Frameless car door flexible assembly equipment

Abstract

The invention discloses frameless car door flexible assembly equipment, and relates to the technical field of car assembly, the frameless car door flexible assembly equipment comprises a flexible assembly assisting mechanical arm, an n-shaped frame is fixedly mounted at the connection end of the flexible assembly assisting mechanical arm, an I-shaped frame is fixedly connected to one end of the n-shaped frame, and an adsorption assembly is arranged on one side of the I-shaped frame; the four vacuum suction cups are arranged at the four corners of the I-shaped frame respectively, the adjusting mechanism is used for adjusting the vacuum suction cups, and the pitching angle and the extending distance of the vacuum suction cups relative to the I-shaped frame can be adjusted through the adjusting mechanism; and the anti-collision assembly comprises an upper L-shaped sliding rod and a lower L-shaped sliding rod. The vacuum suction cup is adjusted through the adjusting mechanism, the working efficiency is improved, the requirement for simultaneous production of multiple vehicle types on the same production line is met, the rubber pipe extends to the side face of the vehicle door through the push-pull mechanism, and therefore the situation that in the prior art, when the vehicle door and the vehicle body are in manual butt joint, vehicle door hinge pin columns knock the paint face of the vehicle body is avoided; and the effect of reducing assembly accidental loss is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of automobile assembly, and in particular to a flexible assembly device for a frameless vehicle door. Background Art

[0002] With the development of society, people's pursuit of cars has gradually expanded from the basic three major parts to include appearance and other aspects. The distinctive appearance of vehicles also makes the shapes of doors different. Therefore, in the assembly process of doors to the car body, flexible assembly equipment needs to be designed to improve compatibility.

[0003] In existing flexible assembly equipment, there are usually two sets of suction cups, one above and one below, which respectively adsorb the window glass and the bottom of the door to achieve the gripping and fixing of the door. However, for models with frameless doors, since the glass lacks the support of the upper window frame, the glass is easily skewed after being subjected to external force, and ultimately the door cannot be completely closed, affecting the sealing. In addition, in order to express the unique appearance aesthetic design of the car company, the doors of each vehicle are usually set with different waistlines, and the waistline will make the upper and lower parts of the door present different curves. In the existing technology, the angle of the suction cup and the extension amount are usually adjusted manually, which has low work efficiency and is not easy to adapt to the current popular situation of producing multiple models on one production line at the same time.

[0004] In order to solve the above problems, a flexible assembly device for frameless vehicle doors is proposed. Summary of the invention

[0005] In order to solve the above technical problems, a frameless vehicle door flexible assembly device is provided. This technical solution solves the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention can be implemented by the following technical solutions: The present invention provides a frameless door flexible assembly device, including a flexible assembly assisting mechanical arm, a J-shaped frame is fixedly installed at the connecting end of the flexible assembly assisting mechanical arm, an I-shaped frame is fixedly connected to one end of the J-shaped frame, and a suction component is provided on one side of the I-shaped frame, which includes four vacuum suction cups respectively arranged at the four corners of the I-shaped frame, and an adjustment mechanism for adjusting the vacuum suction cup, and the pitch angle and extension distance of the vacuum suction cup relative to the I-shaped frame can be adjusted by the adjustment mechanism; It also includes an anti-collision component, which includes two upper and lower L-shaped sliding bars, the two L-shaped sliding bars are fixedly connected to the middle of the side of the I-frame respectively, the outside of the two L-shaped sliding bars are slidably matched with rubber tubes, and the anti-collision component also includes a push-pull mechanism, which can make the rubber tube slide on the L-shaped sliding bar.

[0007] Furthermore, the adjustment mechanism includes a telescopic rod rotatably connected to the I-frame, and an electric cylinder rotatably connected to the middle of the telescopic rod, the cylinder body of the electric cylinder is rotatably connected to the I-frame, and the vacuum suction cup is connected to the telescopic end of the telescopic rod.

