Vehicle door dismounting and mounting production line

Abstract

The invention provides a car door dismounting and mounting production line, and relates to the technical field of car assembling and manufacturing. The first vehicle door assembling device is arranged on the first movable sliding rail in a sliding manner; the first vehicle door dismounting device is slidably arranged on the first moving sliding rail, and the first vehicle door dismounting device and the first vehicle door assembling device are arranged in a spaced mode. The second moving slide rail is arranged on the other side of the body in white; the second vehicle door assembling device is arranged on the second movable sliding rail in a sliding manner; the second vehicle door dismounting device is slidably arranged on a second moving sliding rail, the second vehicle door dismounting device and the first vehicle door mounting device are arranged at intervals, through fine control adjustment of a pneumatic assembly, the clamping force of the vehicle door is finely adjusted, collision and deformation of the vehicle door are effectively avoided, the stability of the clamping action is guaranteed, and the safety of the vehicle door is improved. And the automatic assembly and disassembly precision of the vehicle door is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of automobile assembly and manufacturing, and in particular designs a door disassembly and installation production line. Background Art

[0002] After the car body passes through the paint shop, all the car parts are painted with brand new paint. After entering the final assembly workshop, the first thing to do is to disassemble the car door, put the car door into the car door sub-assembly line, assemble the door interior parts, wiring harness, etc. to the car door, and then assemble the door assembly to the car body. However, the existing technology does not have an assembly device specifically for the automobile final assembly process, most of which rely on manual operation, and cannot achieve flexibility and universality, and there is no universal structure designed for different models.

[0003] The existing production lines need to produce multiple models at the same time, and the models are updated and changed quickly. The door shape, spacing and position of the door fastening mechanism will be adjusted, and the door assembly mechanism needs to be able to adaptively adjust to adapt to changes in door and model specifications. Summary of the invention

[0004] In order to solve the technical problems existing in the prior art, an embodiment of the present invention provides a door disassembly and installation production line. The technical solution is as follows:

[0005] A vehicle door disassembly and installation production line, comprising:

[0006] A first movable slide rail, which is arranged on one side of the body-in-white;

[0007] a first door assembly device slidably disposed on the first movable slide rail for grabbing;

[0008] A first door disassembling device, which is slidably disposed on the first movable slide rail and is spaced apart from the first door assembling device;

[0009] A second movable slide rail, which is arranged on the other side of the body-in-white;

[0010] a second door assembly device, which is slidably disposed on the second movable slide rail;

[0011] The second door disassembling device is slidably arranged on the second movable slide rail and is spaced apart from the first door assembling device.

[0012] Preferably, the first vehicle door assembly device and the second vehicle door assembly device both include:

[0013] Base plate;

[0014] A sliding support arm, which is arranged at one end of the bottom plate to lift the vehicle door;

[0015] A suction cup assembly, which is arranged at the other end of the bottom plate to cooperate with the sliding support arm to suck or release the door;

[0016] A floating mechanism, one end of which is arranged on the bottom plate, and the other end of which is detachably connected to the mechanical arm, and the floating mechanism can be attached to or separated from the bottom plate to reduce the vibration displacement generated during the assembly and movement of the door.

[0017] Preferably, the suction cup assembly comprises:

[0018] At least one suction cup, which is arranged on the adjusted component and rotates with the adjusted component, and the suction cup receives or releases gas through the pneumatic column to generate or release adsorption pressure;

[0019] A fixed column connected to the base plate;

[0020] A rotating rod, which is rotatably arranged on the fixed column;

[0021] At least one locking block is arranged on the rotating rod and rotates with the rotating rod. The locking column has a mounting frame to fix the suction cup.

[0022] Preferably, the sliding support arm comprises:

[0023] A sliding frame, which is arranged on the bottom plate;

[0024] a bracket connected to the sliding frame and sliding with the sliding frame;

[0025] At least one cylinder assembly is disposed on the bottom plate and connected to the sliding frame to drive the sliding frame to slide along the bottom plate.

[0026] Preferably, the floating mechanism comprises:

[0027] Mounting plate;

[0028] a plurality of pillars disposed on the mounting plate;

[0029] A plurality of bearings disposed on the bottom plate, along which the pillars can slide;

[0030] At least one motor is disposed on the mounting plate and connected to the base plate via a telescopic column.

[0031] Preferably, the first door disassembly device and the second door disassembly device both include:

[0032] Support frame;

[0033] An adjustment frame, which is arranged on one side of the support frame;

[0034] A disassembly assembly, which is arranged on the adjustment frame to disassemble the door bolts;

[0035] A sliding mounting frame, which is arranged on the supporting frame;

[0036] A swing rod assembly, which is arranged at one end of the sliding mounting frame;

[0037] A gripper assembly, which is slidably disposed at the other end of the sliding mounting frame;

[0038] The cylinder assembly connects the gripper assembly and the swing arm assembly, and drives the gripper assembly and the swing arm assembly to slide along the sliding mounting frame respectively, so that the gripper assembly and the swing arm assembly are relatively close to or separated, thereby grabbing or releasing the vehicle door.

