Gluing process system and process before core pulling and riveting of ear-shaped front longitudinal beam attachment plate

Abstract

The invention discloses a gluing process system used before core pulling and rivet pulling of an ear-shaped front longitudinal beam attached plate. The gluing process system comprises an industrial robot, a workpiece clamp platform and an industrial robot execution tail end arranged at the tail end of a mechanical arm of the industrial robot. The automobile front longitudinal beam is clamped on the workpiece clamp platform; the industrial robot execution tail end comprises an actuator support, a gluing machine and an execution hand. The gluing machine and the executive hand are both arranged on the executive device bracket; the execution hand can grab a horizontally-placed lug-shaped attachment plate and move the grabbed lug-shaped attachment plate to the position over a crumple groove of the clamped automobile front longitudinal beam; the problem that errors occur in the height direction due to the fact that suction cups are always directly adopted for suction in the ear-shaped attached plate grabbing process is solved.

Description

Technical Field

[0001] The present invention belongs to the field of automotive component processing. Background Art

[0002] The workpiece in this solution is the front longitudinal beam 2 of an automobile. As Figure 3 shown, a crush groove 9 is provided on one side of the front longitudinal beam 2 of the automobile. Its function is to serve as a predetermined weak point, guide the longitudinal beam to fold and deform along a specific path during a collision, and absorb impact energy through structural collapse.

[0003] In order to ensure the necessary structural strength at the crush groove 9 of the front longitudinal beam 2 of the automobile, prevent cracks and other phenomena from occurring at the crush groove 9 due to normal vibration pulling, and meet the need to improve the consistency of the crush trigger conditions; it is necessary to attach an ear-shaped attachment plate 11 along the contour at the crush groove 9 of the front longitudinal beam 2 of the automobile; as Figure 3 shown, the specific process is to first tightly bond and attach the ear-shaped attachment plate 11 along the contour to the side of the position where the crush groove 9 of the front longitudinal beam 2 of the automobile is located through a structural adhesive 13 to make them integrated, and then firmly fix the ear-shaped attachment plate 11 on the front longitudinal beam 2 of the automobile through a number of riveting parts 14. The ear-shaped attachment plate 11 effectively ensures the necessary structural strength at the crush groove 9 of the front longitudinal beam 2 of the automobile under the combined action of the structural adhesive 13 and a number of riveting parts 14, prevents cracks and other phenomena from occurring at the inner contour of the crush groove 9 due to normal vibration pulling, and meets the need to improve the consistency of the crush trigger conditions.

[0004] This solution mainly focuses on the specific process device and process of tightly and stably bonding and attaching the ear-shaped attachment plate 11 to the side of the position where the crush groove 9 of the front longitudinal beam 2 of the automobile is located. Summary of the Invention

[0005] Object of the Invention: In order to overcome the deficiencies in the prior art, the present invention provides a glue coating process system and process for an ear-shaped front longitudinal beam attachment plate before blind riveting, which solves the problem of errors in the height direction caused by directly using a suction cup to adsorb during the process of grasping the ear-shaped attachment plate.

[0006] Technical Solution: To achieve the above object, a glue coating process system for an ear-shaped front longitudinal beam attachment plate before blind riveting according to the present invention includes an industrial robot, a workpiece fixture platform, and an industrial robot execution end at the end of the industrial robot's mechanical arm; the front longitudinal beam of the automobile is clamped on the workpiece fixture platform;

[0007] The industrial robot execution end includes an actuator bracket, a glue coating machine, and an execution hand; both the glue coating machine and the execution hand are on the actuator bracket; the execution hand can grasp a horizontally placed ear-shaped attachment plate through a suction cup and displace the grasped ear-shaped attachment plate to directly above the crush groove of the clamped front longitudinal beam of the automobile.

[0008] Further, the execution hand includes a telescopic bracket. On the lower side of the telescopic bracket, a first telescopic device, a second telescopic device, and a third telescopic device with their telescopic parts facing downward and distributed in a triangular shape are installed. The lower ends of the telescopic parts of the first telescopic device, the second telescopic device, and the third telescopic device are respectively connected to a first lifting pressure block, a second lifting pressure block, and a third lifting pressure block. The first lifting pressure block, the second lifting pressure block, and the third lifting pressure block perform precise lifting movements under the drive of the first telescopic device, the second telescopic device, and the third telescopic device.

[0009] On one side of the first telescopic device and the second telescopic device, a first negative pressure suction cup and a second negative pressure suction cup facing downward are respectively fixedly installed through a first suction cup bracket and a second suction cup bracket.

[0010] Further, the discs of the first negative pressure suction cup and the second negative pressure suction cup are both made of rubber sealing material with a certain elasticity.