[0008] Further, the push - pull mechanism includes a cylinder disposed between two L - shaped sliding rods. The cylinder block of the cylinder is fixedly connected to the two L - shaped sliding rods correspondingly, and a connecting rod is fixedly connected to the telescopic end of the cylinder. Both ends of the connecting rod are fixedly connected to the two rubber hoses respectively.

[0009] Further, the bending angles of the two L - shaped sliding rods are both 90° - 120°.

[0010] Further, a plurality of circumferential cutting grooves are provided in the middle of the two rubber hoses, and grease is applied to both the inner and outer surfaces of the two rubber hoses.

[0011] Further, an assembly limiting component is further included. The assembly limiting component includes two first sickle - shaped limiting rods, and the handle ends of the two first sickle - shaped limiting rods are detachably connected to both sides of the top of the I - shaped frame respectively.

[0012] Further, first rubber sleeves are fixedly connected to the outer parts of the blade ends of the two first sickle - shaped limiting rods.

[0013] Further, the assembly limiting component further includes a second sickle - shaped limiting rod, and the handle end of the second sickle - shaped limiting rod is detachably connected to one end of the I - shaped frame away from the L - shaped sliding rod.

[0014] Further, a second rubber sleeve is fixedly connected to the outer part of the blade end of the second sickle - shaped limiting rod.

[0015] As described above, the characteristics and advantages of a frameless door flexible assembly device in the present invention are as follows: According to the shape of the door, the inclination angle of its sheet metal surface is judged. The electric cylinder enables the telescopic rod to drive the vacuum chuck to adjust the pitching angle so as to fit the inclination angle of the door sheet metal surface. At the same time, the distance between the vacuum chuck and the I - shaped frame is changed through the telescopic rod, thereby ensuring that the door can be kept in a vertical state during adsorption, solving the problem in the prior art that the angle and the telescopic amount of the chuck are adjusted manually, resulting in low work efficiency. At the same time, it avoids the situation in the prior art that the stability of door transfer is maintained by adsorbing the window glass, which is more conducive to the assembly of frameless doors. This device meets the requirement of simultaneous production of multiple vehicle models on the same production line.

[0016] When docking with the vehicle body, the hinge pin column on the side of the door protrudes. Before assembly, the cylinder extends, and then through the connecting rod, it pushes the rubber hose to slide on the L - shaped sliding rod until it extends to the side of the door under its guidance. By arranging the rubber hose beside the hinge pin column, the hinge pin column is blocked from bumping against the vehicle body during alignment. After alignment, the rubber hose can be quickly pulled back by the cylinder without affecting the subsequent assembly operation, avoiding the situation in the prior art that the vehicle body paint surface is scratched by the door hinge pin column when manually docking the door and the vehicle body, achieving the effect of reducing assembly accidental losses.

[0017] When adsorbing the car door, the edge of the car door abuts against the first sickle-shaped limiting rod and the second sickle-shaped limiting rod, which can avoid the situation in the prior art where the adsorption position is too offset when manually operating the adsorption action for car doors of different shapes, resulting in instability during the transfer of the car door and affecting the assembly efficiency. At the same time, by adjusting the distances between the first sickle-shaped limiting rod and the second sickle-shaped limiting rod relative to the I-shaped frame, the purpose of improving the adaptability of use is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall structure shown in the present invention; Figure 2 is Figure 1 an enlarged schematic view of part A in Figure 3 is a schematic diagram of the assembly of the adsorption component shown in the present invention; Figure 4 is Figure 3 a schematic view of some structures from another perspective in Figure 5 is a schematic diagram of the disassembled structure of the telescopic rod and the electric cylinder shown in the present invention; Figure 6 is a schematic diagram of the assembly of the anti-collision component shown in the present invention; Figure 7 is a schematic diagram of the disassembled structure of the anti-collision component shown in the present invention; Figure 8 is a schematic diagram of the car door adsorption state shown in the present invention; Figure 9 is Figure 8 a schematic view of the structure from another perspective in Figure 10 is Figure 9 an enlarged schematic view of part B in Figure 11 is a schematic diagram of the structure of the assembly limiting component shown in the present invention; Figure 12 is a schematic diagram of the disassembled structure of the assembly limiting component shown in the present invention.

