Automatic prime coating method for automobile sunroof

Abstract

The invention relates to an automatic prime coating method for automobile sunroofs, which comprises a feeding mechanical arm for clamping the sunroofs, a feeding negative pressure suction cup is fixed at the movable end of the feeding mechanical arm, a rack for conveying the sunroofs is arranged beside the feeding mechanical arm, and the rack is provided with a rotating disc for placing the sunroofs. A plasma generation cleaning device and a prime coating device are arranged on the two sides of the rack, the prime coating device and the plasma generation cleaning device are controlled and driven by a prime coating mechanical arm and a cleaning mechanical arm to move respectively, the prime coating device comprises a prime coating fixing plate fixed to the movable end of the prime coating mechanical arm, and a prime coating brush head is arranged on the prime coating fixing plate. According to the embodiment of the invention, the plasma generation cleaning device is used for automatically cleaning the surface of the skylight, so that the cleaning efficiency can be effectively improved, and the drying waiting time and cleaning machine residues required by chemical agent cleaning are avoided.

Description

Technical Field

[0001] The present invention relates to an automated processing equipment for automotive skylights, and particularly to an automatic primer coating method for automotive skylights. Background Art

[0002] The primer coating process for automotive skylights is an important link in the automotive manufacturing process, which involves the pre-treatment before bonding of components such as skylight glass and skylight frames. As a pre-treatment agent, the primer can significantly improve the surface activity of the adherend, enhance the adhesion performance of the subsequent adhesive application, and thus ensure the firm bonding of skylight components. In the skylight primer coating process, cleaning is a crucial step. It directly affects the adhesion effect between the primer and the substrate, and further affects the bonding strength and durability of skylight components. The existing cleaning methods mainly use cleaning liquid or automated cleaning wipes in combination with blowing and drying for cleaning, but it takes a long time, and the failure to dry the cleaning liquid will also cause the primer coating liquid to be unable to effectively adhere, affecting the quality. Summary of the Invention

[0003] The present invention aims to solve the problems that the existing cleaning method before skylight primer coating takes a long time and is not easy to control the quality.

[0004] The technical solution of the present invention is as follows: An automatic primer coating method for automotive skylights, characterized in that it includes a loading robotic arm for gripping skylights, a loading negative pressure suction cup is fixed at the movable end of the loading robotic arm, a gantry for conveying skylights is provided beside the loading robotic arm, the gantry is provided with a rotating disk for placing skylights, plasma generating cleaning devices and primer coating devices are provided on both sides of the gantry, the primer coating device and the plasma generating cleaning device are respectively controlled and driven to move by a primer coating robotic arm and a cleaning robotic arm, the primer coating device includes a primer coating fixing plate fixed at the movable end of the primer coating robotic arm, and a primer coating brush head is provided on the primer coating fixing plate;

[0005] The specific steps include:

[0006] (1) The loading robotic arm transfers the skylight to the rotating disk;

[0007] (2) The cleaning robotic arm controls and drives the plasma generating cleaning device to perform ultrasonic cleaning on the area to be primer coated of the skylight;

[0008] (3) Input the primer coating liquid at the bottom of the primer coating brush head;

[0009] (4) Perform primer coating on the primer coated area that has completed ultrasonic cleaning through the primer coating brush head controlled by the primer coating robotic arm.

[0010] Preferably, a primer head cannula is fixed on the primer fixing plate, the upper end of the primer brush head has a sleeve, the primer head cannula is inserted into the sleeve, the lower end of the primer head cannula is conical, the upper end of the primer head cannula is columnar and inserted into the sleeve, the upper diameter of the primer head cannula is larger than the inner diameter of the sleeve, the primer head cannula is hollow inside, and a primer liquid input pipe is connected to the top, the primer brush head has an adsorption layer for adsorbing the primer liquid, and in step (3), the primer liquid enters the adsorption layer of the primer brush head through the primer liquid input pipe, the primer head cannula and the sleeve.

[0011] Preferably, a primer sensor for sensing a primer brush head is fixed on the primer fixing plate, and the primer fixing plate is provided with two or more primer brush heads, and bottom surfaces of different primer brush heads are staggered.