[0039] Preferably, the rocker assembly comprises:

[0040] Connecting plate,

[0041] A rocker plate rotatably supported on the connecting plate;

[0042] At least one pressure arm, which is disposed on the rocker plate;

[0043] A buffer is arranged between the rocker plate and the connecting plate to limit the rotation angle of the rocker plate.

[0044] Preferably, the gripper assembly comprises:

[0045] Gripper mounting plate;

[0046] At least one bracket has an L-shaped cross section and is disposed on the gripper mounting plate to lift the vehicle door.

[0047] Preferably, the support frame comprises:

[0048] a first support tube;

[0049] a second support tube, which is spaced apart from the first support tube;

[0050] A first mounting plate, which is arranged on the first supporting tube and the second supporting tube;

[0051] A second mounting plate, which is disposed on the first supporting tube and the second supporting tube and is spaced apart from the first mounting plate;

[0052] A third mounting plate, which is disposed on the first supporting tube and the second supporting tube and is located between the first mounting plate and the second mounting plate;

[0053] A side mounting plate, which is arranged on the first supporting tube;

[0054] A side mounting frame is arranged on the second supporting tube.

[0055] Preferably, the adjustment frame comprises:

[0056] First layer board;

[0057] A first driving cylinder is disposed on the support frame and connected to the first layer of plate to drive the first layer of plate to slide along the support frame.

[0058] The disassembly assembly comprises:

[0059] A second layer plate, which is slidably arranged on the first layer plate;

[0060] A fixing plate, which is arranged on the first layer plate;

[0061] a first tightening gun, which is arranged on the second layer plate;

[0062] a second tightening gun, which is arranged on the fixing plate;

[0063] A second driving cylinder is disposed on the first layer plate and connected to the second layer plate to drive the second layer plate to slide along the first layer plate;

[0064] The second driving cylinder drives the second layer plate to slide, so that the first tightening gun and the second tightening gun are brought closer to or separated from each other.

[0065] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0066] The door disassembly and installation production line provided by the present invention grasps and lifts the door through the cooperation of a suction cup assembly and a sliding support arm, and the bottom plate is attached or separated through a floating mechanism to reduce vibration displacement generated during the door assembly and movement process.

[0067] The vehicle door disassembly and installation production line provided by the present invention cooperates with the suction cup assembly and the sliding support arm, and the clamping force is adjustable, thereby avoiding deformation of the vehicle door. While realizing mechanical automatic disassembly of the vehicle door, the production rhythm of the vehicle door disassembly action is guaranteed.

[0068] The vehicle door disassembly and installation production line provided by the present invention can finely adjust the clamping force of the vehicle door through fine control and adjustment of the pneumatic components, ensure the stability of the clamping action, and effectively avoid the collision and deformation of the vehicle door. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0070] Figure 1 It is a structural schematic diagram of the vehicle door disassembly and installation production line of the present invention;

[0071] Figure 2 is a schematic structural diagram of a pneumatic gripper for door disassembly provided in an embodiment of the present invention;

[0072] Figure 3 It is a schematic diagram of the structure of the swing arm assembly provided in an embodiment of the present invention.

[0073] Figure 4 It is a schematic diagram of the structure of a gripper assembly provided in an embodiment of the present invention.

[0074] Figure 5 It is a schematic diagram of the structure of a support frame provided by an embodiment of the present invention.

[0075] Figure 6 It is a structural schematic diagram of a mounting flange provided in an embodiment of the present invention.

[0076] Figure 7 It is a schematic diagram of the use structure of the mounting flange provided in an embodiment of the present invention.

[0077] Figure 8 It is a structural schematic diagram of a sliding mounting frame provided in an embodiment of the present invention.

[0078] Fig. 9 It is a schematic diagram of the structure of the adjustment frame provided by an embodiment of the present invention.

[0079] Fig.10 It is a schematic structural diagram of a cylinder assembly provided in an embodiment of the present invention.

[0080] Fig.11 The invention is a schematic structural diagram of a pneumatic gripper for clamping a door for door removal provided in an embodiment of the present invention.

[0081] Fig.12 This is a flow chart of a control method of a pneumatic gripper for door removal according to the present invention;

[0082] Fig.13 is a schematic structural diagram of a vehicle door assembly device provided by an embodiment of the present invention;

[0083] Fig.14 is a schematic structural diagram of a suction cup assembly provided by an embodiment of the present invention;

[0084] Fig.15 is a schematic diagram of the structure of an adjusting component provided by an embodiment of the present invention;

[0085] Fig.16 is a schematic structural diagram of a sliding support arm provided by an embodiment of the present invention;

[0086] Fig.17 is a schematic structural diagram of a base plate provided by an embodiment of the present invention;

[0087] Fig.18 is a structural schematic diagram of a floating mechanism provided by an embodiment of the present invention;

[0088] Fig.19 It is a schematic diagram of the structure of a bracket provided in an embodiment of the present invention.