[0011] Further, two positioning pins extending downward are fixedly connected to both sides of the third telescopic device through positioning pin sockets. In the state where the execution hand grabs an ear-shaped attachment plate, the two positioning pins are respectively inserted into two a riveting holes on the ear-shaped attachment plate.

[0012] Further, the inner edge of the notch of the ear-shaped attachment plate adapted to the collapse groove is provided with a structural contour inner edge with a downward arc-shaped flanging along the contour. The upper surface of the structural contour inner edge is an arc flanging surface, and the bottom end of the structural contour inner edge is the inner edge bottom end surface. When the ear-shaped attachment plate is closely adhesively attached to the side of the position where the collapse groove of the vehicle front longitudinal beam is located, the structural contour inner edge of the ear-shaped attachment plate just wraps around the inner contour of the collapse groove along the contour.

[0013] Further, the glue application and bonding method:

[0014] Step 1, the glue applicator applies glue to the vehicle front longitudinal beam.

[0015] Step 2, the ccd vision camera takes an image of the area on the surface of the vehicle front longitudinal beam covered by the structural adhesive, so as to identify whether there is glue leakage and uneven application through vision detection.

[0016] Step 3, the execution hand precisely grabs an ear-shaped attachment plate.

[0017] Step 4, the execution hand displaces the precisely grabbed ear-shaped attachment plate to be precisely fitted onto the structural adhesive on the surface of the vehicle front longitudinal beam.

[0018] Further, there are a left electric lifter and a right electric lifter on the lower side of the telescopic bracket; the lower sides of the left electric lifter and the right electric lifter are respectively connected to a left lifting block and a right lifting block through lifting drives; the left lifting block and the right lifting block are fixedly connected through a pair of horizontally parallel guiding slide bars; the left floating roller bracket and the right floating roller bracket distributed in an "eight" shape are symmetrically arranged between the left lifting block and the right lifting block; the guiding slide bars horizontally pass through the guiding holes at the upper ends of the left floating roller bracket and the right floating roller bracket, so that the left floating roller bracket and the right floating roller bracket can slide under the guiding constraints of a pair of guiding slide bars;

[0019] A spring is sleeved on the guiding slide bar, and both ends of the spring respectively form elastic thrusts on the left floating roller bracket and the right floating roller bracket, so that in the initial state, the left floating roller bracket and the right floating roller bracket respectively lean against the left lifting block and the right lifting block under the thrust of the spring; a first roller and a second roller are respectively rotatably installed at the lower ends of the left floating roller bracket and the right floating roller bracket;

[0020] In the state of accurately grasping a horizontal ear-shaped attachment plate by the execution hand, the first roller and the second roller are respectively directly above the two ends of the inner edge of the structural contour of the ear-shaped attachment plate; under the drive of the left electric lifter and the right electric lifter, the first roller and the second roller can descend to be tangent to the arc flanging surfaces at the two ends of the inner edge of the structural contour respectively.

[0021] Further, a glue coating and bonding method. Step five, after "step four" ends, under the drive of the left electric lifter and the right electric lifter, the first roller and the second roller descend until the first roller and the second roller reach the lower side of the inner edge of the structural contour; then the industrial robot controls the overall upward displacement of the execution hand, and then the industrial robot controls the overall downward displacement of the execution hand.

[0022] Beneficial effects: The present invention solves the problem of errors in the height direction caused by directly using a suction cup to adsorb during the process of grasping the ear-shaped attachment plate. At the same time, in terms of structure and process, it can realize repeated actions of separation and reattachment, optimize the bonding interface between the ear-shaped attachment plate and the front longitudinal beam of the vehicle, and make the bonding more uniform and firm. Description of the Drawings

[0023] Figure 1 It is an overall top view layout diagram of an automated factory building;

[0024] Figure 2 It is a schematic diagram of the whole solution;

[0025] Figure 3 It is a schematic diagram of the process of applying glue and bonding the ear-shaped attachment plate along the contour at the crash groove of the front longitudinal beam of the vehicle;

[0026] Figure 4 It is a schematic diagram of the structure of the ear-shaped attachment plate;

[0027] Figure 5 It is a schematic diagram of the overall industrial robot;

[0028] Figure 6 is Figure 5 Another schematic diagram of the local state of

[0029] Figure 7 It is a schematic diagram of the structure of the end effector;

[0030] Figure 8 It is a schematic diagram of the optimized structure of the end effector;

[0031] Figure 9 It is a schematic diagram during "Step 5";

[0032] Figure 10 It is an enlarged schematic diagram of the guide rod. Specific implementation manner

[0033] The present invention will be further described below with reference to the accompanying drawings.