[0012] Preferably, the primer coating device also includes a primer brush head adhesive material replacement table located beside the primer coating robot arm, one side of the replacement table is provided with a brush head unloading hopper, the edge of the brush head unloading hopper is fixed with a unloading plate, the end of the unloading plate is provided with a recessed portion that can be buckled into a sleeve, the replacement table has a groove for placing the primer brush head, one end of the groove is provided with a push rod extending into the groove, the end of the groove is closed, the push rod is driven by a push rod mechanism to move along the groove to push the primer brush head to move, the push rod mechanism is a push rod electric cylinder located below the replacement table, and the moving end of the push rod electric cylinder is fixedly connected to the push rod.

[0013] Preferably, the replacement table further has an inclined surface, and a photoelectric sensor is provided at the lower position of the inclined surface. The photoelectric sensor is located at the lower edge of the inclined surface and is used for sensing liquid droplets.

[0014] Preferably, a skylight inspection fixture workbench is provided next to the loading robot arm, and a plurality of distance sensors are arranged on the skylight inspection fixture workbench. The loading robot arm transfers the skylight to be primed to the skylight inspection fixture workbench for inspection.

[0015] Preferably, the rotating disk is driven to rotate by a rotating motor fixed on a stand, a support rod is fixed on the rotating disk, a suction cup seat is fixed on the support rod, a first suction cup for placing glass is fixed on the suction cup seat, a pair of movable slides are provided on both sides of the stand, a lifting mechanism is fixed on the movable end of each movable slide, a lifting plate is fixed on the output end of the lifting mechanism, a second suction cup is fixed on the lifting plate, one end of the stand extends into a cabin, and a collection camera for detecting the primer liquid area is provided on the top of the cabin.

[0016] Preferably, an image fixing plate located below the acquisition camera is fixed to one end of the stand extending into the cabin, a supporting platform is fixed to the upper surface of the image fixing plate, a suction cup fixing seat is fixed to the supporting platform, and a plurality of third suction cups are fixed to the upper surface of the suction cup fixing seat.

[0017] Preferably, a discharging robotic arm is arranged on one side of the output end of the bench. A fixture for clamping the glass is fixed to the movable end of the discharging robotic arm. An output suction cup is fixed to the fixture. A light source and an identification camera for photographing the glass mark are also fixed to the fixture. A protective cover is fixed to the outside of the identification camera. A repair bench is arranged beside the discharging robotic arm, and a discharging storage rack is also arranged beside the discharging robotic arm.

[0018] Preferably, the discharging storage rack includes a bottom frame and a vertical frame fixed to the rear side of the bottom frame. A pair of support rods facing the discharging robotic arm are fixed to the vertical frame. Discharging guiding seats are arranged on both sides of the bottom frame, and guiding wheels for guiding are arranged inside the discharging guiding seats.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) In the embodiment of the present invention, the automatic cleaning of the skylight surface by using the plasma generating cleaning device can effectively improve the cleaning efficiency and avoid the need to wait for the drying time and the residues of the cleaning machine when using chemical agents for cleaning.

[0021] (2) In the embodiment of the present invention, the operation of installing the bottom coating brush head by the bottom coating robotic arm has high efficiency;

[0022] (3) In the embodiment of the present invention, a plurality of bottom coating brush heads are designed on the same bottom coating device, which can meet the bottom coating requirements of different regions and is convenient to use.

[0023] (4) In the embodiment of the present invention, a replacement table is designed, which can directly replace the bottom coating brush head, saving the replacement time conveniently.

[0024] (5) In the embodiment of the present invention, the way of dripping the bottom coating liquid by pressing the inclined surface of the bottom coating brush head is used to sense whether the bottom coating liquid in the bottom coating brush head is completely infiltrated, ensuring the effectiveness of the bottom coating liquid brushing.

