Windshield automatic loading system and loading method

Abstract

The invention relates to the technical field of automobile windshield glass assembly, in particular to an automatic windshield feeding system and method. The system is provided with two front and rear windshield material warehouses and one quarter window material warehouse. Wherein the front and rear air baffle material racks realize X-direction, Y-direction and Z-direction positioning of the material racks through a positioning mechanism in the material warehouse; the quarter window material warehouse is divided into a full material frame feeding area, a temporary storage area, a piece taking area and an empty material frame discharging area, and the position of each appliance is positioned through a position sensor. Each material warehouse is provided with a roller shutter door for safety protection. The hanging type robot drives the clamp to reach the position of the quarter window material warehouse, automatically grabs the quarter window through the visual system, enters the front and rear windshield material warehouse area after grabbing is completed, automatically grabs the front and rear windshields through the visual system, and places the front and rear windshields and the quarter window to a gluing station inlet feeding mechanism after grabbing is completed. And after placement is completed, the hanging type robot returns to home and enters the next cycle.

Description

Technical Field

[0001] The invention relates to the technical field of automobile windshield assembly, and in particular to an automatic windshield loading system and method. Background Art

[0002] At present, before assembling the windshield, personnel need to carry the windshield from the material rack and then put it on the entrance loading mechanism of the gluing equipment to complete the gluing process of the windshield. Since the windshield weighs about 13kg, the size (length*height) is about 1.8m*1.2m, and the manual handling process requires frequent bending, the ergonomics is poor. The existing windshield automatic loading system can only automatically load the front and rear windshields, and the triangular windows still need manual loading.

[0003] In view of the above problems, the inventors of the present invention finally obtained the present invention after a long period of research and practice. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a windshield automatic loading system and loading method, which can be applied to the automatic loading of front and rear windshields and triangular windows, and the space layout utilization is more reasonable. It can be applied to all semi-automatic windshield gluing equipment to reduce the labor cost investment in the workshop.

[0005] The technical solution adopted by the present invention is:

[0006] On the one hand, a windshield automatic loading system is provided, which is arranged on the side of the loading mechanism at the entrance of the gluing station, and includes: a hanging robot, a fixture, a front and rear windshield material warehouse and a corner window material warehouse;

[0007] The hanging robot has four working positions: 1. The material rack position for grabbing the windshield and triangular window in the material rack; 2. The placement position for placing the windshield and triangular window on the loading platform of the gluing station; 3. The emergency manual loading position for manual loading in emergency situations, where the robot avoids; 4. The temporary parking position when other working positions do not meet the working conditions; The hanging robot is interlocked with the robot position in the gluing station;

[0008] The fixture is installed at the working end of the hanging robot, and a visual system is integrated on the fixture;

[0009] The front and rear windshield material warehouses realize the positioning of the windshield material racks in the X, Y and Z directions through the positioning mechanism; the corner window material racks in the corner window material warehouse are divided into a full rack loading area, a buffer area, a pickup area, and an empty rack unloading area;

[0010] The system works as follows: the hanging robot drives the fixture from the home position to the corner window material storage area, automatically grabs the triangular window through the visual system, and then enters the front and rear windshield material storage area, automatically grabs the front and rear windshields through the visual system, and then places the front and rear windshields and triangular windows on the loading mechanism at the entrance of the gluing station. After placement, the hanging robot returns to the home position and enters the next cycle.

[0011] Furthermore, the clamp includes a windshield gripper and a corner window gripper, and the windshield gripper and the corner window gripper both include a vacuum suction cup mechanism and a visual system, and the vacuum suction cup mechanism includes a retractable vacuum suction cup and a vacuum generator.

[0012] Furthermore, the windshield gripper includes 6 retractable vacuum suction cups and 3 vacuum generators, and the 6 retractable vacuum suction cups are respectively arranged with two at the upper, middle and lower positions of the gripper, and the 6 retractable vacuum suction cups are divided into three groups, the two suction cups at the upper part form a group, and the four suction cups at the middle and lower parts form a group diagonally, and each group is provided with suction by an independent vacuum generator. When grabbing the front windshield and the rear windshield large glass, all three groups of suction cups work, and when grabbing the rear windshield small glass, the two groups of suction cups at the middle and lower parts work.