[0034] As shown in the attached Figures 1 to 10 A glue application process system before core-pulling riveting of an ear-shaped front longitudinal beam attachment plate shown in the figure. The workpiece in this solution is the automotive front longitudinal beam 2. A crush groove 9 is provided on one side of the automotive front longitudinal beam 2. In order to ensure the necessary structural strength at the crush groove 9 of the automotive front longitudinal beam 2, prevent phenomena such as cracks from occurring at the crush groove 9 due to normal vibration pulling, and meet the need to improve the consistency of the crush trigger conditions; it is necessary to attach an ear-shaped attachment plate 11 along the contour at the crush groove 9 of the automotive front longitudinal beam 2.

[0035] As Figure 3 shown, the specific process is to first tightly bond and attach the ear-shaped attachment plate 11 along the contour to the side of the position where the crush groove 9 of the automotive front longitudinal beam 2 is located through the structural adhesive 13, making them integrated. Then, the ear-shaped attachment plate 11 is firmly fixed on the automotive front longitudinal beam 2 through a plurality of riveting parts 14. Under the combined action of the structural adhesive 13 and the plurality of riveting parts 14, the ear-shaped attachment plate 11 effectively ensures the necessary structural strength at the crush groove 9 of the automotive front longitudinal beam 2, prevents phenomena such as cracks from occurring at the inner contour of the crush groove 9 due to normal vibration pulling, and meets the need to improve the consistency of the crush trigger conditions.

[0036] As Figure 4 , in order to enhance the anti-folding ability and strength of the ear-shaped attachment plate 11, the inner edge of the notch 16 of the ear-shaped attachment plate 11 adapted to the crush groove 9 is provided with a structural contour inner edge 15 with a downward arc-shaped flanging along the contour. As Figure 8The upper surface of the inner edge 15 of the structural profile is an arc flanging surface 15.1, and the bottom end of the inner edge 15 of the structural profile is an inner edge bottom end surface 15.2; when the ear-shaped attachment plate 11 is tightly adhesively attached to the side of the location where the collapse groove 9 of the automotive front longitudinal beam 2 is located, the inner edge 15 of the ear-shaped attachment plate 11 just wraps around the inner contour of the collapse groove 9 along the contour, thereby inhibiting cracks from occurring in the inner contour of the collapse groove 9 under normal conditions.

[0037] In this case, a number of a riveting holes 12 are provided on the ear-shaped attachment plate 11, and a number of b riveting holes 10 are provided on the outer periphery of the collapse groove 9 of the automotive front longitudinal beam 2, and the number of a riveting holes 12 corresponds one-to-one with the number of b riveting holes 10.

[0038] The overall layout of the factory building is as Figure 1 shown. This solution only focuses on the specific process equipment and process for tightly and stably adhesively attaching the ear-shaped attachment plate 11 to the side of the location where the collapse groove 9 of the automotive front longitudinal beam 2 is located. The layout of the adhesive equipment for the ear-shaped attachment plate 11 and the automotive front longitudinal beam 2 is as Figure 2 shown.

[0039] As Figure 2 shown, the core part of the glue application process system includes an industrial robot 4, a workpiece fixture platform 1, and an industrial robot execution end 5 at the end of the mechanical arm of the industrial robot 4; the industrial robot execution end 5 makes XYZ displacement and rotation movements under the drive of the industrial robot 4; the automotive front longitudinal beam 2 is horizontally clamped on the workpiece fixture platform 1.

[0040] As Figure 5 and 6 shown; the industrial robot execution end 5 includes an actuator bracket 7, a glue applicator 6, a ccd vision camera 17, and an execution hand 8; the glue applicator 6, the ccd vision camera 17, and the execution hand 8 are all installed on the actuator bracket 7; the lens of the ccd vision camera 17 and the glue outlet end of the glue applicator 6 both face downward; the execution hand 8 can grasp a horizontally placed ear-shaped attachment plate 11 and displace the grasped ear-shaped attachment plate 11 to directly above the collapse groove 9 of the clamped automotive front longitudinal beam 2.

[0041] As Figure 7As shown in the figure, the actuating hand 8 includes a support 32 on the actuator bracket 7. Below the support 32, a horizontal telescopic bracket 30 is fixedly connected through a connecting column 33. On the lower side of the telescopic bracket 30, a first telescopic device 35a, a second telescopic device 35b, and a third telescopic device 35c with their telescopic parts facing downwards and distributed in a triangular shape are installed. The lower ends of the telescopic parts of the first telescopic device 35a, the second telescopic device 35b, and the third telescopic device 35c are respectively connected to a first lifting and pressing block 36a, a second lifting and pressing block 36b, and a third lifting and pressing block 36c. The first lifting and pressing block 36a, the second lifting and pressing block 36b, and the third lifting and pressing block 36c make precise lifting movements under the drive of the first telescopic device 35a, the second telescopic device 35b, and the third telescopic device 35c.