[0019] Among them, the reference numerals in the present invention are: 11, flexible assembly assisting robotic arm; 12, channel-shaped bracket; 13, I-shaped frame; Adsorption component: 21, adjustment mechanism; 211, telescopic rod; 212, electric cylinder; 22, vacuum suction cup; Anti-collision component: 31, L-shaped sliding rod; 32, rubber tube; 33, circumferential cutting groove; 34, pushing and pulling mechanism; 341, air cylinder; 342, connecting rod; Assembly limiting component: 41, first sickle-shaped limiting rod; 42, first rubber sleeve; 43, second sickle-shaped limiting rod; 44, second rubber sleeve. DETAILED DESCRIPTION OF THE INVENTION

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0021] See also Figures 1 - 12 As shown in the figure, an embodiment of the present invention is provided, and a frameless door flexible assembly device is described in detail below: A frameless vehicle door flexible assembly device comprises a flexible assembly assisting mechanical arm 11, a cross-shaped frame 12 is fixedly mounted on the connecting end of the flexible assembly assisting mechanical arm 11, an I-shaped frame 13 is fixedly connected to the end of the I-shaped frame 12 away from the flexible assembly assisting mechanical arm 11, and a suction component is provided on the side of the I-shaped frame 13 facing the cross-shaped frame 12, which comprises four vacuum suction cups 22 respectively arranged at the four corners of the I-shaped frame 13, and an adjustment mechanism 21 for adjusting the vacuum suction cups 22, through which the pitch angle and the extension distance of the vacuum suction cups 22 relative to the I-shaped frame 13 can be quickly adjusted according to the shape of the vehicle door.

[0022] It should be noted that the flexible assembly assisting robotic arm 11 adopted in this embodiment is a common product in the door assembly process in the automobile manufacturing industry. The flexible assembly assisting robotic arm 11 is also called an assisting arm, a robotic arm, a balancing booster, a balancing crane, an assisting transfer machine, a labor-saving hoist, a labor-saving gripper, a labor-saving handling equipment, etc. It is a weightless manual transfer system and a novel assisting equipment for labor-saving operation during material handling. It cleverly uses the principle of force balance and gas-electric feedback to make the workpiece form a weightless floating state in the air, so that the operator cannot feel the workpiece's own weight during the process of transporting the workpiece.

[0023] In this equipment, when body parts need to be transferred manually, the body parts can be fixed on the flexible assembly assisting robot arm 11, and then the flexible assembly assisting robot arm 11 is driven to move, so as to achieve the purpose of transferring the body parts. When transferring, the flexible assembly assisting robot arm 11 can share a large amount of weight of the body parts, thereby saving a lot of labor for manual work and improving work efficiency. There are various types of flexible assembly assisting robot arms 11.

[0024] Specifically in this embodiment, the hanging type adopted by the flexible assembly assisting mechanical arm 11 is a type that is most widely used in the door assembly. The use of mature products can reduce the cost investment of this equipment, such as Figure 1As shown in the figure, the flexible assembly assisting robotic arm 11 includes a connecting top seat, which will bear the role of connecting the flexible assembly assisting robotic arm 11 with the overhead traveling crane on the workshop top. A downward short rod is rotatably provided at its bottom. A group of parallelogram structures arranged horizontally are provided at the bottom of the short rod. A linear actuator is provided in the middle of the short rod. The telescopic end of the linear actuator is connected to one of the long rods of the parallelogram structure. When the linear actuator extends, under the lever action, the end of the parallelogram structure far from the linear actuator will rise. On the contrary, it will fall, that is, it will synchronously drive the adsorption assembly to rise or fall when adsorbing the car door.