[0013] Furthermore, a windshield baffle lever mechanism is respectively provided on both sides of the windshield gripper, and the mechanism includes a two-stage telescopic cylinder, a slide rail and a lever device, the lever device is slidably connected to the slide rail, the two-stage telescopic cylinder is used to drive the lever device to slide along the slide rail, the lever device includes a protective cylinder, a telescopic lever and a cat whisker switch, the telescopic lever adopts a spring telescopic structure to enable it to have a buffering protection function in its axial direction, the tail end of the telescopic lever is connected to the cylinder rod of the protective cylinder, a magnetic switch is installed on the protective cylinder, and the force state of the telescopic lever is detected by the magnetic switch, and the cat whisker switch is located below the telescopic lever.

[0014] Furthermore, the windshield gripper also includes three ultrasonic sensors, which are respectively located at the upper, middle and lower positions of the gripper. The middle ultrasonic sensor is used to detect the distance between the gripper and the glass, and the upper and lower ultrasonic sensors are used to identify the size specifications of the windshield.

[0015] Furthermore, when the triangular window on the rack in the picking area of ​​the corner window rack is emptied, the conveyor line transports the empty rack to the empty rack unloading area; when it is detected that the picking area is empty, the rack in the buffer area is automatically transported to the picking area; when it is detected that the rack in the buffer area is empty, the rack in the "full rack loading area" is automatically transported to the buffer area.

[0016] Furthermore, the passage door of the corner window material warehouse adopts a rolling door. When there are racks in the empty rack unloading area and there are no racks in the full rack loading area, the rolling door opens; the corner window AGV delivers the full racks to the full rack loading area, and then takes away the empty racks in the empty rack unloading area, and finally the rolling door closes.

[0017] Furthermore, the positioning mechanism of the front and rear windshield material warehouses uses rollers to guide and position the windshield material rack in the X direction, uses an end pneumatic clamp locking mechanism to position the windshield material rack in the Y direction, and uses a Z-direction lifting mechanism to position the windshield material rack in the Z direction; the positioning mechanism is equipped with a detection switch for detecting whether there is a material rack in the material warehouse.

[0018] Furthermore, there are two front and rear windshield material warehouses, and the robot can switch between the front and rear windshield material warehouses by simultaneously judging whether there is a windshield on the material rack through a shooting switch and robot counting; the passage doors of the front and rear windshield material warehouses are rolling shutter doors.

[0019] On the other hand, a method for automatically loading a windshield is provided, which uses the above-mentioned automatic loading system for a windshield, and comprises the following steps:

[0020] S1: The AGV trolley delivers the material rack into the material warehouse;

[0021] S2: The hanging robot drives the fixture to move above the corner window rack, and through PLC counting, the corner window gripper moves to the corresponding corner window height to take pictures. After the visual processing is completed, the robot is guided to grab the corner window; the windshield gripper moves to the front of the windshield rack, and is positioned by the ultrasonic sensor. The windshield baffle lever mechanism pushes the windshield baffle open, the two-stage cylinder retracts, the robot moves downward, the cat whisker switch detects whether the lever is open, and the ultrasonic sensor is used to locate the distance between the vision system and the glass, and the windshield is photographed; the vision system sends the offset data compared with the photos to the robot, and the robot accurately grabs the windshield glass according to the offset data;

[0022] S3: After the grabbing is completed, the fixture sucks the glass out of the rack and rotates the windshield to the unloading state, sends a request signal to the gluing system, and releases the robot to place the glass on the loading platform when it is determined that the loading platform is empty;

[0023] S4: After placement, the robot lifts back to a safe position and then rotates the gripper to the gripping state for the next gripping cycle.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] The present invention provides a windshield automatic loading system and loading method, which can automatically grab the front and rear windshields and triangular window glasses from the rack and accurately place them at the loading mechanism at the entrance of the equipment, truly realizing unmanned loading and improving labor efficiency. The hanging robot equipment layout makes more reasonable use of space layout, can realize the solution layout without occupying the logistics area, and leave enough space for emergency manual loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A layout diagram showing a windshield automatic loading system according to an embodiment of the present invention;

[0028] Figure 2 A schematic structural diagram of a windshield automatic loading system according to an embodiment of the present invention is shown;

[0029] Figure 3 A schematic diagram showing the structure of a fixture and a robot according to an embodiment of the present invention is shown;

[0030] Figure 4 A schematic diagram of the three-dimensional structure of a windshield gripper according to an embodiment of the present invention is shown;

[0031] Figure 5 A schematic plan view of the windshield gripper according to an embodiment of the present invention is shown;

[0032] Figure 6 A schematic structural diagram of a windshield baffle lever mechanism according to an embodiment of the present invention is shown;

[0033] Figure 7 A schematic structural diagram of a positioning mechanism for front and rear windshield material storages according to an embodiment of the present invention is shown;

[0034] Figure 8 A layout diagram of a corner window material store according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0035] The above and other technical features and advantages of the present invention are described in more detail below in conjunction with the accompanying drawings.

