 300 can make the rolling head 200 move in a first direction Y and a second direction X relative to the end 110, wherein the first direction Y is parallel to the axis direction of the rolling wheel 310, and the second direction X is parallel to the plane where the axes of the two rolling wheels 310 are located and perpendicular to the axis direction of the rolling wheel 310. In this embodiment, the axis of the rolling wheel 310 can be the rotation axis of the rolling wheel 310. The rolling head 200 moves in the first direction Y relative to the end 110, so that the rolling head 200 can adapt to the shape change of the stop edge along its inner edge; the rolling head 200 moves in the first direction Y relative to the end 110, so that the rolling head 200 can adapt to the shape change of the stop edge in a direction perpendicular to the plane where the stop edge is located.

[0031] The embodiment of the present application provides a rolling device for a vehicle body door opening sealing strip, in which a rolling head 200 and an end 110 of a robot arm 100 are connected via a floating mechanism 300. The floating mechanism 300 enables the rolling head 200 to move along a first direction Y and a second direction X at the end 110 of the robot arm 100, so that when the robot arm 100 moves along a preset trajectory, the rolling head 200 can adapt to shape changes along the inner edge of the stop edge and in a direction perpendicular to the plane where the stop edge is located and to the stop position error of the vehicle body, thereby avoiding excessive or insufficient rolling pressure of the rolling head 200 on the sealing strip due to changes in the shape of the stop edge, thereby improving the qualified rate of sealing strip installation.

[0032] like Figure 4 and Figure 5 As shown, in some embodiments, the floating mechanism 300 includes a first mounting plate 211, a second mounting plate 212, a third mounting plate 213, a first floating assembly and a second floating assembly; the first mounting plate 211 is connected to the end 110 through the first floating assembly, and the first floating assembly enables the first mounting plate 211 to move in the first direction Y relative to the end 110; the second mounting plate 212 is vertically fixedly connected to the first mounting plate 211; the third mounting plate 213 is parallelly connected to the second mounting plate 212 through the second floating assembly, and the second floating assembly enables the third mounting plate 213 to move in the second direction X relative to the second mounting plate 212, and the rolling head 200 is fixedly connected to the third mounting plate 213. In this embodiment, the movement of the rolling head 200 in the first direction Y and the second direction X is achieved through the above structure, and the structure is simple and easy to process and assemble.

[0033] In some embodiments, the first floating assembly includes a first cylinder 222 and a first sliding mechanism 221; the first mounting plate 211 and the second mounting plate 212 form a T-shape, the first mounting plate 211 is slidably connected to the end 110 through the first sliding mechanism 221, and the first cylinder 222 is fixedly arranged on the end 110; the piston rod of the first cylinder 222 is connected to the second mounting plate 212, and the extension direction of the piston rod of the first cylinder 222 is parallel to the first mounting plate 211 and perpendicular to the second mounting plate 212. In this embodiment, the piston rod of the first cylinder 222 drives the first mounting plate 211 to slide along the first sliding mechanism 221 by applying force to the second mounting plate 212, thereby driving the rolling head 200 to move along the first direction Y. By way of example, the first sliding mechanism 221 can be a slide groove and slide rail structure. It can be understood that the stop edge of the vehicle door opening is usually surrounded along the circumference of the vehicle door opening. When the robot arm 100 drives the rolling head 200 to move along the stop edge, its posture will flip. Affected by gravity, at different circumferential positions of the vehicle door opening, the deadweight of the rolling head 200 and the floating mechanism 300 will have different effects on the floating effect of the first floating component, causing the equilibrium position of the first floating component to be disturbed. Therefore, in this embodiment, the rolling head 200 is driven to move in the first direction Y by the first cylinder 222. The first cylinder 222 can actively adjust the power output according to the specific position of the rolling head 200, so that the first floating component is easier to maintain in the equilibrium position, ensuring that the floating mechanism 300 can work normally. Specifically, the end 110 of the robot arm 100 can also be provided with a proportional valve, which can control the intake and exhaust of the first cylinder 222. According to the different circumferential positions of the rolling head 200 in the vehicle door opening, the numerical value of the proportional valve is adjusted to achieve the purpose of balancing the gravity of the rolling head 200.