[0089] 140, sliding mounting frame; 150, rocker assembly; 160, gripper assembly; 170, cylinder assembly; 151, connecting plate; 152, rocker plate; 153, pressure arm; 154, buffer; 171, gripper mounting plate; 172, bracket; 181, first mounting plate; 182, second mounting plate; 183, mounting plate; 184, connecting pipe; 141, first guide shaft support; 142, second guide shaft support; 143, straight rod guide shaft; 144, first fixing ring; 145, second fixing ring; 146, first linear bearing; 147, second linear bearing; 148, third linear bearing; 149, compression spring; 121, first layer plate; 122, first driving cylinder; 131, second layer plate; 132, fixing plate ; 133, first tightening gun; 134, second tightening gun; 135, second driving cylinder; 171, first tightening driving cylinder; 172, second tightening driving cylinder; 173, first cylinder; 174, second cylinder; car door 200. 210, bottom plate; 220, sliding support arm; 230, suction cup assembly; 240, floating mechanism; 231, adjustment component; 232, suction cup; 2311, fixing column; 2312, rotating rod; 2313, locking block; 2314, pneumatic column; 2315, mounting frame; 221, sliding frame; 222, bracket; 223, cylinder assembly; 241, mounting plate; 242, multiple pillars; 243, multiple bearings; 244, at least one motor 245, multiple pillars; 2221, bracket; 2222, first mounting wheel; 2223, second mounting wheel; 200, vehicle door. DETAILED DESCRIPTION

[0090] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0091] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one", "one" or "the" do not indicate a quantitative limitation, but indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0092] It should be noted that the terms "up", "down", "left", "right", "front", "back", etc. used in the present invention are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0093] like Figure 1As shown, the present invention provides a door disassembly and installation production line, including: a first movable slide rail 1, which is arranged on one side of the body-in-white; a first door assembly device 3, which can be slidably arranged on the first movable slide rail; a first door disassembly device 4, which can be slidably arranged on the first movable slide rail and is spaced apart from the first door assembly device; a second movable slide rail 2, which is arranged on the other side of the body-in-white; a second door assembly device 5, which can be slidably arranged on the second movable slide rail; a second door disassembly device 6, which can be slidably arranged on the second movable slide rail and is spaced apart from the first door assembly device. In a specific embodiment, the door disassembly and installation production line includes two sets of identical disassembly and installation mechanisms that are symmetrically arranged in opposite directions, and each set of disassembly and installation mechanisms includes: a movable slide rail, a door assembly device and a door disassembly device, which can realize automatic installation and automatic disassembly of doors. The specific implementation process is: the door assembly device and the door disassembly device are driven to move synchronously with the body-in-white production line through the movable slide rail, and the door installation process: the door is grabbed by the door assembly device, and the door is moved to the body-in-white position, and the door is assembled to the body-in-white by visual software traction. Door disassembly process: The door is opened by the door assembly device, so that the door and the body-in-white have a rotation angle, and then the bolts on the door hinge are loosened by the door disassembly device, and the door and the bolts are clamped and disassembled by the door disassembly device. The door is clamped by the pneumatic component to control the swing arm component and the gripper component. The clamping force is adjustable to avoid door deformation. The double-sided setting and door disassembly and installation production line ensure the production rhythm of door disassembly while realizing the mechanical automatic disassembly of the door. Through the fine control and adjustment of the pneumatic component, the clamping force of the door is finely adjusted, which effectively avoids the collision and deformation of the door, and ensures the stability of the clamping action, and the accuracy of automatic assembly and disassembly of the door.

[0094] like Figure 2-3 As shown, the present invention discloses a pneumatic gripper for disassembling a vehicle door, comprising: a support frame, an adjustment frame, a disassembly assembly, a sliding mounting frame, a rocker assembly, a gripper assembly and a cylinder assembly.

[0095] Among them, Figure 2 As shown, the present invention discloses a pneumatic gripper for disassembling a vehicle door, comprising: a support frame 110 , an adjustment frame 120 , a disassembly assembly 130 , a sliding mounting frame 140 , a swing arm assembly 150 , a gripper assembly 160 and a cylinder assembly 170 .

[0096] Among them, the adjustment frame 120 is arranged on one side of the support frame 110; the disassembly assembly 130 is arranged on the adjustment frame 120 to disassemble the door bolts; the sliding mounting frame 140 is arranged on the support frame 110; the rocker assembly 150 is arranged at one end of the sliding mounting frame 140; the gripper assembly 160 can be slidably arranged at the other end of the sliding mounting frame 140; the cylinder assembly 170 connects the gripper assembly 160 and the rocker assembly 150, and drives the gripper assembly 160 and the rocker assembly 150 to slide along the sliding mounting frame 140 respectively, so that the gripper assembly 160 and the rocker assembly 150 are relatively close to or separated, and then the door is grasped or released. In a specific embodiment, the position of the disassembly assembly 130 is changed by adjusting the frame 120, and the door bolts are loosened, and then the positions of the rocker assembly 150 and the gripper assembly 160 are changed by the cylinder assembly 170, so that the distance between the rocker assembly 150 and the gripper assembly 160 is increased, and the pneumatic gripper is opened so that the door is located between the rocker assembly 150 and the gripper assembly 160, and then the distance between the rocker assembly 150 and the gripper assembly 160 is reduced by the cylinder assembly 170, the rocker assembly 150 is against the upper edge of the door, and the gripper assembly 160 lifts the lower edge of the door to grip the door, thereby cooperating with the robot to complete the door disassembly. In this embodiment, the disassembly assembly, the rocker arm assembly and the gripper assembly are integrated into the same disassembly device, so that the actions of loosening the door bolts and clamping the door are completed by one set of equipment, effectively avoiding the interference caused by multiple sets of equipment in parallel. The door is clamped by controlling the rocker arm assembly and the gripper assembly through the pneumatic assembly, and the clamping force is adjustable, thereby avoiding deformation of the door. While realizing the mechanical automatic disassembly of the door, the production rhythm of the door disassembly action is guaranteed.