[0036] In the description of the present invention, it is necessary to understand that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0037] In the description of the present invention, "multiple" means at least two, unless otherwise clearly defined. In the present invention, unless otherwise clearly defined and defined, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0038] like Figure 1 As shown, the windshield automatic loading system 300 is arranged on one side of the loading platform of the windshield gluing station 200. The windshield automatic loading system 300 and the windshield gluing station 200 are located on the same side of the production line 100. The windshield automatic loading system 300 occupies the logistics channel and emergency operation space.

[0039] like Figure 1 , Figure 2 As shown, the windshield automatic loading system consists of a robot 1, a fixture 2, a safety gate fence 6, a material warehouse, etc. Specifically, the robot 1 adopts a hanging structure, which can effectively reduce the area occupied by the equipment and leave enough space for emergency manual loading. The robot 1 of the windshield automatic loading system 300 and the robot in the gluing station 200 can achieve safety interlocking, that is, the robot of the windshield automatic loading system 300 and the robot in the gluing station 200 will not appear in the same working position at the same time, avoiding interference and accidents.

[0040] Robot 1 has four working positions: (1) Shelf position: the position for grabbing the windshield / corner window in the shelf. (2) Placement position: the working position for placing the windshield / corner window on the gluing station loading platform. (3) Emergency manual loading position: the position where the robot avoids manual loading in an emergency. (4) Temporary parking position: the temporary parking position when other working positions do not meet the working conditions.

[0041] The workpiece is transported between the rack and the loading platform using the fixture 2 installed on the robot head. The suction cup on the fixture 2 generates vacuum pressure, and the windshield is adsorbed on the fixture, and the robot 1 transports and transfers it between workstations. The fixture 2 is integrated with a visual system with a measurement range of 100mm to 600mm, which can meet the recognition and comparison of five windshield sizes. The visual system is used to identify the position of the windshield / corner window in the rack and guide the robot to automatically grab the windshield / corner window.

[0042] The material warehouse includes front and rear windshield material warehouses 3 and corner window material warehouses 4. The front and rear windshield material warehouses 3 are located below the hanging robot 1, and the corner window material warehouse 4 is located behind the hanging robot 1. Each material warehouse is equipped with rolling shutter doors 34 and 46 for safety protection. The windshield automatic loading system is equipped with two front and rear windshield material warehouses and one corner window material warehouse.

[0043] The working process of the system is as follows: the hanging robot 1 drives the clamp 2 from the home position to the corner window material warehouse 4 area, automatically grabs the triangular window through the visual system, and enters the front and rear windshield material warehouse 3 area after grabbing, and automatically grabs the front and rear windshields through the visual system. After grabbing, the front and rear windshields and triangular windows are placed on the loading mechanism at the entrance of the gluing station. After placement, the hanging robot 1 returns to the home position and enters the next cycle.

[0044] like Figures 3 to 6 As shown, the fixture 2 includes a windshield gripper 22 and a corner window gripper 21. The windshield gripper 22 mainly consists of a frame 223, a vacuum suction cup 221, a visual system 224, a windshield block lever mechanism 225, a valve island, a vacuum generator, an ultrasonic sensor 222, etc. The frame 223 is made of 80*40 aluminum profiles, which has high strength and light structure. The vacuum suction cup 221, the visual system 224, the windshield block lever mechanism 225, the valve island, the vacuum generator, and the ultrasonic sensor 222 are all installed on the frame 223.

[0045] In this embodiment, the windshield gripper 22 uses 3 SCHMALZ vacuum generators, 6 telescopic rods and 6 vacuum suction cups. One vacuum suction cup is connected to one telescopic rod to form a retractable vacuum suction cup 221. Distribution of retractable vacuum suction cups: 6 retractable vacuum suction cups 221 are respectively arranged at the upper, middle and lower positions of the gripper, and the 6 retractable vacuum suction cups are divided into three groups. The two suction cups 2211 and 2212 at the upper part form a group, and the four suction cups at the middle and lower parts are diagonally formed into a group, that is, suction cups 2213 and 2216 form a group, and suction cups 2215 and 2214 form a group. Each group is provided with suction by an independent vacuum generator. When sucking the front windshield, all three groups of suction cups work; when sucking the large rear windshield glass, all three groups of suction cups work; when sucking the small rear windshield glass, the middle and lower two groups of suction cups 2213, 2216, 2215, and 2214 work. The suction cups are diagonally assembled to ensure that the glass can still be sucked when any group of generators fails.