[0042] On one side of the first telescopic device 35a and the second telescopic device 35b, a first negative pressure suction cup 37a and a second negative pressure suction cup 37b facing downwards are fixedly installed through a first suction cup bracket 34a and a second suction cup bracket 34b respectively. The discs of the first negative pressure suction cup 37a and the second negative pressure suction cup 37b are made of materials with certain elasticity such as rubber.

[0043] On both sides of the third telescopic device 35c, two positioning pins 39 extending downwards are fixedly connected through a positioning pin socket 38. In the state where the actuating hand 8 grabs an ear-shaped attachment plate 11, the two positioning pins 39 are respectively inserted into two a-riveting holes 12 on the ear-shaped attachment plate 11.

[0044] The glue application and bonding process based on the above structure is as follows:

[0045] Step 1, driven by the industrial robot 4, the glue outlet end of the glue applicator 6 applies glue to the front longitudinal beam 2 of the vehicle according to a pre-set glue application path, so that the structural adhesive 13 on the surface of the front longitudinal beam 2 of the vehicle is adapted to the contour of the ear-shaped attachment plate 11. In this solution, the structural adhesive 13 is an epoxy resin adhesive, and in order to perform visual inspection, a dye is added to the epoxy resin adhesive.

[0046] Step 2, driven by the industrial robot 4, the ccd vision camera 17 is displaced directly above the collapse groove 9 of the front longitudinal beam 2 of the vehicle, and then the ccd vision camera 17 takes an image of the area on the surface of the front longitudinal beam 2 covered by the structural adhesive 13, so as to identify whether there is glue leakage and uneven application through visual inspection. If it is qualified, the next step is executed;

[0047] Step 3, the process of the actuating hand 8 grabbing an ear-shaped attachment plate 11:

[0048] The ear-shaped attachment plate 11 waiting to be grabbed is horizontally placed on the grabbing station; at this time, driven by the industrial robot 4, the execution hand 8 is displaced directly above the ear-shaped attachment plate 11 waiting to be grabbed; then, the first telescopic device 35a and the second telescopic device 35b of the execution hand 8 are controlled to drive the first lifting and pressing block 36a and the second lifting and pressing block 36b to descend simultaneously until the lower surfaces of the first lifting and pressing block 36a and the second lifting and pressing block 36b are just lower than the lowermost ends of the first negative pressure suction cup 37a and the second negative pressure suction cup 37b, but higher than the lowermost ends of the two positioning pins 39; then, the execution hand 8 is controlled to descend as a whole until the lower ends of the two positioning pins 39 just pass through the two a-riveting holes 12 on the ear-shaped attachment plate 11, and then the lower surfaces of the first lifting and pressing block 36a and the second lifting and pressing block 36b just fit parallel to the upper surface of the ear-shaped attachment plate 11. Subsequently, the third telescopic device 35c drives the third lifting and pressing block 36c to descend until its lower surface just touches the upper surface of the ear-shaped attachment plate 11, so that the relative position relationship of the ear-shaped attachment plate 11 by the execution hand 8 is accurately constrained, but it is not adsorbed at this time;

[0049] Finally, the first telescopic device 35a, the second telescopic device 35b and the third telescopic device 35c are respectively controlled to make the first lifting and pressing block 36a, the second lifting and pressing block 36b and the third lifting and pressing block 36c accurately and synchronously rise to a position higher than the lower ends of the first negative pressure suction cup 37a and the second negative pressure suction cup 37b. At this time, the lower ends of the two positioning pins 39 are still in the state of being inserted into the two a-riveting holes 12;

[0050] Subsequently, the industrial robot 4 controls the execution hand 8 to be displaced downward as a whole until the first negative pressure suction cup 37a and the second negative pressure suction cup 37b descend to suck the ear-shaped attachment plate 11. Then, the industrial robot 4 controls the execution hand 8 to rise with the ear-shaped attachment plate 11 off the ground. At this time, due to gravity, the first negative pressure suction cup 37a and the second negative pressure suction cup 37b will undergo a certain deformation in the height direction, so that an error occurs in the position relationship in the height direction between the first negative pressure suction cup 37a and the second negative pressure suction cup 37b sucked at this time and the execution hand 8.