[0025] (6) The present invention can meet the stable transfer of the skylight through the cooperation of the rotating disk and the moving sliding table, and use the acquisition camera for bottom coating identification, which is also beneficial to improving the working efficiency of the skylight bottom coating and the safety of product transfer. The design of the storage rack in the embodiment of the present invention can facilitate the storage of the skylight, and use the identification camera on the discharging robotic arm to collect and identify the marks on the skylight, which is beneficial to better traceability and tracking of the product in the future. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the embodiment of the present invention;

[0027] Figure 2 It is a schematic diagram of the dust removal and bottom part structure of the present invention;

[0028] Figure 3 Schematic diagram of the layout structure of the primer coating robot arm and the cleaning robot arm in the embodiment of the present invention;

[0029] Figure 4 Schematic diagram of the structure of the primer coating device of the present invention;

[0030] Figure 5 Schematic diagram of the structure of the replacement table of the present invention;

[0031] Figure 6 Schematic diagram of the layout of the discharge plate and the discharge hopper of the present invention;

[0032] Figure 7 Schematic diagram of the structure at the end of the channel of the present invention;

[0033] Figure 8 Schematic diagram of the collection and storage structure after the primer coating of the present invention is completed;

[0034] Figure 9 Schematic diagram of the structure of the rotating disk and the moving slide of the present invention;

[0035] Figure 10 Schematic diagram of the structure inside the cabin in the embodiment of the present invention;

[0036] Figure 11 Schematic diagram of the structure of the discharging robot arm of the present invention;

[0037] Figure 12 Schematic diagram of the structure of the discharging storage rack of the present invention;

[0038] Figure 13 Schematic diagram of the layout structure of the loading robot arm and the skylight inspection tool table of the present invention;

[0039] 100 - skylight, 101 - loading robot arm, 102 - cabin, 1011 - loading negative pressure suction cup, 103 - skylight inspection tool table, 104 - distance sensor;

[0040] 10 - bench, 20 - plasma generation cleaning device, 30 - primer coating device, 301 - primer coating robot arm, 201 - cleaning robot arm, 310 - primer coating fixing plate, 311 - primer coating head insertion tube, 312 - primer coating liquid input tube, 320 - primer coating brush head, 321 - sleeve, 330 - primer coating sensor, 331 - sensor mounting seat, 332 - sensor guide rail, 120 - rotating disk, 121 - rotating motor, 122 - support rod, 123 - suction cup seat, 124 - first suction cup, 40 - replacement table, 410 - channel, 420 - push rod, 430 - push rod electric cylinder, 440 - discharge hopper, 441 - discharge plate, 442 - recessed part, 443 - inclined surface, 444 - photoelectric sensor;

[0041] 530 - Moving slide, 540 - Lifting cylinder, 550 - Lifting plate, 551 - Second suction cup, 551 - Second suction cup, 60 - Acquisition camera, 70 - Carrying platform, 710 - Suction cup fixing seat, 720 - Third suction cup, 80 - Discharging robotic arm, 810 - Fixture, 821 - Identification camera, 90 - Discharging storage rack, 901 - Underframe, 910 - Vertical frame, 920 - Support rod, 930 - Discharging guide seat, 931 - Guide wheel. Detailed implementation mode

[0042] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] An automatic undercoating method for automotive sunroofs includes using an automatic undercoating production line. The automatic undercoating production line includes a loading robotic arm 101 for clamping the sunroof. A loading negative pressure suction cup 1011 is fixed at the movable end of the loading robotic arm 101. There is a platform 10 for transporting the sunroof beside the loading robotic arm. The platform 10 is provided with a rotating disk 120 for placing the sunroof. Plasma generating cleaning devices 20 and undercoating devices 30 are arranged on both sides of the platform 10. The undercoating device 30 and the plasma generating cleaning device 20 are respectively controlled and driven to move by an undercoating robotic arm 301 and a cleaning robotic arm 201. The undercoating device 30 includes an undercoating fixing plate 310 fixed at the movable end of the undercoating robotic arm. An undercoating brush head 320 is provided on the undercoating fixing plate 310.

[0044] During operation, the specific steps include:

[0045] (1) The loading robotic arm 101 transfers the sunroof to the rotating disk 120;

[0046] (2) The cleaning robotic arm 201 controls and drives the plasma generating cleaning device 20 to perform ultrasonic cleaning on the area to be undercoated of the sunroof; Currently, before the undercoating process, the plasma generating cleaning device 20 is used first. The plasma generating cleaning device 20 is controlled by the cleaning robotic arm 201 to move along the area to be undercoated. The plasma generating cleaning device 20 adopts an atmospheric plasma cleaning spray gun structure, and plasma is ejected from the spray gun nozzle to separate contaminants from the surface of the sunroof.

[0047] (3) Input the undercoating liquid at the bottom of the undercoating brush head 320;

[0048] (4) Perform undercoating on the area to be undercoated that has completed ultrasonic cleaning through the undercoating brush head controlled by the undercoating robotic arm 301.