[0046] The windshield gripper 22 is equipped with three ultrasonic sensors 222: the first ultrasonic sensor 2221, the second ultrasonic sensor 2222, and the third ultrasonic sensor 2223; the first ultrasonic sensor 2221 is a distance measuring sensor, which is used to detect the shooting distance between the gripper and the glass to take pictures, and to slow down when the manipulator approaches the glass, and finally stop at the grasping position. At the same time, the first ultrasonic sensor 2221 detects the position of the windshield block according to the distance between the gripper and the glass. The second ultrasonic sensor 2222 and the third ultrasonic sensor 2223 are inspection sensors, which are used to identify the size specifications of the windshield glass, and both large and small glass of the front and rear windshields can be detected.

[0047] A windshield baffle lever mechanism 225 is respectively provided on both sides of the windshield gripper 22. The windshield baffle lever mechanism 225 includes a secondary telescopic cylinder 2251, a slide rail 2252 and a lever device. The lever device is slidably connected to the slide rail 2252. The secondary telescopic cylinder 2251 is used to drive the lever device to slide along the slide rail 2252. The lever device includes a protective cylinder 2255, a telescopic lever 2253 and a whisker switch 2254. The telescopic lever 2253 adopts a spring telescopic structure to provide a buffer protection function in its axial direction. The tail end of the telescopic lever 2253 is connected to the cylinder rod of the protective cylinder 2255. A magnetic switch is installed on the protective cylinder. The magnetic switch is used to detect the stress state of the telescopic lever 2253. The whisker switch 2254 is located below the telescopic lever 2253.

[0048] The working process of the windshield baffle lever mechanism 225 is as follows: when the windshield gripper moves to the windshield lever position of the windshield material rack, the first stage of the secondary telescopic cylinder 2251 extends to extend the lever under the windshield block, and then the robot is lifted to a certain height and lifts the block to a certain height. At this time, the second stage of the secondary telescopic cylinder 2251 extends to completely push the block open, and then the two stages retract, and the windshield gripper descends. If there is no obstacle and the cat whisker switch 2253 is not triggered, the next step can be carried out. If there is an obstacle and the cat whisker switch 2253 is triggered, it proves that the baffle is not pushed open and the previous action needs to be repeated. The lever adopts a spring telescopic mechanism to prevent damage to the glass when a fault occurs during travel. The tail end of the lever is connected to the cylinder. When the lever is pushed to other non-pullable objects, it can play a buffering role to protect the gripper and the fixed object. At the same time, the cylinder is equipped with a magnetic switch and the system alarms when a problem is detected.

[0049] The corner window gripper 21 also uses a retractable vacuum suction cup 211 to grip the triangular window, on which a visual system and an ultrasonic sensor are integrated. The principle is similar to that of the windshield gripper 22 and will not be repeated here.

[0050] The material warehouse realizes the guidance and positioning of the material rack, and interacts with the signal of the AGV to realize timely manual loading of parts and play a protective function.

[0051] See also Figure 7 , the front and rear windshield material warehouses 3 realize the X-, Y- and Z-direction positioning of the windshield material rack 34 through the positioning mechanism. The positioning mechanism uses a roller 33 for guidance and positioning in the X direction; the end positioning pneumatic clamp locking mechanism is used in the Y direction. Under normal circumstances, the pneumatic clamp 31 is swung out. After the AGV material rack is in place, the windshield material rack 34 is dropped to the ground and the pneumatic clamp 311 is locked to complete the material rack positioning; in the absence of AGV, the operator directly pushes the material rack into the support and manually controls the locking of the material rack. The Z-direction support Z-direction lifting mechanism 32 lifts the windshield material rack 34 for a short distance; the AGV lifts the windshield material rack 34 when loading, and the windshield material rack 34 is higher than the plane of the Z-direction positioning mechanism. When the AGV is in place, it falls directly on the Z-direction lifting mechanism. The positioning mechanism is equipped with a detection switch to detect whether there is an instrument in the system. The 3-channel door of the windshield material warehouse adopts a rolling door 34. When the windshield glass in one box is used up, it automatically switches to another box. Through the shooting switch and the robot counting, it is judged whether there is a windshield on the rack at the same time, so as to realize the switching of the robot between the two racks.