[0051] At this time, precisely control the first expander 35a, the second expander 35b, and the third expander 35c to make the first lifting and pressing block 36a, the second lifting and pressing block 36b, and the third lifting and pressing block 36c perform precise downward movements until the lower ends of the first lifting and pressing block 36a, the second lifting and pressing block 36b, and the third lifting and pressing block 36c all re-limit and contact the upper surface of the ear-shaped attachment plate 11. Since the downward displacement amounts of the first lifting and pressing block 36a, the second lifting and pressing block 36b, and the third lifting and pressing block 36c are precisely controlled, when the lower ends of the first lifting and pressing block 36a, the second lifting and pressing block 36b, and the third lifting and pressing block 36c all re-limit and contact the upper surface of the adsorbed ear-shaped attachment plate 11, the positional relationship between the adsorbed ear-shaped attachment plate 11 and the execution hand 8 in the height direction is re-determined, facilitating the precise transfer in the subsequent process; thus solving the problem of errors occurring in the height direction when directly using a suction cup for adsorption.

[0052] Step Four: The execution hand 8 displaces the precisely grasped one ear-shaped attachment plate 11 to be accurately attached to the structural adhesive 13 on the surface of the front longitudinal beam 2 of the vehicle, applies a certain pressure for a certain period of time, and then releases it; thus, one coating and bonding process is completed.

[0053] In order to optimize the bonding interface between the ear-shaped attachment plate 11 and the front longitudinal beam 2 of the vehicle, after the process of "Step Four", after the ear-shaped attachment plate 11 and the front longitudinal beam 2 of the vehicle are first adhesively bonded and fitted, immediately and forcibly separate the ear-shaped attachment plate 11 from the front longitudinal beam 2 of the vehicle, and then re-fit it. Through the repeated actions of separation and re-fitting, firstly, it can remove impurities, oxide layers, or weak interface layers on the surface of the adherend, thus exposing a cleaner and more active substrate surface; at the same time, repeated operations can also increase the surface roughness, forming a microscopic mechanical locking structure, significantly enhancing the bonding strength; secondly, it can exclude interface gases. When initially fitting, air may be trapped between the adhesive and the adherend, forming bubbles or pores, resulting in bonding defects. The process of tearing and re-fitting can break these bubbles, enabling the adhesive to wet the surface more fully, reducing the porosity, and improving the compactness and durability of the bonding; thirdly, it can promote molecular-level contact. Repeated operations help the adhesive molecules and the surface molecules of the adherend to penetrate each other through the diffusion mechanism, forming stronger intermolecular forces or chemical bonding, thereby enhancing the mechanical properties of the bonding; the above-mentioned mechanical interlocking refers to the adhesive penetrating into the micropores or uneven structures on the surface of the adherend, forming an anchoring-like effect; separation and re-fitting can strengthen this penetration, especially when dealing with rough surfaces or using thixotropic adhesives; the diffusion mechanism refers to the mutual diffusion of adhesive molecules and adherend molecules at the contact interface, forming a transition layer. Repeated operations may accelerate this diffusion process; the adsorption theory emphasizes that the polar groups in the adhesive combine with the polar groups on the surface of the adherend through van der Waals forces or hydrogen bonds; separating and then re-fitting can increase the contact opportunities of these groups; thus significantly enhancing the bonding strength and durability.

[0054] Based on the above structure, it is impossible to implement the process of "after the ear-shaped attachment plate 11 is adhesively bonded to the front longitudinal beam 2 of the vehicle and then immediately and forcibly separating the ear-shaped attachment plate 11 and the front longitudinal beam 2 that are adhesively bonded to each other for the first time, and then re-bonding them". The reason is that although the best bonding effect has not been achieved after the ear-shaped attachment plate 11 and the front longitudinal beam 2 of the vehicle are adhesively bonded for the first time, their adhesion force is already very large, and it is very difficult for the first negative pressure suction cup 37a and the second negative pressure suction cup 37b to stably separate the ear-shaped attachment plate 11 and the front longitudinal beam 2 that are adhesively bonded to each other for the first time, which easily leads to the problem that the first negative pressure suction cup 37a and the second negative pressure suction cup 37b leak air and fall off before they are separated.