[0049] The undercoating brush head 320 of the undercoating device 30 is controlled by the undercoating robotic arm 301 to move along the area to be undercoated for undercoating. The bottom of the undercoating brush head 320 is stained with the undercoating liquid. The undercoating brush head has an adsorption layer 322 for adsorbing the undercoating liquid. The adsorption layer 322 is a felt or cotton pad.

[0050] In an embodiment of the present invention, a primer applicator insertion tube 311 is fixed on the primer applicator fixing plate 310. The upper end of the primer applicator brush head 320 has a sleeve 321. Both the upper and lower ends of the sleeve 321 are open, and the lower opening of the sleeve 321 is correspondingly arranged opposite to the adsorption layer 322.

[0051] The primer applicator insertion tube 311 is inserted into the sleeve 321. The lower end of the primer applicator insertion tube is conical, and the upper end of the primer applicator insertion tube is columnar and inserted into the sleeve 321. The upper part diameter of the primer applicator insertion tube 311 is larger than the inner diameter of the sleeve. After insertion, the sleeve 321 and the primer applicator insertion tube 311 can use friction to make the primer applicator brush head 320 clamped in the inserted sleeve 321. The inside of the primer applicator insertion tube 311 is hollow, and the top is connected with a primer liquid input tube 312. During use, the primer liquid is pumped through the primer liquid input tube 312, so that the primer liquid enters the primer applicator brush head 320 after passing through the inner cavity of the primer liquid input tube 312, the inner cavity of the primer applicator insertion tube 311, and the inner cavity of the sleeve 321, and infiltrates the adsorption layer 322 at the bottom of the primer applicator brush head.

[0052] In an embodiment of the present invention, a rotating motor 121 is fixed on the gantry 10. The rotating motor 121 drives the rotating disk 120 to rotate. A support rod 122 is fixed on the rotating disk 120, and a suction cup seat 123 is fixed on the support rod. A first suction cup 124 for placing the glass is fixed on the suction cup seat 123. When the skylight is placed on the first suction cup 124 of the rotating disk 120, the first suction cup 124 is connected with a negative pressure pump through a pipeline. The first suction cup 124 adsorbs the skylight through negative pressure, so as to ensure the fixation of the skylight. Since the plasma generation cleaning device 20 and the primer application device 30 are respectively arranged on both sides of the rotating disk 120, the rotating disk 120 is rotated to enable the plasma generation cleaning device 20 and the primer application device 30 to alternately work in half areas, or after completing the work in half an area, the rotating disk 120 rotates the skylight to complete the work in the other half area.

[0053] In an embodiment of the present invention, a primer application sensor 330 for sensing the primer applicator brush head 320 is fixed on the primer applicator fixing plate. The primer application sensor 330 is fixed on a sensor mounting seat 331. A sensor guide rail 332 is arranged on the primer applicator fixing plate 320. The sensor mounting seat 331 can be slidably matched with the sensor guide rail and locked by bolts. The primer application sensor 330 is used to monitor whether the primer applicator brush head 320 is completely installed in place.

[0054] In one embodiment of the present invention, the primer fixing plate 310 is provided with two or more primer brush heads 320, and the bottom surfaces of different primer brush heads are staggered. The design structure is mainly adopted to realize multiple primer brush heads 320 with different bottom areas as shown in the figure, which are used to adapt to different primer areas, that is, primer brush heads 320 with larger bottom areas are used in larger areas, and primer brush heads 320 with smaller bottom areas are used in smaller or narrow areas. When different primer brush heads 320 need to be used due to the staggered bottom surfaces, the different primer brush heads 320 are switched by the rotation operation of the multi-axis primer robot 301.

[0055] Generally, as shown in the figure, this embodiment designs two primer brush heads 320, which are staggered by 90°. The primer robot arm 301 and the cleaning robot arm 201 described in this article are currently commercially available multi-axis (at least 5-axis) robots, which can meet basic lifting, translation and end rotation operations, and can meet the requirements of automated movement according to the designed coordinate area.