[0097] like Figure 2As shown, the swing bar assembly 150 includes: a connecting plate 151, a swing bar plate 152, a pressure arm 153 and a buffer 154, wherein the swing bar plate 152 is rotatably supported on the connecting plate 151; at least one pressure arm 153 is on the swing bar plate 152; and the buffer 154 is arranged between the swing bar plate 152 and the connecting plate 151 to limit the rotation angle of the swing bar plate 152. In this embodiment, the swing bar assembly 150 directly abuts against the upper edge of the door or the lower edge of the window. Due to the change of the vehicle model, the shape or line of the upper edge of the door and the lower edge of the window has a certain inclination angle. The swing bar plate 152 and the connecting plate 151 are arranged in a rotatable structure, so that the pressure arm 153 can be completely fitted with the upper edge of the door or the upper edge of the window, ensuring that the force is evenly applied when clamping the door to avoid deformation. A buffer is arranged between the swing bar plate and the connecting plate to reduce the rotation speed of the swing bar assembly, and a limit mechanism is arranged to protect the paint surface of the door and ensure the clamping force. In a preferred embodiment, the number of the pressing arms 153 is set to two, which are respectively located at the two ends of the rocker plate 152 to further ensure the uniformity of the force. In a preferred embodiment, the cross-section of the pressing arm 153 is "L" shaped, and a flexible pad is provided on the surface of the pressing arm 153 to protect the door. In a specific application process, the shape of the pressing arm can be adaptively adjusted according to the shape of the door.

[0098] like Figure 3 As shown, the gripper assembly 170 includes: a gripper mounting plate 171 and a bracket 172, wherein at least one bracket has an L-shaped cross section and is arranged on the gripper mounting plate 171 to lift the vehicle door. Preferably, a cushion 173 is arranged on the bracket to ensure uniform force when lifting the vehicle door, play a buffering role, and avoid damage to the vehicle door.

[0099] In a preferred embodiment, the number of the brackets is set to two.

[0100] like Figure 4 As shown, the support frame 110 includes: a first support tube 111, a second support tube 112, a first mounting plate 113, a second mounting plate 114, a third mounting plate 115, a side mounting plate 116 and a side mounting frame 117. The second support tube 112 is spaced apart from the first support tube 111; the first mounting plate 113 is arranged on the first support tube 111 and the second support tube 112; the second mounting plate 114 is arranged on the first support tube 111 and the second support tube 112, and is spaced apart from the first mounting plate 113; the third mounting plate 115 is arranged on the first support tube 111 and the second support tube 112, and is located between the first mounting plate 113 and the second mounting plate 114; the side mounting plate 116 is arranged on the first support tube 111, and the side mounting frame 117 is arranged on the second support tube 112. It should be noted that the support frame adopts a frame structure, and the first support tube 111 and the second support tube 112 are both supported by square steel to ensure the supporting strength of the entire support frame structure.

[0101] like Figure 5-6 As shown, in a preferred embodiment, it also includes a mounting flange 180, which is arranged on the side mounting plate to connect the industrial robot. In order to adapt to the tilt angle of the entire gripper, the structural design of the mounting flange includes: a first mounting plate 181, a second mounting plate 182, a mounting plate 183 and a connecting pipe 184, wherein the first mounting plate 181 and the second mounting plate 182 are fixedly connected to form an "L"-shaped structure with a connecting ridge line to fix the mounting flange 180 on the side mounting plate 116. The mounting plate 183 is arranged on the mounting ridges of the first mounting plate 181 and the second mounting plate 182 through the connecting pipe 184, so that the mounting plane of the mounting plate 183 has an angle with the first mounting plate 181 or the second mounting plate 182. In this embodiment, the angle is 45 degrees. Through the angle structural design of the flange, the entire pneumatic gripper forms an angle with the robot arm, which is convenient for loosening screws and clamping car doors.