[0055] To solve the above problems, the following optimized structure is further designed on the basis of the above structure:

[0056] As Figure 8 and 9 As shown in FIGS. 9 and 10, the left electric lifter 16a and the right electric lifter 16b are symmetrically installed on the lower side of the telescopic support 30 between the first telescopic device 35a and the second telescopic device 35b; the lower sides of the left electric lifter 16a and the right electric lifter 16b are respectively connected to the left lifting block 17a and the right lifting block 17b by lifting drive; the left lifting block 17a and the right lifting block 17b are lifted and lowered synchronously under the drive of the left electric lifter 16a and the right electric lifter 16b;

[0057] The left lifting block 17a and the right lifting block 17b are fixedly connected by a pair of horizontally parallel guiding slide rods 20; the left floating roller bracket 18a and the right floating roller bracket 18b distributed in an "eight" shape are symmetrically arranged between the left lifting block 17a and the right lifting block 17b; the guiding slide rods 20 horizontally pass through the guiding holes at the upper ends of the left floating roller bracket 18a and the right floating roller bracket 18b, so that the left floating roller bracket 18a and the right floating roller bracket 18b can slide under the guiding restraint of the pair of guiding slide rods 20;

[0058] A spring 19 is sleeved on the guiding slide rod 20, and both ends of the spring 19 respectively form an elastic thrust on the left floating roller bracket 18a and the right floating roller bracket 18b, so that in the initial state, the left floating roller bracket 18a and the right floating roller bracket 18b are respectively close to the left lifting block 17a and the right lifting block 17b under the thrust of the spring 19; the lower ends of the left floating roller bracket 18a and the right floating roller bracket 18b are respectively rotatably installed with a first roller 21a and a second roller 21b;

[0059] In the state where the ear-shaped attachment plate 11 in a horizontal state for the gripper 8 to precisely grasp, the first roller 21a and the second roller 21b are respectively directly above both ends of the inner edge 15 of the structural contour of the ear-shaped attachment plate 11; driven by the left electric lifter 16a and the right electric lifter 16b, the first roller 21a and the second roller 21b can descend to be respectively tangent to the arc flanging surfaces 15.1 at both ends of the inner edge 15 of the structural contour. At this time, as shown in Figure 9 the upper figure above.

[0060] Based on the optimized structure, a "Step Five" process is added to optimize the bonding interface between the ear-shaped attachment plate 11 and the front longitudinal beam 2 of the vehicle:

[0061] Step Five, after "Step Four" ends, driven by the left electric lifter 16a and the right electric lifter 16b, the first roller 21a and the second roller 21b descend to be respectively tangent to the arc flanging surfaces 15.1 at both ends of the inner edge 15 of the structural contour. At this time, as shown in Figure 9 the upper figure above; then the left electric lifter 16a and the right electric lifter 16b continue to drive the first roller 21a and the second roller 21b to descend. During the descent of the first roller 21a and the second roller 21b, the first roller 21a and the second roller 21b will also move closer to each other under the action of the lateral component force of the arc flanging surface 15.1, so that the left floating roller bracket 18a and the right floating roller bracket 18b move closer to each other under the guiding restraint of a pair of guiding slide rods 20, and the spring 19 is gradually compressed until both the first roller 21a and the second roller 21b roll downward past the arc flanging surface 15.1 to reach the lower side of the inner edge 15 of the structural contour. When the first roller 21a and the second roller 21b reach the lower side of the inner edge 15 of the structural contour, the left floating roller bracket 18a and the right floating roller bracket 18b move away from each other again under the action of the spring 19 to respectively lean against the left lifting block 17a and the right lifting block 17b. The state at this time is as shown in Figure 9 the lower figure below;

[0062] Subsequently, the industrial robot 4 controls the overall upward displacement of the gripper 8, and then the first roller 21a and the second roller 21b rigidly push up the bottom inner edge surface 15.2 of the inner edge of the structural contour of the ear-shaped attachment plate 11, so that the top ear-shaped attachment plate 11 that has been adhesively bonded to the surface of the front longitudinal beam 2 of the vehicle for the first time is forcibly lifted upward, separating the bonding surface between the ear-shaped attachment plate 11 and the front longitudinal beam 2 of the vehicle. Subsequently, the industrial robot 4 controls the overall downward displacement of the gripper 8, making the ear-shaped attachment plate 11 fit again on the structural adhesive 13 on the surface of the front longitudinal beam 2 of the vehicle. Through the repeated actions of separation and re-fitting, the bonding interface between the ear-shaped attachment plate 11 and the front longitudinal beam 2 of the vehicle is optimized to make its bonding more uniform and firm;

[0063] Step 6: After the bonding process is completed, the left electric lifter 16a and the right electric lifter 16b drive the first roller 21a and the second roller 21b to descend until they are separated from the inner edge bottom end surface 15.2. Then, the industrial robot 4 controls the execution hand 8 to separate from the already bonded ear-shaped attachment plate 11 in the form of lateral displacement and return to the initial position. Thus, a high-quality and high-precision bonding process is completed.