[0025] A 7-shaped swing rod is rotatably connected to the bottom of the end of the parallelogram structure far from the linear actuator. Another short rod is rotatably connected to the bottom of the 7-shaped swing rod. A control handle for movement is installed in the middle of the other short rod. A cross bar is rotatably connected to the bottom of the other short rod. Another linear actuator is provided in the middle of the other short rod. The telescopic end of the other linear actuator is connected to one end of the cross bar. The other end of the cross bar is the docking end described in this embodiment. After the adsorption assembly is fixedly connected to the docking end of the cross bar through the I-shaped frame 13 and the J-shaped frame 12, with the connection axis between the connecting top seat and the parallelogram structure as the center, and with the connection axis between the 7-shaped swing rod and the parallelogram structure as the center, by pulling the control handle, the adsorption assembly can be driven to change its horizontal distance relative to the connecting top seat when adsorbing the car door. And with the connection axis between the 7-shaped swing rod and the short rod at its bottom as the center, the adsorption assembly can be driven to rotate itself to change the horizontal angle by pulling the control handle, that is, the orientation of the car door is changed.

[0026] Furthermore, when the other linear actuator extends, by driving the cross bar to do a lever movement, the docking end of the cross bar will tilt upward. On the contrary, it will press down, that is, it will synchronously drive the adsorption assembly to change the vertical pitching angle of the car door when adsorbing the car door.

[0027] Through the cooperation between the above various actions, the car door can be transferred from the shelf to the body joint at a suitable angle and position.

[0028] Specifically, as shown in Figures 2 - 5 the figure, the adjustment mechanism 21 includes a telescopic rod 211 rotatably connected to the I-shaped frame 13 correspondingly, and an electric cylinder 212 rotatably connected to the middle of the telescopic rod 211. The cylinder body of the electric cylinder 212 is rotatably connected to the I-shaped frame 13 correspondingly. The vacuum suction cup 22 is connected to the telescopic end of the telescopic rod 211.

[0029] The working process of the above structure is that due to the waistline design of the car door, the upper and lower parts of its outer sheet metal surface present different inclination angles. The inclination angle is judged according to the shape of the car door. A mature visual recognition system can also be used to help workers quickly identify the shape of the car door and accurately judge its inclination angle. Then, the electric cylinder 212 is extended and retracted to push and pull the telescopic rod 211 to make a lever movement around the I-frame 13, so that one end of the telescopic rod 212 is tilted up or down, thereby driving the pitch angle of the vacuum suction cup 22 connected to the end to match the inclination angle of the sheet metal surface of the car door. At the same time, the telescopic rod 211 is used to change the distance between the vacuum suction cup 22 and the I-frame 13, thereby ensuring that the car door can be kept in a vertical state during adsorption.

[0030] The invention solves the problem of low working efficiency caused by manually adjusting the angle and extension amount of the suction cup in the prior art, and avoids the situation in the prior art of relying on adsorption of window glass to maintain the transfer stability of the door, which is more conducive to the assembly of frameless doors. The equipment meets the demand for simultaneous production of multiple models on the same production line.

[0031] In this embodiment, the telescopic rod 211 includes a threaded sleeve rotatably connected to the I-frame 13, a screw threadedly connected inside the threaded sleeve, and a servo motor fixedly connected to one end of the screw. The other end of the screw is rotatably connected to the vacuum suction cup 22. The telescopic end of the electric cylinder 212 is rotatably connected to the tube body of the threaded sleeve. In order to prevent the servo motor from rotating with the screw when the screw is driven to rotate, guide rods are respectively provided on both sides of the servo motor, and the outer parts of the guide rods are correspondingly slidably fitted on both sides of the threaded sleeve. Similarly, in order to prevent the vacuum suction cup 22 from being driven by the screw to rotate with it, thereby damaging the air pipe connected to the vacuum suction cup 22, guide rods are also respectively provided on both sides of the vacuum suction cup 22, and the outer parts of the guide rods are also correspondingly slidably fitted on both sides of the threaded sleeve. In this embodiment, the screw is driven to rotate by the servo motor, and the screw can move relative to the threaded sleeve, thereby changing the spacing of the vacuum suction cup 22 relative to the I-frame 13.

