Robotic system for vehicle skin attachment

Abstract

A skin attachment system includes a robot body, a skin suction unit coupled to a first end of the robot body, and a coating unit coupled to a second end of the robot body, where the skin suction unit includes at least one guide module and a vacuum module, a guide module is coupled to the robot body, and a vacuum module is coupled to each of the one or more guide modules. The skin attachment system further includes a controller configured to vary an angle of the vacuum module as a function of a curvature value of a panel of the vehicle.

Description

Technical Field

[0001] This disclosure relates to a robotic system for skin attachment during vehicle assembly, and more specifically, to a robotic system configured such that skin adsorption and coating units can be integrated with a robot body to properly attach skin to panel surfaces of various shapes. Background Technology

[0002] Skin attachment systems are mounted on industrial robots and used in the process of attaching skins of various sizes and shapes to panel surfaces during vehicle assembly. With the development of such systems, a technology has emerged that enables the stable attachment of skins to surfaces of various shapes by precisely adjusting the attachment angle or position.

[0003] In existing skin attachment technologies, the use of different equipment and processes at each stage makes it difficult to attach skins of various shapes and sizes to panels. Furthermore, existing technologies employ a separate air-blowing method for skin attachment, which assists in attachment based on the panel's position and shape.

[0004] In existing skin attachment systems, sufficient installation space is required because the sealant application unit and the skin adhesion unit are designed independently. Furthermore, additional modifications to the system equipment are necessary when using skins of new sizes and shapes for skin attachment. Moreover, the use of air-blowing methods leads to decreased energy efficiency, noise generation, and increased mechanical wear on the working equipment. Considering these drawbacks of existing skin attachment systems, the prior art needs to be improved in terms of flexibility and efficiency for complex-shaped surfaces.

[0005] Recently, in order to solve these problems, a system has been researched and developed in which a skin adsorption unit and a sealant application unit are integrated with the robot body to quickly attach skins of various sizes and shapes to target objects.

[0006] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art in this country. Summary of the Invention

[0007] This disclosure provides a robotic system configured to integrate a skin adsorption unit and a sealant application unit, enabling the stable attachment of skins of various sizes and shapes to a panel. Furthermore, this disclosure provides a skin attachment device configured to adjust the angle of the skin adsorption unit for efficient attachment of the skin to a panel with a curved shape. Therefore, compared to conventional air-blowing methods, this not only achieves space savings and increased efficiency without requiring additional separate processes, but also reduces energy consumption and noise.

[0008] The purpose of this disclosure is not limited to the foregoing objectives, and other technical objectives not mentioned herein will be clearly understood from the following description and will be more clearly understood from the embodiments of this disclosure. Furthermore, the objectives of this disclosure can be achieved by the methods and combinations thereof indicated in the claims.

[0009] In one aspect, this disclosure provides a skin attachment system for attaching skin to a vehicle, comprising: a robot body; a skin adsorption unit coupled to a first end of the robot body; and an application unit coupled to a second end of the robot body, wherein the skin adsorption unit includes: at least one guide module coupled to the robot body; and a vacuum module coupled to the guide module, the skin attachment system further including a controller configured to change the angle of the vacuum module according to the curvature value of the vehicle panel.

[0010] On the other hand, this disclosure provides a skin attachment system including a robot body, a skin adsorption unit, and a coating unit. The skin adsorption unit is connected to one end of the robot body, and the coating unit is connected to the other end of the robot body. The skin adsorption unit includes a plurality of cylinder modules and a vacuum module. One end of each of the cylinder modules is connected to the robot body, and the vacuum module is connected to the other end of each of the cylinder modules. The skin attachment system further includes a controller configured to change the angle of the vacuum module according to the curvature value of the panel.

[0011] In a preferred embodiment, the vacuum module may include a vacuum manifold, a plurality of vacuum tubes, a mounting plate, a plurality of spring plungers, a plurality of vacuum pads, and a plurality of ball joints. The vacuum manifold is connected to the guide module. One end of each of the vacuum tubes is connected to the vacuum manifold. The mounting plate is connected to the other end of each of the vacuum tubes. The plurality of spring plungers are located on the mounting plate. Each of the spring plungers extends from a corresponding one of the vacuum tubes. Each of the plurality of vacuum pads is connected to a corresponding one of the spring plungers. The plurality of ball joints are located between the spring plungers and the vacuum pads, respectively.

[0012] In another preferred embodiment, the vacuum module may further include a skin detection sensor mounted on the upper surface of the vacuum manifold.

[0013] In yet another preferred embodiment, the skin attachment system may further include a vacuum generator mounted on the robot body, wherein the vacuum generator may be connected to a vacuum manifold.

[0014] In yet another preferred embodiment, each of the vacuum pads may be formed of a pleated pad.