[0052] See also Figure 8 , the corner window material warehouse 4 is divided into: full rack loading area 44, buffer area 43, pick-up area 41, and empty rack unloading area 45. When the materials on the rack in the pickup area 41 are taken out, the conveyor line will transport the empty rack to the empty rack unloading area 45; when the system detects that the pickup area 41 is empty, the material warehouse system automatically transports the idle rack 42 in the buffer area 43 to the pickup area 41; when the system detects that the rack in the buffer area 43 is empty, the material warehouse system automatically transports the rack in the loading area 44 of the full rack to the buffer area 43. The channel door of the corner window material warehouse 4 adopts a rolling door 46, which opens when there is a rack in the unloading area 45 of the empty rack and no rack in the loading area 44 of the full rack. The corner window AGV arrives at the feeding position with the full rack, puts the full rack on the AGV into the loading port, takes away the empty rack from the unloading port, and finally closes the rolling door.

[0053] The working process of the windshield automatic loading system 300 of the present invention is as follows:

[0054] 1. The AGV arrives at the door of the material warehouse and adjusts its posture, sending a signal to the equipment PLC, the rolling door automatically opens, and the feedback signal is sent to the AGV, and the AGV drives the material rack into the material warehouse;

[0055] 2. After the AGV trolley drives the material rack to the stop position, the material rack descends and the pneumatic clamp is locked. After the AGV descends, it sends a positioning completion signal to the robot PLC;

[0056] 3. After the robot receives the signal that the rack positioning is completed, it drives the gripper to move to the top of the corner window rack and uses the PLC to count the gripper as it moves to the corresponding corner window height to take a picture. After the visual processing is completed, the robot is guided to grab the corner window; the gripper moves to the front of the windshield rack and uses the distance ultrasonic sensor to locate the windshield lever position to push the windshield baffle open. The two-stage cylinder retracts and the robot moves downward. The cat whisker switch detects whether the lever is open. The distance ultrasonic sensor locates the distance between the vision system and the glass and takes a picture of the windshield; the vision system gives the robot the offset data compared with the photos, and the robot accurately grabs the windshield glass based on the offset data;

[0057] 4. After the grabbing is completed, the fixture sucks the glass out of the rack and rotates the windshield to the unloading state, sends a request signal to the windshield gluing system, and releases the robot to place the glass on the loading platform when it is determined that the loading platform is empty;

[0058] 5. After placement is completed, the robot lifts back to a safe position and then rotates the clamp to the gripping state for the next gripping cycle.

[0059] The above are only preferred embodiments of the present invention, which are only illustrative and not restrictive. The structures and connection modes of the components in the present invention can be changed, and any equivalent transformations and improvements based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. A windshield automatic loading system, arranged on the side of the loading mechanism at the entrance of the gluing station, characterized in that: include: Hanging robots, fixtures, front and rear windshield material warehouses and corner window material warehouses; The hanging robot has four working positions:

1. The material rack position for grabbing the windshield and triangular window in the material rack; 2. The placement position for placing the windshield and triangular window on the loading platform of the gluing station; 3. The emergency manual loading position for manual loading in emergency situations, where the robot avoids; 4. The temporary parking position when other working positions do not meet the working conditions; The hanging robot is interlocked with the robot position in the gluing station; The fixture is installed at the working end of the hanging robot, and a visual system is integrated on the fixture; The front and rear windshield material warehouses realize the positioning of the windshield material racks in the X, Y and Z directions through the positioning mechanism; the corner window material racks in the corner window material warehouse are divided into a full rack loading area, a buffer area, a pickup area, and an empty rack unloading area; The system works as follows: the hanging robot drives the fixture from the home position to the corner window material storage area, automatically grabs the triangular window through the visual system, and then enters the front and rear windshield material storage area, automatically grabs the front and rear windshields through the visual system, and then places the front and rear windshields and triangular windows on the loading mechanism at the entrance of the gluing station. After placement, the hanging robot returns to the home position and enters the next cycle.

2. The windshield automatic loading system according to claim 1, characterized in that: The clamp comprises a windshield gripper and a corner window gripper, and both the windshield gripper and the corner window gripper comprise a vacuum suction cup mechanism and a visual system, and the vacuum suction cup mechanism comprises a retractable vacuum suction cup and a vacuum generator.