[0034] In some embodiments, the second floating assembly includes a push rod 233, two cylinders 232, two springs and a second sliding mechanism 231. By way of example, the second sliding mechanism 231 can be a structure in which a through hole and a sliding rod cooperate to achieve reliable limiting of the rolling head 200. The second mounting plate 212 is slidingly connected to the third mounting plate 213 through the second sliding mechanism 231. A mounting block 214 is provided on the second mounting plate 212. The push rod 233 is provided on the mounting block 214. The extension direction of the push rod 233 is the same as the second direction X. A mounting groove 215 is provided at a position corresponding to the third mounting plate 213 and the mounting block 214. The mounting groove 215 is "concave" shaped. The two cylinders 232 are respectively provided at the two ends 110 of the mounting groove 215 and the axes are colinearly arranged. The two springs are respectively provided in the two cylinders 232. The two ends of the push rod 233 are respectively slidably located in the two cylinders 232 and respectively abut against the two springs. In this embodiment, in the second direction X, the second sliding mechanism 231 is basically not disturbed by the rolling head 200 at different circumferential positions of the vehicle body door opening. Therefore, the second floating assembly is kept in a balanced position by the spring, which has a simple structure and low cost. When the mounting groove 215 moves, the spring in the corresponding direction will be compressed, thereby providing a restoring force for the mounting groove 215 to reset. Preferably, the first floating assembly and the second floating assembly can also include position sensors, which can monitor the positions of the floating assemblies in the first direction Y and the second direction X, respectively, for judging the status of the equipment.

[0035] like Figure 4 As shown, in some embodiments, the rolling device further includes a locking assembly 240, which is used to lock the sliding of the third mounting plate 213 relative to the second mounting plate 212. In this embodiment, by providing the locking assembly 240, the third mounting plate 213 can be locked to prevent the rolling head 200 from accidentally moving through the second floating assembly when the rolling device is in a non-working state, thereby damaging the device. At the same time, the rolling device can accurately locate the position of the rolling head 200 before rolling, thereby making the positioning of the rolling starting position more accurate.

[0036] like Figure 6As shown, in some embodiments, the locking assembly 240 includes a second cylinder 241, a locking wedge 242 and a locking hole 243; the second cylinder 241 is arranged on the first mounting plate 211, and the locking wedge 242 is arranged on the piston rod of the second cylinder 241, and the extension and retraction direction of the piston rod of the second cylinder 241 is parallel to the first mounting plate 211 and perpendicular to the second mounting plate 212; the locking hole 243 is arranged on the third mounting plate 213, and two guide wheels 244 are arranged in the locking hole 243, and the guide wheels 244 are used to guide the locking wedge 242 to be inserted into the locking hole 243; a through hole is opened on the second mounting plate 212, and the locking wedge 242 can pass through the through hole and enter the locking hole 243 to achieve locking. In this embodiment, the locking assembly 240 can be easily controlled by the second cylinder 241 to facilitate locking and unlocking; the wedge-shaped structure of the locking wedge 242 can achieve close contact with the locking wheel as the entry depth increases when entering the locking hole 243, thereby preventing shaking and making the locking effect more reliable. At the same time, the guide wheel 244 can make it easier for the locking wedge 242 to enter the locking hole 243, reduce the wear caused by close contact, and prevent the locking wedge 242 from getting stuck.