[0102] like Figure 7 As shown, the sliding mounting frame 140 includes: at least one linear slide rail assembly. Specifically, the linear slide rail assembly includes: a first guide shaft support 141, a second guide shaft support 142, a straight rod guide shaft 143, a first fixing ring 144, a second fixing ring 145, a first linear bearing 146, a second linear bearing 147, a third linear bearing 148 and a compression spring 149. In a specific embodiment, the first guide shaft support 141 and the second guide shaft support 142 are respectively arranged at both ends of the support frame 110, the straight rod guide shaft 143 is arranged between the first guide shaft support 141 and the second guide shaft support 142, and the first fixing ring 144 and the second fixing ring 145 are arranged on the straight rod guide shaft 143 to limit the sliding position, and the straight rod guide shaft 143 is divided into three sliding areas, which are the first sliding area, the second sliding area and the third sliding area from top to bottom. The first sliding area is located between the first guide shaft support 141 and the first fixing ring 144, the second sliding area is located between the first fixing ring 144 and the second fixing ring 145, and the third sliding area is located between the first fixing ring 144 and the second fixing ring 145. Between the second fixed ring 145 and the second guide shaft support 142, the compression spring 149 is sleeved on the straight rod guide shaft 143 and is located in the third area. The first linear bearing 146 is sleeved on the straight rod guide shaft 143, and the connecting rocker assembly 150 slides in the first area. The second linear bearing 147 is sleeved on the straight rod guide shaft 143 and is connected to the gripper assembly 170. The third linear bearing 148 is sleeved on the straight rod guide shaft 143 and is connected to the gripper assembly, so that the gripper assembly slides between the first fixed ring 144 and the second fixed ring 145, and elastic support is achieved by the compression spring 149 arranged in the third area to prevent the gripper assembly from lifting and lowering quickly when grabbing the door and causing damage to the door.

[0103] In a preferred embodiment, the number of the linear guide rail assemblies is set to two.

[0104] like Figure 8 As shown, the adjustment frame 120 includes: a first layer plate 121 and a first driving cylinder 122. The first driving cylinder 122 is arranged on the support frame 110 and connected to the first layer plate 121 to drive the first layer plate 121 to slide along the support frame 110. A slide rail is arranged between the first layer plate and the support frame 110. The sliding direction of the slide rail is from the top of the support frame 110 to the bottom of the support frame 110, thereby realizing longitudinal sliding along the edge of the support frame 110.

[0105] The disassembly assembly 130 includes: a second layer plate 131, a fixed plate 132, a first tightening gun 133, a second tightening gun 134 and a second driving cylinder 135, wherein the second layer plate 131 can be slidably arranged on the first layer plate; the fixed plate 132 is arranged on the first layer plate; the first tightening gun 133 is arranged on the second layer plate 131; the second tightening gun 134 is arranged on the fixed plate 132; the second driving cylinder 135 is arranged on the first layer plate and connected to the second layer plate 131 to drive the second layer plate 131 to slide along the first layer plate; wherein the second driving cylinder 135 drives the second layer plate 131 to slide, and the second layer plate 131 and the fixed plates 132132 are close to or separated, so that the first tightening gun 133 and the second tightening gun 134 are close to or separated. It should be noted that by changing the interval between the tightening guns, it is suitable for changes in vehicle models and door bolt specifications, and has good universality.

[0106] In a specific embodiment, the overall movement of the disassembly assembly 130 is achieved through the adjustment frame 120, that is, the overall height of the disassembly assembly 130 is adjusted to adapt to changes in the height of the assembly line or the vehicle model. The interval adjustment between the second layer plate 131 and the fixed plate 132 is achieved through the second driving cylinder 135, that is, the interval between the two tightening guns is adjusted to adapt to changes in vehicle models and changes in bolt spacing, which has good universality.

[0107] In a preferred embodiment, the fixed plate and the second layer plate are respectively connected to two driving cylinders, which slide on the first layer plate to achieve precise displacement adjustment of the distance between the two layers.

[0108] like Figure 8-9As shown, the cylinder assembly 170 includes: a first tightening drive cylinder 171, a second tightening drive cylinder 172, a first cylinder 173 and a second cylinder 174, wherein the first tightening drive cylinder 171 is arranged on the second layer plate 131 and is connected to the first tightening gun 133 to drive the first tightening gun 133 to slide along the second layer plate 131; the second tightening drive cylinder 172 is arranged on the fixed plate 132 and is connected to the second tightening gun 134 to drive the second tightening gun 134 to slide along the fixed plate 132; the first cylinder 173 is arranged between the support frame and the gripper assembly to drive the gripper assembly to slide along the sliding mounting frame; the second cylinder 174 is arranged between the support frame and the rocker arm assembly to drive the rocker arm assembly to slide along the sliding mounting frame.

[0109] like Fig.10 As shown, the working process of the pneumatic gripper for door removal is taken as an example for further explanation:

[0110] The car door is opened by an industrial robot mechanical arm or manually, and the industrial robot drives the pneumatic gripper for door disassembly to move to the door hinge position, and aligns the two sets of tightening guns with the top screw positions of the door bolts. The disassembly assembly 130 is moved as a whole by adjusting the frame 120 to adapt to the height of the car door, and then the interval between the second layer plate 131 and the fixed plate 132 is adjusted to make the first tightening gun and the second tightening gun respectively align with the two bolts at the hinge connection position of the door, and then the first tightening drive cylinder 171 and the second tightening drive cylinder 172 are used to respectively cooperate with the bolts to loosen the bolts.