[0056] In order to ensure that the primer brush head 320 is clean and that the primer brush head 320 is fully infiltrated with primer liquid, the primer brush head 320 needs to be replaced after completing a certain number of primer operations. In one embodiment of the present invention, the primer device also includes a primer brush head adhesive replacement station 40 located next to the primer mechanical arm, and the replacement station 40 has a groove 410 for placing the primer brush head. The gap of the groove 410 should be smaller than the bottom area of ​​the primer brush head. One end of the groove 410 is provided with a push rod 420 extending into the groove, and the end of the groove 410 facing away from the push rod 420 is closed. The push rod 420 is driven by a push rod mechanism to move along the groove to push the primer brush head to move. The push rod mechanism is a push rod electric cylinder located below the replacement station, and the moving end of the push rod electric cylinder is fixedly connected to the push rod 420.

[0057] When there are multiple types of primer brush heads 320 (with different bottom areas), multiple grooves 410 for placing the primer brush heads to be replaced can also be provided. In the present embodiment, two groups are designed, which are respectively used to transport primer brush heads 320 with different end sizes. The primer brush head 320 and the sleeve 321 are designed as an integrated whole.

[0058] A brush head discharge hopper 440 is provided on one side of the replacement table 40 . A discharge plate 441 is fixed to the edge of the brush head discharge hopper. A recessed portion 442 capable of buckling into the sleeve 321 is provided at the end of the discharge plate.

[0059] The replacement table 40 also has an inclined surface 443 , and a photoelectric sensor 444 is provided at the lower position of the inclined surface. The photoelectric sensor is located at the lower edge of the inclined surface 443 and is used for sensing liquid drops.

[0060] During operation, when the primer brush head 320 needs to be replaced after completing a certain number of primer works, the primer robot arm 301 moves the primer brush head 320 into the recessed portion 442 from the opening of the recessed portion 442, and the sleeve 321 is buckled into the recessed portion 442 and then lifted upward by the primer robot arm 301. The primer head clamped at the lower end of the primer head insert tube 311 is blocked by the unloading plate 441 and falls into the unloading hopper 440 below. Then, the primer robot arm 301 controls the primer head insert tube 311 to move to above the groove 410 of the replacement table 40, moves the insert tube 311 downward so that the insert tube 311 is inserted into the sleeve 321 of the primer brush head 320 arranged in the groove 410, and then replaces it with an unused primer brush head in the groove by clamping.

[0061] like Figure 4 As shown, after the replacement of the primer brush head 320 is completed, the primer robot arm 301 controls the primer brush head 320 to be pressed onto the inclined surface 443, and the primer liquid is poured in through the primer liquid input pipe 312. A photoelectric sensor 441 is provided at the lower position of the inclined surface 443 to sense whether liquid is dripping, so that the control system can confirm whether the primer liquid is fully immersed in the bottom of the primer brush head 320, thereby avoiding insufficient primer liquid during the brushing process.

[0062] Afterwards, the push rod 420 pushes each primer brush head 320 in the groove 410 to move forward, ensuring that the subsequent primer robot arm 301 can more conveniently position a new primer brush head 320. In this way, the primer robot arm 301 only needs to be set at the outermost side (the end pushed by the push rod 420) to replace the primer brush head 320, and a photoelectric sensor can also be used to determine whether the primer brush head 320 to be replaced needs to be replenished.

[0063] A magnetic stirrer 450 for placing the primer liquid is provided at the rear side of the replacement table 40 . The magnetic stirrer 450 is used to ensure that the primer liquid is continuously mixed evenly. The primer liquid is transported to the primer brush head 320 through the pump body and the primer liquid inlet pipe 312 .

[0064] After the primer is completed, the two sides of the platform 10 are provided with a pair of movable slides 530, and the movable ends of each movable slide 530 are fixed with a lifting mechanism, and the output end of the lifting mechanism is fixed with a lifting plate 550, and the second suction cup 551 is fixed on the lifting plate. One end of the platform 10 extends into a cabin 102, and the top of the cabin 102 is provided with a collection camera 60 for detecting the primer liquid area.

[0065] An image fixing plate located below the acquisition camera is fixed to one end of the stand 10 extending into the cabin 102, a support platform 70 is fixed to the upper surface of the image fixing plate, a suction cup fixing seat 710 is fixed to the upper surface of the suction cup fixing seat, and a plurality of third suction cups 720 are fixed to the upper surface of the suction cup fixing seat.