[0015] In another preferred embodiment, the skin attachment system may further include a skin storage unit. The skin storage unit is configured to provide the skin to the skin adsorption unit, wherein the skin storage unit may include a guide member, a storage member, a skin plate, a first position sensor, and a second position sensor. The guide member is configured to allow the skin to be loaded within it. The storage member is located at a lower end of the guide member, the skin plate is located between the guide member and the storage member, the first position sensor is located at a lower end of the skin plate and is positioned facing the skin, and the second position sensor is mounted on at least one of the opposing upper surfaces of the guide member.

[0016] In a further preferred embodiment, the skin storage unit may further include a ball screw and a motor, the ball screw being connected to the skin plate and the motor being connected to the ball screw and configured to drive the ball screw, wherein the ball screw can move the skin plate up or down.

[0017] In another further preferred embodiment, the controller may be configured to control the ball screw to position the skin at a set position when it receives a position signal of the skin from the second position sensor and determines that the skin is not located at a predetermined position in the skin storage unit.

[0018] In yet another preferred embodiment, the skinned storage unit may further include a moving cylinder positioned facing the guide member and configured to move the guide member along the upper surface of the storage unit.

[0019] In yet another preferred embodiment, the controller may be configured to control the moving cylinder to position the guide member at a set position when it receives information from the first position sensor about whether the guide member is loaded with skin and determines that the guide member is not loaded with skin.

[0020] In yet another preferred embodiment, the controller can be configured to control the vacuum level of each of the vacuum pads based on the curvature value of the panel.

[0021] In yet another preferred embodiment, the skin attachment system may further include an image detector configured to check the attachment status of the skin attached to the vacuum pad.

[0022] In yet another preferred embodiment, the controller can be configured to adjust the length of each of the spring plungers according to the curvature value of the panel.

[0023] In another aspect, this disclosure provides a vehicle skin attachment assembly, including a robot and a skin attachment system for attaching skin to a vehicle.

[0024] In another aspect, this disclosure provides a skin attachment control method, comprising: determining by a controller whether a skin storage unit is in a normal state; when the skin storage unit is in a normal state, determining by the controller whether a skin adsorption unit is in a normal state; when the skin adsorption unit is in a normal state, applying a sealant to a fixture by the controller; attaching the skin to a position corresponding to the applied sealant by the controller; and monitoring by the controller whether the skin is attached to the correct position of the sealant.

[0025] In a preferred embodiment, determining whether the skin storage unit is in a normal state by the controller may include: the controller receiving information from a first position sensor regarding the presence of skin in the skin storage unit, and the controller determining whether the skin is loaded in the skin storage unit; and when the skin is loaded in the skin storage unit, the controller receiving information from a second position sensor regarding the presence of skin at a predetermined position in the skin storage unit, and the controller determining whether the skin is located at the predetermined position in the skin storage unit.

[0026] In another preferred embodiment, when the skin storage unit is in a normal state, the controller determines whether the skin adsorption unit is in a normal state, which may include: adsorbing the skin onto the skin adsorption unit, and when the skin is adsorbed onto the skin adsorption unit, the controller receives the skin position from the skin detection sensor, determines whether the skin is adsorbed onto a predetermined position of the skin adsorption unit, the controller receives the vacuum level of the vacuum manifold from the vacuum measurement sensor, and determines whether the vacuum level is equal to or higher than a set vacuum level.

[0027] In another preferred embodiment, determining whether the skin is located at a predetermined position of the skin storage unit by the controller may include: when the skin deviates from the predetermined position of the skin storage unit, the controller moves the skin plate upward; after the skin plate moves upward, the controller determines whether the height of the skin plate is equal to or higher than a set reference value; and when determining whether the height of the skin plate is equal to or higher than the set reference value, when the height of the skin plate is equal to or higher than the set reference value, a skin supplement notification is issued.

[0028] In another preferred embodiment, when the skin adsorption unit is in normal condition, applying sealant to the fixture by the controller may include: the controller moving the application unit to the fixture and applying the sealant to the position corresponding to the position set in the controller.

[0029] In another preferred embodiment, attaching the skin to a position corresponding to the applied sealant by the controller may include: the controller receiving the position of the applied sealant from a camera sensor, and the controller moving the skin adsorption unit to a position corresponding to the applied sealant; the controller receiving the position of the applied sealant from a camera sensor, and the controller determining whether the skin adsorption unit is above the applied sealant; when the skin adsorption unit is above the sealant, the controller releasing the vacuum of the skin adsorption unit, and the controller attaching the skin to the applied sealant; and the controller attaching the skin to the applied sealant, and the controller moving the skin adsorption unit to its original position.

[0030] In another preferred embodiment, the controller receiving the position of the applied sealant from the camera sensor and determining whether the skin adsorption unit is located above the applied sealant may include: when the skin adsorption unit is not located above the applied sealant, the controller repositioning the skin adsorption unit above the applied sealant.