[0111] Rotate the pneumatic gripper for door disassembly, align the rocker assembly 150 and the gripper assembly 160 with the door, adjust the distance between the gripper assembly and the rocker assembly by the first cylinder 173 and the second cylinder 174, so that the gripper assembly and the rocker assembly are respectively located on both sides of the door, further reduce the distance between the gripper assembly and the rocker assembly to clamp the door, and use the industrial robot to move the pneumatic gripper for door disassembly, remove it from the vehicle body together with the door and bolts and screws, to achieve door disassembly.

[0112] like Fig.11 As shown, the present invention also discloses a control method for a pneumatic gripper for door removal, comprising:

[0113] S110, respectively setting the initial positions of the swing arm assembly and the gripper assembly;

[0114] The initial position of the gripper assembly is the bottom end of the support frame, flush with the end of the support frame, and its initial position is set as the zero position;

[0115] The initial position of the rocker assembly is: taking the initial position of the gripper assembly as the reference point, it is located at point H above the gripper assembly, H=H1+h; wherein H represents the distance between the rocker assembly and the gripper assembly, H1 represents the clamping height of the door, and h represents the floating value. In this embodiment, h is 80-100mm.

[0116] S120, according to the door parameters, respectively set the travel trajectory of the swing arm assembly and the gripper assembly; the travel includes: the swing arm assembly release motion trajectory, the swing arm assembly gripping motion trajectory, the gripper assembly release motion trajectory and the gripper assembly gripping motion trajectory;

[0117] S130, respectively setting the inlet and outlet pressures and flow rates of the first cylinder and the second cylinder in combination with the travel trajectory and production rhythm of the swing arm assembly and the gripper assembly.

[0118] Among them, the gripper assembly grasping motion trajectory: moving from the initial position of the gripper assembly to the lifting position point, the stroke is 35-50mm;

[0119] Release motion trajectory of the gripper assembly: moving from the lifting position point to the initial position of the gripper assembly; the stroke is 35-50mm;

[0120] Among them, the lifting position point is: moving 35-50mm from the initial position of the gripper assembly to the direction of the swing arm assembly.

[0121] The grabbing motion trajectory of the swing arm assembly: it moves from the initial position of the swing arm assembly to the gripping position point, with a stroke of 30-65mm;

[0122] Release motion trajectory of the swing arm assembly: the motion stroke from the clamping position point to the initial position point of the swing arm assembly is 30-65mm.

[0123] Experimental Example 1: The control method of the pneumatic gripper for door disassembly provided in the above embodiment is used to grip the door, and multiple pressure sensors are respectively set at the gripper assembly and the swing arm assembly. The clamping force of the door is obtained under static and dynamic conditions, and then the force and deformation analysis is obtained. The static clamping test results of the door are shown in Table 1. The pressure monitoring data table of the static clamping position of the door. The dynamic clamping test results of the door are shown in Table 2. Table 1. The pressure monitoring data table of the dynamic clamping position of the door.

[0124] Table 1. Door static gripping position point pressure monitoring data table

[0125]

[0126] Table 2 Door dynamic gripping position point pressure monitoring data table

[0127]

[0128]

[0129] In summary, it can be seen from Table 1-2 that through the fine control and adjustment of the pneumatic components, the clamping force of the car door is finely adjusted, and the stability of the clamping action is guaranteed, which effectively avoids the bumping and deformation of the car door.

[0130] like Fig.13 As shown, the present invention discloses a vehicle door assembly device, comprising: a bottom plate 210, a sliding support arm 220, a suction cup 232 assembly 230 and a floating mechanism 240. The sliding support arm 220 is arranged at one end to lift the vehicle door; the suction cup 232 assembly 230 is arranged at the other end of the bottom plate 210 to cooperate with the sliding support arm 220 to suck or release the vehicle door; one end of the floating mechanism 240 is arranged at the bottom plate 210, and the other end is detachably connected to the mechanical arm, and the floating mechanism 240 can be attached to or separated from the bottom plate 210 to reduce the vibration displacement generated during the movement of the vehicle door assembly. In a specific embodiment, the door assembly device is connected to a robot arm. During the grabbing process, the floating mechanism 240 is separated from the bottom plate 210, and the door is lifted by the sliding support arm 220, and the door is sucked by the suction cup 232 assembly 230 at the same time, thereby realizing the grabbing of the door; during the door assembly process, the floating mechanism 240 is fitted with the bottom plate 210 to reduce the vibration displacement generated during the door assembly movement process, and the door assembly device and the door are driven by the robot arm to move, and the door is set on the door hinge. After the assembly is completed, the door is released by the suction cup 232 assembly 230 to realize the automatic assembly of the door to the body. The door assembly device provided in this embodiment grabs and lifts the door through the suction cup 232 assembly 230 and the sliding support arm 220, and the bottom plate 210 is fitted or separated by the floating mechanism 240 to reduce the vibration displacement generated during the door assembly movement process. , ensuring the assembly accuracy of the door and the body-in-white.