[0066] In this embodiment, the lifting mechanism is a lifting cylinder 540. After the primer coating of the skylight is completed, the movable end of the moving slide 230 is located on both sides of the rotating disk of the moving slide 530. The lifting plate 550 is lifted under the drive of the lifting cylinder 540, and the second suction cup 551 is also lifted synchronously. When the second suction cup 551 is higher than the first suction cup 124, the skylight is supported by the second suction cup 551 and separated from the first suction cup 124. Then, the moving slide 530 drives the skylight to move into the cabin, and the acquisition camera 60 in the cabin performs visual camera acquisition and comparison.

[0067] After the moving slide 530 drives the skylight to move into the cabin, the moving slide 230 drives the skylight to move above the bearing table 80. Then, the lifting plate 550 descends under the drive of the lifting mechanism. When the second suction cup 551 descends, the skylight located on the second suction cup 551 is supported by the third suction cup 720. Then, the acquisition camera 60 in the cabin performs visual camera acquisition, and it is judged whether the primer coating area meets the preset requirements according to visual recognition.

[0068] In actual implementation, the primer coating liquid is generally black or colored to facilitate the recognition by the acquisition camera 60, and there is also an auxiliary light source for lighting in the cabin 102. The auxiliary light source can be designed above the cabin 102 or on the bearing table 40.

[0069] In this embodiment, the first suction cup 124, the second suction cup 551 and the third suction cup 720 are all connected to a negative pressure pump through pipelines. Effective adsorption can be achieved by negative pressure after the skylight is placed.

[0070] In an embodiment of the present invention, a discharging robotic arm 80 is provided on the other side of the cabin 102. A fixture 810 for clamping glass is fixed at the movable end of the discharging robotic arm 80. An output suction cup 820 is fixed on the fixture 810. A light source and an identification camera 821 for photographing the glass mark are also fixed on the fixture. A protective cover is fixed outside the identification camera 821.

[0071] During operation, the output suction cup 820 is connected to a negative pressure pump through a pipeline, and the identification camera 821 is used to identify the mark of the skylight glass, so as to record the skylight glass that has completed the primer coating inspection.

[0072] In an embodiment of the present invention, a skylight inspection tool workbench 103 for detecting whether the size of the skylight is compliant is provided beside the loading robotic arm 101. A plurality of distance sensors 104 are arranged on the skylight inspection tool workbench. The loading robotic arm transfers the skylight to be primed to the skylight inspection tool workbench 103 for size detection and then transfers it to the first suction cup on the rotating disk 120.

[0073] In an embodiment of the present invention, a discharge storage rack 90 is further provided beside the discharge robotic arm. The discharge storage rack 90 includes a bottom frame 901 and a vertical frame 910 fixed to the rear side of the bottom frame. A pair of support rods 920 facing the discharge robotic arm are fixed on the vertical frame. Discharge guiding seats 930 are provided on both sides of the bottom frame, and guiding wheels 931 for guiding are provided inside the discharge guiding seats. The guiding wheels 931 are used to facilitate the placement and guiding of the discharge storage rack 90, and the support rods 920 are used to receive the skylight glass transferred by the discharge robotic arm 80, so as to complete the storage of the skylight in the primer application process, which is beneficial for subsequent transfer to other processes.

[0074] The above are only embodiments of the present invention. The driving components described in the present invention can be replaced by conventional electric cylinders, air cylinders or hydraulic cylinders and other conventional linear conveying structures. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, is similarly included in the patent protection scope of the present invention.

Claims

1. The method for automatic priming of automobile sunroof is characterized by: It includes a loading robot arm for clamping the skylight, a loading negative pressure suction cup is fixed on the movable end of the loading robot arm, a stand for conveying the skylight is provided on the side of the loading robot arm, a rotating disk is provided on the stand for placing the skylight, a plasma generation cleaning device and a primer device are provided on both sides of the stand, the primer device and the plasma generation cleaning device are respectively controlled and driven to move by the primer robot arm and the cleaning robot arm, the primer device includes a primer fixing plate fixed to the movable end of the primer robot arm, and a primer brush head is provided on the primer fixing plate; The specific steps include: (1) The loading robot transfers the skylight to the rotating disk; (2) The cleaning robot arm controls and drives the plasma generation cleaning device to perform ultrasonic cleaning on the area of ​​the skylight to be primed; (3) Inputting primer liquid at the bottom of the primer brush head; (4) Primer the primer area that has been ultrasonically cleaned using a primer brush head controlled by a primer robot arm.