3. The windshield automatic loading system according to claim 2, characterized in that: The windshield gripper includes 6 retractable vacuum suction cups and 3 vacuum generators. The 6 retractable vacuum suction cups are respectively arranged with two at the upper, middle and lower positions of the gripper. The 6 retractable vacuum suction cups are divided into three groups. The two suction cups at the upper part form one group, and the four suction cups at the middle and lower parts form one group diagonally. Each group is provided with suction by an independent vacuum generator. When grabbing the front windshield and the rear windshield large glass, all three groups of suction cups work. When grabbing the rear windshield small glass, the two groups of suction cups at the middle and lower parts work.

4. The windshield automatic loading system according to claim 3, characterized in that: A windshield baffle lever mechanism is respectively arranged on both sides of the windshield gripper, and the mechanism includes a two-stage telescopic cylinder, a slide rail and a lever device, the lever device is slidably connected to the slide rail, the two-stage telescopic cylinder is used to drive the lever device to slide along the slide rail, the lever device includes a protective cylinder, a telescopic lever and a cat's whisker switch, the telescopic lever adopts a spring telescopic structure to enable it to have a buffer protection function in its axial direction, the tail end of the telescopic lever is connected to the cylinder rod of the protective cylinder, a magnetic switch is installed on the protective cylinder, and the force state of the telescopic lever is detected by the magnetic switch, and the cat's whisker switch is located below the telescopic lever.

5. The windshield automatic loading system according to claim 4, characterized in that: The windshield gripper also includes three ultrasonic sensors, which are located at the upper, middle and lower positions of the gripper respectively. The middle ultrasonic sensor is used to detect the distance between the gripper and the glass, and the upper and lower ultrasonic sensors are used to identify the size specifications of the windshield.

6. The windshield automatic loading system according to claim 5, characterized in that: When the triangular window on the rack in the picking area of ​​the corner window rack is emptied, the conveyor line transports the empty rack to the empty rack unloading area; when it is detected that the picking area is empty, the rack in the buffer area is automatically transported to the picking area; when it is detected that the rack in the buffer area is empty, the rack in the "full rack loading area" is automatically transported to the buffer area.

7. The windshield automatic loading system according to claim 6, characterized in that: The passage door of the corner window material warehouse adopts a rolling door. When there are racks in the empty rack unloading area and there are no racks in the full rack loading area, the rolling door opens; the corner window AGV delivers the full racks to the full rack loading area, then takes away the empty racks in the empty rack unloading area, and finally the rolling door closes.

8. The windshield automatic loading system according to claim 7, characterized in that: The positioning mechanism of the front and rear windshield material warehouses uses rollers to guide and position the windshield material rack in the X direction, uses an end pneumatic clamp locking mechanism to position the windshield material rack in the Y direction, and uses a Z-direction lifting mechanism to position the windshield material rack in the Z direction; the positioning mechanism is equipped with a detection switch for detecting whether there is a material rack in the material warehouse.

9. The windshield automatic loading system according to claim 8, characterized in that: There are two front and rear windshield material warehouses. The robot can switch between the front and rear windshield material warehouses by simultaneously judging whether there is a windshield on the material rack through a shooting switch and robot counting. The passage doors of the front and rear windshield material warehouses are rolling shutter doors.

10. A method for automatically loading a windshield, characterized in that: The automatic windshield loading system according to claim 8 comprises the following steps: S1: The AGV trolley delivers the material rack into the material warehouse; S2: The hanging robot drives the fixture to move above the corner window rack, and through PLC counting, the corner window gripper moves to the corresponding corner window height to take pictures. After the visual processing is completed, the robot is guided to grab the corner window; the windshield gripper moves to the front of the windshield rack, and is positioned by the ultrasonic sensor. The windshield baffle lever mechanism pushes the windshield baffle open, the two-stage cylinder retracts, the robot moves downward, the cat whisker switch detects whether the lever is open, and the ultrasonic sensor is used to locate the distance between the vision system and the glass, and the windshield is photographed; the vision system sends the offset data compared with the photos to the robot, and the robot accurately grabs the windshield glass according to the offset data; S3: After the grabbing is completed, the fixture sucks the glass out of the rack and rotates the windshield to the unloading state, sends a request signal to the gluing system, and releases the robot to place the glass on the loading platform when it is determined that the loading platform is empty; S4: After placement, the robot lifts back to a safe position and then rotates the gripper to the gripping state for the next gripping cycle.

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