[0131] like Fig.14 As shown, the suction cup 232 assembly 230 includes: an adjustment component 231 and at least one suction cup 232, the adjustment component 231 is arranged on the bottom plate 210; at least one suction cup 232 is arranged on the adjustment component 231 and rotates with the adjustment component 231, and the suction cup 232 receives or releases gas through the pneumatic column 2314 to generate or release adsorption pressure. In a specific embodiment, the number of suction cups 232 is set to two, which are respectively arranged on both sides of the adjustment component 231, and the pitch angle of the suction cup 232 relative to the bottom plate 210 is adjusted by the adjustment component 231 to adapt to different vehicle models.

[0132] like Fig.15As shown, in a specific embodiment, the adjustment component 231 includes: a fixed column 2311, a rotating rod 2312 and a locking block 2313, wherein the fixed column 2311 is connected to the base plate 210; the rotating rod 2312 is rotatably arranged on the fixed column 2311; at least one locking block 2313 is arranged on the rotating rod 2312 and rotates with the rotating rod 2312, and the locking column has a mounting frame 2315 to fix the suction cup 232. In a preferred embodiment, the mounting frame 2315 has a mounting hole, and the mounting hole has a locking nut arranged circumferentially. The pneumatic column 2314 of the suction cup 232 is arranged in the mounting hole and fixed in the mounting hole by the locking nut. The rotating rod 2312 drives the mounting frame 2315 and the suction cup 232 to rotate, so as to achieve the pitch angle adjustment of the suction cup 232 relative to the base plate 210.

[0133] like Fig.16 As shown, the sliding support arm 220 includes: a sliding frame 221, a bracket 222 and a cylinder assembly 223, wherein the sliding frame 221 is arranged on the bottom plate 210; the bracket 222 is connected to the sliding frame 221 and slides with the sliding frame 221; and at least one cylinder assembly 223 is arranged on the bottom plate 210 and connected to the sliding frame 221 to drive the sliding frame 221 to slide along the bottom plate 210. In a specific embodiment, the sliding frame 221 is pulled to slide on the bottom plate 210 by the cylinder assembly 223 to adjust the assembly height of the vehicle door.

[0134] like Fig.17 As shown, the cross section of the bottom plate 210 is a "convex" shape. In a preferred embodiment, a slide rail 2101 or a slide groove is provided on the bottom plate 210, and the slide frame 221 slides in cooperation with the slide rail or the slide groove.

[0135] like Figure 17-18 As shown, the floating mechanism 240 includes: a mounting plate 241, a plurality of pillars 242, a plurality of bearings 243 and at least one motor 244. The plurality of pillars 242 are arranged on the mounting plate 241; the plurality of bearings 243 are arranged on the bottom plate 210, and the pillars can slide along the bearings; and at least one motor is arranged on the mounting plate 241 and connected to the bottom plate 210 through a telescopic column. In a specific embodiment, the pillars and the bearings are arranged in a one-to-one manner, and the pillars can slide in the bearings. The pillars are circumferentially distributed on the mounting plate 241, and the bearings are correspondingly circumferentially distributed on the bottom plate 210. The motor controls the telescopic column to change the interval between the bottom plate 210 and the mounting plate 241, and the pillars and the bearings follow. In this embodiment, the interval between the bottom plate 210 and the mounting plate 241 is stably changed by the motor and the bearings. When the bottom plate 210 and the mounting plate 241 are fitted, the door assembly device stably grabs the door, reduces vibration displacement, and improves the assembly accuracy of visual guidance.

[0136] like Fig.19 As shown, the bracket 222 includes: a bracket 2221, a first mounting wheel 2222 and a second mounting wheel 2223. The bracket 2221 has an "L"-shaped cross section, the first mounting wheel 2222 is rotatably disposed on the bracket 2221, and the second mounting wheel is rotatably disposed on the bracket 2221 and spaced apart from the first mounting wheel 2222. In a preferred embodiment, the first mounting wheel 2222 and the second mounting wheel 2223 are flexible wheels to avoid damaging the vehicle door.

[0137] The working process of the pneumatic gripper for door removal is taken as an example for further explanation:

[0138] The door assembly device is driven by the industrial robot mechanical arm, and the door is grabbed and lifted by the suction cup 232 assembly 230 and the sliding support arm 220. During the grabbing process, the floating mechanism 240 is separated from the bottom plate 210, and the door is lifted by the sliding support arm 220, and the door is sucked by the suction cup 232 assembly 230 at the same time, so as to realize the grabbing of the door; during the door assembly process, the floating mechanism 240 is fitted with the bottom plate 210 to reduce the vibration displacement generated during the door assembly movement. The door assembly device and the door are driven by the robot arm to move, and the door is set on the door hinge. After the assembly is completed, the door is released by the suction cup 232 assembly 230 to realize the automatic assembly of the door and the body. The bottom plate 210 is fitted or separated by the floating mechanism 240 to reduce the vibration displacement generated during the door assembly movement. The assembly accuracy of the door and the body-in-white is guaranteed.

[0139] The following points need to be explained:

[0140] (1) The drawings of the embodiments of the present invention only relate to the structures related to the embodiments of the present invention, and other structures may refer to the general design.