2. The method for automatically coating a car sunroof according to claim 1, characterized in that: A primer head cannula is fixed on the primer fixing plate, the upper end of the primer brush head has a sleeve, the primer head cannula is inserted into the sleeve, the lower end of the primer head cannula is conical, the upper end of the primer head cannula is columnar and inserted into the sleeve, the upper diameter of the primer head cannula is larger than the inner diameter of the sleeve, the primer head cannula is hollow inside, and a primer liquid input pipe is connected to the top, the primer brush head has an adsorption layer for adsorbing the primer liquid, and in step (3), the primer liquid enters the adsorption layer of the primer brush head through the primer liquid input pipe, the primer head cannula and the sleeve.

3. The method for automatic priming of a car sunroof according to claim 2, characterized in that: A primer sensor for sensing a primer brush head is fixed on the primer fixing plate. Two or more primer brush heads are provided on the primer fixing plate, and bottom surfaces of different primer brush heads are staggered.

4. The method for automatically coating a car sunroof according to claim 2, characterized in that: The primer device also includes a primer brush head adhesive material replacement table located next to the primer robot arm, one side of the replacement table is provided with a brush head unloading hopper, the edge of the brush head unloading hopper is fixed with a unloading plate, the end of the unloading plate is provided with a recessed portion that can be buckled into a sleeve, the replacement table has a groove for placing the primer brush head, one end of the groove is provided with a push rod extending into the groove, the end of the groove is closed, the push rod is driven by a push rod mechanism to move along the groove to push the primer brush head to move, the push rod mechanism is a push rod electric cylinder located below the replacement table, and the moving end of the push rod electric cylinder is fixedly connected to the push rod.

5. The method for automatically coating a car sunroof according to claim 4, characterized in that: The replacement table is also provided with an inclined surface, and a photoelectric sensor is provided at the lower position of the inclined surface. The photoelectric sensor is located at the lower edge of the inclined surface and is used for sensing liquid drops.

6. The method for automatically coating the automobile sunroof according to claim 4, characterized in that: A skylight inspection fixture workbench is provided beside the loading robot arm, and a plurality of distance sensors are arranged on the skylight inspection fixture workbench. The loading robot arm transfers the skylight to be primed to the skylight inspection fixture workbench for inspection.

7. The method for automatically coating a car sunroof according to claim 4, characterized in that: The rotating disk is driven to rotate by a rotating motor fixed on a stand, a supporting rod is fixed on the rotating disk, a suction cup seat is fixed on the supporting rod, a first suction cup for placing glass is fixed on the suction cup seat, a pair of movable slides are provided on both sides of the stand, a lifting mechanism is fixed on the movable end of each movable slide, a lifting plate is fixed on the output end of the lifting mechanism, a second suction cup is fixed on the lifting plate, one end of the stand extends into a cabin, and a collection camera for detecting the primer liquid area is provided on the top of the cabin.

8. The method for automatically coating a car sunroof according to claim 7, characterized in that: An image fixing plate located below the acquisition camera is fixed to one end of the stand extending into the cabin, a bearing platform is fixed to the upper surface of the image fixing plate, a suction cup fixing seat is fixed to the bearing platform, and a plurality of third suction cups are fixed to the upper surface of the suction cup fixing seat.

9. The method for automatically coating a car sunroof according to claim 7, characterized in that: A discharging robot arm is provided on one side of the cabin located at the output end of the platform, a clamp for clamping glass is fixed on the movable end of the discharging robot arm, an output suction cup is fixed on the clamp, a light source and a marking camera for photographing glass marks are also fixed on the clamp, a protective cover is fixed to the outside of the marking camera, a rework table is provided on the side of the discharging robot arm, and a discharging storage rack is also provided on the side of the discharging robot arm.

10. The method for automatically coating a car sunroof according to claim 9, characterized in that: The discharging storage rack includes a base frame and a vertical frame fixed to the rear side of the base frame, a pair of support rods facing the discharging robot arm are fixed on the vertical frame, and discharging guide seats are arranged on both sides of the base frame, and guide wheels for guiding are provided on the inner side of the discharging guide seats.

Images