[0037] In some embodiments, the rolling device further includes a drive motor 320, which is disposed on the third mounting plate 213, and is in transmission connection with the rolling wheel 310, and the output shaft of the drive motor 320 is perpendicular to the axis of the rolling wheel 310. In this embodiment, the driving of the rolling wheel 310 is realized by the drive motor 320, and the rotation speed of the rolling wheel 310 can be easily controlled. The output shaft of the drive motor 320 is perpendicular to the axis of the rolling wheel 310, and the size of the rolling head 200 can be further controlled, which is convenient for rolling work, and the drive motor 320 and the rolling wheel 310 can realize power transmission through the bevel gear transmission assembly.

[0038] In some embodiments, the rolling device also includes a controller, and the controller is used to control the robot arm 100 and the drive motor 320. The controller is configured to: control the rotation speed of the drive motor 320 based on the movement speed of the end 110, so that the movement speed of the rim of the rolling wheel 310 matches the movement speed of the end 110. In the present application, since the rolling of the sealing strip is carried out by the robot arm 100 to drive the roller pressure head, this control method can prevent the relative displacement between the rolling wheel 310 and the sealing strip from scratching the sealing strip, avoid the problem of scratching the sealing strip caused by the incoordination between the movement speed of the end 110 and the movement speed of the rim of the rolling wheel 310, and improve the rolling qualification rate. Specifically, the drive motor 320 can be a servo motor, and the controller can include a robot arm controller and a servo motor controller that are communicatively connected. The movement speed of the end 110 of the robot arm 100 can be fed back to the servo motor controller through the robot arm controller, thereby realizing the association between the servo motor rotation speed and the movement speed of the end 110 of the robot arm 100. Exemplarily, the movement speed of the end 110 of the robot arm 100 can be V 1 , the speed of the servo motor can be V 2 , V 2 =nV 1 , wherein n may be a fixed proportional coefficient, and the specific value of n may be related to the bevel gear transmission ratio, the internal ruler wheel transmission ratio of the rolling wheel 310 , the diameter of the rolling wheel 310 , and the like.

[0039] Combination Figure 2 In some embodiments, the rolling device further includes a first camera 120, which is disposed at the end 110 and is used to obtain an image of the door opening of the vehicle body. The controller is further configured to: based on the image of the door opening of the vehicle body obtained by the first camera 120, control the mechanical arm 100 to move to the starting position of rolling. In this embodiment, the starting position is determined by the first camera 120, which further reduces the rolling defects caused by the position error of the vehicle body. For example, when rolling, the vehicle body carrier first stops the vehicle body at a stationary position, and the mechanical arm 100 drives the rolling head 200 to move to the stop edge of the door opening of the vehicle body. Then, the first camera 120 captures the characteristic points of the vehicle body, determines the specific position of the sealing strip, and feeds back the position compensation data to the controller of the mechanical arm 100. The mechanical arm 100 drives the rolling head 200 to clamp the sealing strip, and then runs according to a predetermined trajectory to complete the rolling of the sealing strip.

[0040] In some embodiments, the rolling device further includes a second camera 330, which is disposed on the third mounting plate 213, and the lens of the second camera 330 faces the rolling wheel 310 to obtain an image of the rolling wheel 310 rolling the sealing strip. In this embodiment, the rolling process can be monitored in real time by the second camera 330, so that unexpected situations can be discovered in time.

[0041] Based on the above-mentioned embodiments of the present application, in the absence of explicit negation or conflict, the technical features of one embodiment may be beneficially combined with one or more other embodiments.

[0042] Although some specific embodiments of the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are only for illustration and not for limiting the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A rolling device for a vehicle body door opening sealing strip, characterized in that: include: a robotic arm having an end capable of moving in multiple degrees of freedom; A rolling head, the rolling head is arranged at the end, the rolling head has two rolling wheels, the axes of the two rolling wheels are parallel and spaced apart, when the rolling device is working, the two rolling wheels are respectively located on both sides of the stop edge of the vehicle body door opening, and the two rolling wheels roll the sealing strip on the stop edge of the vehicle body door opening by clamping the sealing strip and moving along the stop edge of the vehicle body door opening; A floating mechanism, wherein the rolling head is connected to the end portion via the floating mechanism, and the floating mechanism enables the rolling head to move in a first direction and a second direction relative to the end portion, wherein the first direction is parallel to the axial direction of the rolling wheel, and the second direction is parallel to the plane where the axes of the two rolling wheels are located and perpendicular to the axial direction of the rolling wheel.