[0141] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present invention, the thickness of the layers or regions is exaggerated or reduced, that is, these drawings are not drawn according to the actual scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element or there may be intermediate elements.

[0142] (3) In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0143] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A car door disassembly and installation production line, characterized in that: include: A first movable slide rail, which is arranged on one side of the body-in-white; A first door assembly device, which is slidably disposed on the first movable slide rail; A first door disassembling device, which is slidably disposed on the first movable slide rail and is spaced apart from the first door assembling device; A second movable slide rail, which is arranged on the other side of the body-in-white; a second door assembly device, which is slidably disposed on the second movable slide rail; The second door disassembling device is slidably arranged on the second movable slide rail and is spaced apart from the first door assembling device.

2. The door disassembly and installation production line according to claim 1 is characterized in that: The first vehicle door assembly device and the second vehicle door assembly device both include: Base plate; A sliding support arm, which is arranged at one end of the bottom plate to lift the vehicle door; A suction cup assembly, which is arranged at the other end of the bottom plate to cooperate with the sliding support arm to suck or release the door; A floating mechanism, one end of which is arranged on the bottom plate, and the other end of which is detachably connected to the mechanical arm, and the floating mechanism can be attached to or separated from the bottom plate to reduce the vibration displacement generated during the assembly and movement of the door.

3. The door disassembly and installation production line according to claim 2, characterized in that: The suction cup assembly comprises: At least one suction cup, which is arranged on the adjusted component and rotates with the adjusted component, and the suction cup receives or releases gas through the pneumatic column to generate or release adsorption pressure; A fixed column connected to the base plate; A rotating rod, which is rotatably arranged on the fixed column; At least one locking block is arranged on the rotating rod and rotates with the rotating rod. The locking column has a mounting frame to fix the suction cup.

4. The door disassembly and installation production line according to claim 2, characterized in that: The sliding support arm comprises: A sliding frame, which is arranged on the bottom plate; a bracket connected to the sliding frame and sliding with the sliding frame; At least one cylinder assembly is disposed on the bottom plate and connected to the sliding frame to drive the sliding frame to slide along the bottom plate.

5. The door disassembly and installation production line according to claim 4, characterized in that: The floating mechanism comprises: Mounting plate; a plurality of pillars disposed on the mounting plate; A plurality of bearings disposed on the bottom plate, along which the pillars can slide; At least one motor is disposed on the mounting plate and connected to the base plate via a telescopic column.

6. The door disassembly and installation production line according to claim 1, characterized in that: The first door disassembly device and the second door disassembly device both include: Support frame; An adjustment frame, which is arranged on one side of the support frame; A disassembly assembly, which is arranged on the adjustment frame to disassemble the door bolts; A sliding mounting frame, which is arranged on the supporting frame; A swing rod assembly, which is arranged at one end of the sliding mounting frame; A gripper assembly, which is slidably disposed at the other end of the sliding mounting frame; The cylinder assembly connects the gripper assembly and the swing arm assembly, and drives the gripper assembly and the swing arm assembly to slide along the sliding mounting frame respectively, so that the gripper assembly and the swing arm assembly are relatively close to or separated, thereby grabbing or releasing the vehicle door.

7. The door disassembly and installation production line according to claim 6, characterized in that: The swing rod assembly comprises: Connecting plate, A rocker plate rotatably supported on the connecting plate; At least one pressure arm, which is disposed on the rocker plate; A buffer is arranged between the rocker plate and the connecting plate to limit the rotation angle of the rocker plate.

8. The door disassembly and installation production line according to claim 7, characterized in that: The gripper assembly comprises: Gripper mounting plate; At least one bracket has an L-shaped cross section and is disposed on the gripper mounting plate to support the vehicle door.

9. The door disassembly and installation production line according to claim 8, characterized in that: The support frame comprises: a first support tube; a second support tube, which is spaced apart from the first support tube; A first mounting plate, which is arranged on the first supporting tube and the second supporting tube; A second mounting plate, which is disposed on the first supporting tube and the second supporting tube and is spaced apart from the first mounting plate; A third mounting plate, which is disposed on the first supporting tube and the second supporting tube and is located between the first mounting plate and the second mounting plate; A side mounting plate, which is arranged on the first supporting tube; A side mounting frame is arranged on the second supporting tube.

10. The door disassembly and installation production line according to claim 9, characterized in that: The adjustment frame comprises: First layer board; A first driving cylinder is disposed on the support frame and connected to the first layer of plate to drive the first layer of plate to slide along the support frame. The disassembly assembly comprises: A second layer plate, which is slidably arranged on the first layer plate; A fixing plate, which is arranged on the first layer plate; a first tightening gun, which is arranged on the second layer plate; a second tightening gun, which is arranged on the fixing plate; A second driving cylinder is disposed on the first layer plate and connected to the second layer plate to drive the second layer plate to slide along the first layer plate; The second driving cylinder drives the second layer plate to slide, so that the first tightening gun and the second tightening gun are brought closer to or separated from each other.

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