[0032] Furthermore, in order to improve the accuracy of the pitch angle adjustment of the vacuum suction cup 22, the electric cylinder 212 is selected, and the electric cylinder 212 can be accurately controlled to extend and retract, while the air cylinder 341 that is better integrated with the vacuum suction cup 22 is abandoned. The reason is that the gas in the air cylinder 341 can still be compressed, and there is a certain probability of air leakage in the air cylinder 341, which is not conducive to maintaining the stability of its extension end.

[0033] See also Figures 6 - 8As shown, the frameless door flexible assembly device also includes an anti-collision component, which includes two upper and lower L-shaped slide bars 31. The two L-shaped slide bars 31 are fixedly connected to the side of the I-shaped frame 13 away from the F-shaped frame 12. The outsides of the two L-shaped slide bars 31 are slidably matched with rubber tubes 32. The anti-collision component also includes a push-pull mechanism 34, which can enable the rubber tube 32 to slide on the L-shaped slide bars 31.

[0034] For details, see Figure 6 As shown, the push-pull mechanism 34 includes a cylinder 341 arranged between two L-shaped sliding rods 31, the cylinder body of the cylinder 341 is fixedly connected to the two L-shaped sliding rods 31, the telescopic end of the cylinder 341 is fixedly connected with a connecting rod 342, and the two ends of the connecting rod 342 are respectively fixedly connected to the two rubber tubes 32.

[0035] In this embodiment, when the door is sucked, its position in the frame 12 is that the sheet metal surface faces the vacuum suction cup 22, and its interior panel faces the connection end of the flexible assembly assisting mechanical arm 11. When docking with the vehicle body, Figures 9 - 10 As shown, a hinge pin is provided on the side of the door. The door and the body can be initially assembled by inserting the hinge pin into the pin sleeve on the body. In order to prevent the protruding hinge pin from scratching the paint surface of the body when aligning the pin sleeve, before assembly, the cylinder 341 is extended, and then the rubber tube 32 is pushed to slide on the L-shaped slide rod 31 through the connecting rod 342 until it extends to the side of the door under its guidance. By arranging the rubber tube 32 next to the hinge pin, the hinge pin is prevented from hitting the body during alignment. After alignment, the rubber tube 32 can be pulled back by the cylinder 341, and then the hinge pin is lowered to combine with the pin sleeve, and finally the connecting bolts can be installed, thereby reducing accidental losses during assembly.

[0036] Furthermore, it should be noted that the bending angles of the two L-shaped slide bars 31 are both 90°-120°. In order to improve the smoothness of sliding of the rubber tube 32, the bending angle of the L-shaped slide bar 31 is preferably in an obtuse angle state. The inside and outside of the two rubber tubes 32 are coated with grease to make the sliding smoother. At the same time, it also makes it smoother to pull the rubber tube 32 out from between the car body and the door to avoid damage to the car paint. A plurality of annular grooves 33 are provided in the middle of the two rubber tubes 32. The annular grooves 33 can avoid the mutual strong squeezing between the bent parts of the rubber tube 32 when the rubber tube 32 is bent, thereby reducing the resistance of the rubber tube 32 when it is bent.

[0037] See also Figures 11 - 12As shown in the figure, the frameless door flexible assembly device further includes an assembly limiting component. The assembly limiting component includes two first sickle-shaped limiting rods 41. The handle ends of the two first sickle-shaped limiting rods 41 are respectively detachably connected to both sides of the top of the I-shaped frame 13 by bolts. A first rubber sleeve 42 is fixedly connected to the outside of the blade ends of the two first sickle-shaped limiting rods 41. The assembly limiting component further includes a second sickle-shaped limiting rod 43. The handle end of the second sickle-shaped limiting rod 43 is detachably connected to one end of the I-shaped frame 13 away from the L-shaped sliding rod 31 by a bolt. A second rubber sleeve 44 is fixedly connected to the outside of the blade end of the second sickle-shaped limiting rod 43.