2. The rolling device according to claim 1, characterized in that: The floating mechanism includes a first mounting plate, a second mounting plate, a third mounting plate, a first floating assembly and a second floating assembly; the first mounting plate is connected to the end portion via a first floating assembly, and the first floating assembly enables the first mounting plate to move in the first direction relative to the end portion; the second mounting plate is fixedly connected vertically to the first mounting plate; the third mounting plate is connected in parallel to the second mounting plate via the second floating assembly, and the second floating assembly enables the third mounting plate to move in the second direction relative to the second mounting plate, and the rolling head is fixedly connected to the third mounting plate.

3. The rolling device according to claim 2, characterized in that: The first floating assembly includes a first cylinder and a first sliding mechanism; The first mounting plate and the second mounting plate form a T shape, the first mounting plate is slidably connected to the end portion via the first sliding mechanism, and the first cylinder is fixedly disposed on the end portion; The piston rod of the first cylinder is connected to the second mounting plate, and the extension and retraction direction of the piston rod of the first cylinder is parallel to the first mounting plate and perpendicular to the second mounting plate.

4. The rolling device according to claim 2, characterized in that: The second floating assembly includes a push rod, two cylinders, two springs and a second sliding mechanism; The second mounting plate is slidably connected to the third mounting plate via the second sliding mechanism, a mounting block is provided on the second mounting plate, the push rod is provided on the mounting block, and the extension direction of the push rod is the same as the second direction; The third mounting plate is provided with a mounting groove at a position corresponding to the mounting block, and the mounting groove is "concave" shaped. The two cylinders are respectively arranged at the two ends of the mounting groove and the axes are arranged in a colinear manner. The two springs are respectively arranged in the two cylinders, and the two ends of the push rod are respectively slidably located in the two cylinders and respectively abut against the two springs.

5. The rolling device according to claim 4, characterized in that: It also includes a locking assembly, which is used to lock the sliding of the third mounting plate relative to the second mounting plate.

6. The rolling device according to claim 5, characterized in that: The locking assembly includes a second cylinder, a locking wedge and a locking hole; The second cylinder is arranged on the first mounting plate, the locking wedge is arranged on the piston rod of the second cylinder, and the extension direction of the piston rod of the second cylinder is parallel to the first mounting plate and perpendicular to the second mounting plate; The locking hole is arranged on the third mounting plate, and two guide wheels are arranged in the locking hole, and the guide wheels are used to guide the locking wedge to be inserted into the locking hole; The second mounting plate is provided with a through hole, and the locking wedge can pass through the through hole and enter the locking hole to achieve locking.

7. The rolling device according to claim 2, characterized in that: It also includes a driving motor, which is arranged on the third mounting plate, the driving motor is drivingly connected to the rolling wheel, and the output shaft of the driving motor is perpendicular to the axis of the rolling wheel.

8. The rolling device according to claim 7, characterized in that: It also includes a controller for controlling the robot arm and the drive motor, and the controller is configured to control the rotation speed of the drive motor based on the movement speed of the end so that the movement speed of the rim of the rolling wheel matches the movement speed of the end.

9. The rolling device according to claim 8, characterized in that: It also includes a first camera, which is arranged at the end and is used to obtain an image of the door opening of the vehicle body. The controller is also configured to control the robot arm to move to a rolling starting position based on the image of the door opening of the vehicle body obtained by the first camera.

10. The rolling device according to claim 8, characterized in that: It also includes a second camera, which is arranged on the third mounting plate, and the lens of the second camera faces the rolling wheel to obtain an image when the rolling wheel rolls the sealing strip.

Images