[0064] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A glue coating process system before core-pulling riveting of ear-shaped front longitudinal beam attachment plate, characterized in that: It comprises an industrial robot (4), a workpiece fixture platform (1) and an industrial robot execution end (5) at the end of a mechanical arm of the industrial robot (4); a front longitudinal beam (2) of an automobile is clamped on the workpiece fixture platform (1); The industrial robot execution end (5) comprises an actuator bracket (7), a CCD visual camera (17), a glue coating machine (6) and an execution hand (8); the CCD visual camera (17), the glue coating machine (6) and the execution hand (8) are all on the actuator bracket (7); the glue coating machine (6) can apply glue to the front longitudinal beam (2) of the automobile; the CCD visual camera (17) can capture an image of the area on the surface of the front longitudinal beam (2) of the automobile covered by the structural adhesive (13); the execution hand (8) can grasp a horizontally placed ear-shaped attachment plate (11) through a suction cup, and move the grasped ear-shaped attachment plate (11) to a position where the ear-shaped attachment plate (11) is moved to a position just above the collapse groove (9) of the clamped front longitudinal beam (2) of the automobile.

2. The glue coating process system before core-pulling riveting of ear-shaped front longitudinal beam attachment plate according to claim 1 is characterized in that: The actuator (8) comprises a telescopic device support (30), and a first telescopic device (35a), a second telescopic device (35b) and a third telescopic device (35c) are installed on the lower side of the telescopic device support (30) with telescopic parts facing downwards and arranged in a triangular pattern. The lower ends of the telescopic parts of the first telescopic device (35a), the second telescopic device (35b) and the third telescopic device (35c) are connected to a first lifting and pressing block (36a), a second lifting and pressing block (36b) and a third lifting and pressing block (36c) respectively; the first lifting and pressing block (36a), the second lifting and pressing block (36b) and the third lifting and pressing block (36c) perform precise lifting and lowering motions under the drive of the first telescopic device (35a), the second telescopic device (35b) and the third telescopic device (35c); A first negative pressure suction cup (37a) and a second negative pressure suction cup (37b) facing downwards are fixedly mounted on one side of the first retractor (35a) and the second retractor (35b) respectively through a first suction cup bracket (34a) and a second suction cup bracket (34b).

3. The glue coating process system before core-pulling riveting of ear-shaped front longitudinal beam attachment plate according to claim 2 is characterized in that: Two positioning pins (39) extending downward are fixedly connected to the two sides of the third retractor (35c) via positioning pin seats (38); when the execution hand (8) grabs an ear-shaped attachment plate (11), the two positioning pins (39) are respectively inserted into two riveting holes (12) on the ear-shaped attachment plate (11).

4. The glue coating process system before core-pulling riveting of ear-shaped front longitudinal beam attachment plate according to claim 3 is characterized in that: The inner edge of the notch (16) of the ear-shaped attachment plate (11) adapted to the crush groove (9) is provided with a downwardly arc-shaped flanged structural contour inner edge (15) along the contour, the upper surface of the structural contour inner edge (15) is a circular arc flanged surface (15.1), and the bottom end of the structural contour inner edge (15) is an inner edge bottom end surface (15.2); when the ear-shaped attachment plate (11) is tightly glued and attached to the side of the crush groove (9) of the front longitudinal beam (2) of the automobile, the structural contour inner edge (15) of the ear-shaped attachment plate (11) just wraps around the inner contour of the crush groove (9) along the contour.

5. The gluing and bonding method of the gluing process system before the core-pulling riveting of the ear-shaped front longitudinal beam attachment plate according to claim 4 is characterized in that: Step 1: The glue coating machine (6) applies glue to the front longitudinal beam (2) of the automobile; Step 2: The CCD visual camera (17) captures an image of the area on the surface of the front longitudinal beam (2) of the automobile covered by the structural adhesive (13), thereby identifying whether there is glue leakage and uneven coating through visual detection; Step 3: The execution hand (8) accurately grasps an ear-shaped attachment plate (11); Step 4: The execution hand (8) moves the accurately grasped ear-shaped attachment plate (11) to the structural adhesive (13) accurately attached to the surface of the front longitudinal beam (2) of the automobile.