[0038] In this embodiment, when adsorbing the car door, the edge of the car door abuts against the first sickle-shaped limiting rod 41 and the second sickle-shaped limiting rod 43, which can avoid the situation that the adsorption position is too offset when adsorbing the car door, resulting in instability during the transfer of the car door and affecting the assembly efficiency. In this embodiment, both types of sickle-shaped limiting rods are divided into a handle and a blade. Among them, the handle and the I-shaped frame 13 are detachably connected by bolts. The blade is the part that contacts the car door, and it can slide on the handle to adjust the position of the blade. After adjustment, the displacement between the two can be restricted by the bolts on the side to maintain stability. The outside of the blade is respectively sleeved with a first rubber sleeve 42 and a second rubber sleeve 44, which can avoid damaging the car door.

[0039] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0040] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A frameless door flexible assembly device, comprising a flexible assembly assisting robotic arm (11), characterized in that: The connecting end of the flexible assembly assisting robotic arm (11) is fixedly installed with a C-shaped bracket (12). One end of the C-shaped bracket (12) is fixedly connected to an I-shaped bracket (13). An adsorption assembly is arranged on one side of the I-shaped bracket (13), and it includes four vacuum suction cups (22) respectively arranged at the four corners of the I-shaped bracket (13). It further includes an anti-collision assembly, which includes two L-shaped sliding rods (31) arranged vertically. The two L-shaped sliding rods (31) are correspondingly fixedly connected to the middle of the side surface of the I-shaped bracket (13). Rubber tubes (32) are slidably fitted on the outer parts of the two L-shaped sliding rods (31). The anti-collision assembly further includes a pushing and pulling mechanism (34), and the pushing and pulling mechanism (34) can make the rubber tubes (32) slide on the L-shaped sliding rods (31).

2. The frameless door flexible assembly device according to claim 1, wherein: An adjustment mechanism (21) for adjusting the vacuum suction cups (22) is arranged on one side of the I-shaped bracket (13). The adjustment mechanism (21) includes a telescopic rod (211) correspondingly rotatably connected to the I-shaped bracket (13), and an electric cylinder (212) rotatably connected to the middle of the telescopic rod (211). The cylinder body of the electric cylinder (212) is correspondingly rotatably connected to the I-shaped bracket (13), and the vacuum suction cup (22) is connected to the telescopic end of the telescopic rod (211).

3. The frameless door flexible assembly device according to claim 2, characterized in that: The pushing and pulling mechanism (34) includes a cylinder (341) arranged between the two L-shaped sliding rods (31). The cylinder body of the cylinder (341) is correspondingly fixedly connected to the two L-shaped sliding rods (31). A connecting rod (342) is fixedly connected to the telescopic end of the cylinder (341), and the two ends of the connecting rod (342) are respectively fixedly connected to the two rubber tubes (32).

4. The frameless door flexible assembly equipment according to claim 3, characterized in that: The bending angles of the two L-shaped sliding rods (31) are both 90° - 120°.

5. The frameless door flexible assembly device according to claim 4, wherein: A plurality of circumferential cutting grooves (33) are opened in the middle of the two rubber tubes (32), and lubricating grease is smeared on the inner and outer surfaces of the two rubber tubes (32).

6. The flexible assembly equipment for frameless vehicle doors according to claim 5, characterized in that: It further includes an assembly limiting component, which includes two first sickle-shaped limiting rods (41). The handle ends of the two first sickle-shaped limiting rods (41) are respectively detachably connected to the two sides of the top of the I-shaped bracket (13).

7. The frameless door flexible assembly device according to claim 6, characterized in that: First rubber sleeves (42) are fixedly connected to the outer parts of the blade ends of the two first sickle-shaped limiting rods (41).

8. The frameless door flexible assembly equipment according to claim 7, characterized in that: The assembly limiting component further includes a second sickle-shaped limiting rod (43). The handle end of the second sickle-shaped limiting rod (43) is detachably connected to the end of the I-shaped bracket (13) away from the L-shaped sliding rod (31).

9. The frameless door flexible assembly equipment according to claim 8, characterized in that: A second rubber sleeve (44) is fixedly connected to the outer part of the blade end of the second sickle-shaped limiting rod (43).

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