6. The glue coating process system before core-pulling riveting of ear-shaped front longitudinal beam attachment plate according to claim 5 is characterized in that: A left electric lifter (16a) and a right electric lifter (16b) are provided on the lower side of the telescopic device bracket (30); the lower sides of the left electric lifter (16a) and the right electric lifter (16b) are respectively connected to a left lifting block (17a) and a right lifting block (17b) in a lifting and driving manner; the left lifting block (17a) and the right lifting block (17b) are fixedly connected via a pair of horizontally parallel guide slide bars (20); a left floating roller bracket (18a) and a right floating roller bracket (18b) arranged in an "eight" shape are stacked between the left lifting block (17a) and the right lifting block (17b); the guide slide bar (20) moves laterally through the guide holes at the upper ends of the left floating roller bracket (18a) and the right floating roller bracket (18b), so that the left floating roller bracket (18a) and the right floating roller bracket (18b) can slide under the guide constraints of the pair of guide slide bars (20); The guide slide bar (20) is covered with a spring (19), and the two ends of the spring (19) respectively form elastic thrusts on the left floating roller bracket (18a) and the right floating roller bracket (18b), so that the left floating roller bracket (18a) and the right floating roller bracket (18b) in the initial state are respectively pressed against the left lifting block (17a) and the right lifting block (17b) under the thrust of the spring (19); the lower ends of the left floating roller bracket (18a) and the right floating roller bracket (18b) are respectively rotatably mounted with a first roller (21a) and a second roller (21b); When the hand (8) is precisely grasping a horizontal ear-shaped attachment plate (11), the first roller (21a) and the second roller (21b) are respectively located directly above the two ends of the inner edge (15) of the structural profile of the ear-shaped attachment plate (11); driven by the left electric lifter (16a) and the right electric lifter (16b), the first roller (21a) and the second roller (21b) can be lowered to be tangent to the arc flanged surfaces (15.1) at the two ends of the inner edge (15) of the structural profile.

7. The gluing and bonding method of the gluing process system before the core-pulling riveting of the ear-shaped front longitudinal beam attachment plate according to claim 6 is characterized in that: Step 5. After Step 4 is completed, the first roller (21a) and the second roller (21b) are driven by the left electric lifter (16a) and the right electric lifter (16b) to descend until the first roller (21a) and the second roller (21b) reach the lower side of the inner edge (15) of the structural outline; then the industrial robot (4) controls the execution hand (8) to move upward as a whole, and then the industrial robot (4) controls the execution hand (8) to move downward as a whole.

8. The gluing and bonding method of the gluing process system before the core-pulling riveting of the ear-shaped front longitudinal beam attachment plate according to claim 5 is characterized in that: In step 3, the hand (8) accurately grasps an ear-shaped attachment plate (11): Driven by the industrial robot, the actuator moves to the position just above the ear-shaped attachment plate to be grasped; Then, the execution hand is controlled, and the first retractor and the second retractor drive the first lifting and pressing block and the second lifting and pressing block to descend at the same time, until the lower surfaces of the first lifting and pressing block and the second lifting and pressing block are just lower than the lowest ends of the first negative pressure suction cup and the second negative pressure suction cup, but higher than the lowest ends of the two positioning pins; then, the execution hand is controlled to descend as a whole, until the lower ends of the two positioning pins just pass through the two riveted holes on the ear-shaped attachment plate, and then the lower surfaces of the first lifting and pressing block and the second lifting and pressing block just parallelly fit the upper surface of the ear-shaped attachment plate, and then the third retractor drives the third lifting and pressing block to descend until the lower surface just contacts the upper surface of the ear-shaped attachment plate, so that the relative position relationship between the ear-shaped attachment plate and the execution hand is accurately constrained, but it has not been adsorbed at this time; Finally, the first retractor, the second retractor and the third retractor are respectively controlled to make the first lifting and pressing block, the second lifting and pressing block and the third lifting and pressing block precisely and synchronously rise to a position higher than the lower ends of the first negative pressure suction cup and the second negative pressure suction cup, at which time the lower ends of the two positioning pins are still inserted into the two riveting holes; Then the industrial robot controls and drives the executing hand to move downward as a whole, until the first negative pressure suction cup and the second negative pressure suction cup descend to suck the ear-shaped attachment plate, and then the industrial robot controls and drives the executing hand to rise off the ground with the ear-shaped attachment plate. At this time, due to the gravity factor, the first negative pressure suction cup and the second negative pressure suction cup will undergo a certain deformation in the height direction, so that the positional relationship between the first negative pressure suction cup and the second negative pressure suction cup sucked at this time and the executing hand in the height direction will have an error; At this time, the first telescopic device, the second telescopic device and the third telescopic device are precisely controlled to make the first lifting and pressing block, the second lifting and pressing block and the third lifting and pressing block make precise descending movements until the lower ends of the first lifting and pressing block, the second lifting and pressing block and the third lifting and pressing block are re-limited to contact the upper surface of the ear-shaped attachment plate. Since the descending displacement of the first lifting and pressing block, the second lifting and pressing block and the third lifting and pressing block are precisely controlled, when the lower ends of the first lifting and pressing block, the second lifting and pressing block and the third lifting and pressing block are re-limited to contact the upper surface of the adsorbed ear-shaped attachment plate, the positional relationship between the adsorbed ear-shaped attachment plate and the actuator in the height direction is re-determined.

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