[0031] In another further preferred embodiment, the controller receiving information from the first position sensor regarding the presence of skin in the skin storage unit, and the controller determining whether the skin is loaded in the skin storage unit, may include: when the skin is not loaded in the skin storage unit, the controller issuing a skin replenishment notification; when the skin replenishment notification is issued, the controller driving a moving cylinder to move a guide member along the upper surface of the storage member; when the guide member is moved by the moving cylinder, the controller loading the skin into the guide member; and when the skin is loaded into the guide member, the controller moving the guide member back to its original position.

[0032] Other aspects and preferred embodiments of this disclosure are discussed below. Attached Figure Description

[0033] The above and other features of this disclosure will now be described in detail with reference to specific exemplary embodiments shown in the accompanying drawings. These embodiments are given hereinafter by way of illustration only and are not intended to limit the scope of this disclosure, wherein:

[0034] Figure 1 This is a perspective view of a skin attachment system according to an embodiment of the present disclosure;

[0035] Figure 2AThis is a perspective view of a vacuum module according to an embodiment of the present disclosure;

[0036] Figure 2B This is a perspective view of the skin attachment steps according to an embodiment of the present disclosure;

[0037] Figure 3A This is a perspective view of a skinned storage unit according to an embodiment of the present disclosure;

[0038] Figure 3B This is a perspective view of a sensing method for a first position sensor and a second position sensor according to an embodiment of the present disclosure;

[0039] Figure 4 This is a schematic flowchart of a skin attachment control method according to an embodiment of the present disclosure; and

[0040] Figure 5 This is a detailed flowchart of a skin attachment control method according to an embodiment of the present disclosure.

[0041] It should be understood that the accompanying drawings are not necessarily drawn to scale, but rather present slightly simplified representations of various preferred features illustrating the basic principles of this disclosure. Specific design features of this disclosure, such as specific dimensions, orientations, positions, and shapes, will be determined in part by the particular intended application and environment of use.

[0042] In the accompanying drawings, and in some of the drawings in all the drawings, reference numerals denote the same or equivalent parts of this disclosure. Detailed Implementation

[0043] It should be understood that the terms "vehicle" or "of vehicles" or other similar terms as used herein generally include motor vehicles such as passenger cars, boats, aircraft, etc., where passenger cars include sport utility vehicles (SUVs), buses, trucks, and various commercial vehicles, and boats include various small and large vessels; and include hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels from resources other than petroleum). As described herein, a hybrid vehicle is a vehicle with two or more power sources, such as a gasoline and electric dual-power vehicle.

[0044] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” as used herein are intended to include the plural forms as well. It will be further understood that, when used in this specification, the terms “comprising” and / or “including” specify the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items. In this specification, unless explicitly stated otherwise, the word “comprising” and variations such as “including” or “comprising” will be understood to mean including the stated elements, but not excluding any other elements. Additionally, the terms “unit,” “device,” “component,” and “module” described in the specification refer to a unit for performing at least one function and operation, and can be implemented by hardware components or software components and combinations thereof.

[0045] Furthermore, the control logic of this disclosure can be implemented as a non-transitory computer-readable medium containing executable program instructions that are executed by a processor, controller, etc. Examples of computer-readable media include, but are not limited to, ROM, RAM, optical disc (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable medium can also be distributed across a networked computer system, thereby being stored and executed in a distributed manner, for example, via a telematics server or a controller area network (CAN).

[0046] In the following, various embodiments of the present disclosure will be referenced in detail, examples of which are illustrated in the accompanying drawings and described below. Although the present disclosure will be described in conjunction with exemplary embodiments, it will be understood that this description is not intended to limit the present disclosure to the exemplary embodiments. Rather, the present disclosure is intended to cover not only the exemplary embodiments, but also various alternatives, modifications, equivalents, and other embodiments that may be included within the spirit and scope of the present disclosure as defined by the appended claims. These embodiments are provided to provide a more complete explanation of the present disclosure to those skilled in the art.

[0047] The terminology used in this specification is for describing particular embodiments only and is not intended to limit those embodiments. Unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well.

[0048] The controller 500 can be implemented using an algorithm, a memory, and a processor. The algorithm is configured to control the operation of various components installed in the vehicle. The memory is configured to store data related to the program of reproducing the algorithm. The processor is configured to use the data stored in the memory to perform the aforementioned operations. In this case, the memory and processor can be implemented as separate chips. Alternatively, the memory and processor can be implemented as a single chip. For example, the controller 500 may include at least two of an electronic control unit (ECU), a central processing unit (CPU), a microprocessor unit (MPU), a microcontroller unit (MCU), an application processor (AP), or any type of processor known in the art of this disclosure.

[0049] Furthermore, the controller 500 may be formed by a combination of software and hardware capable of performing calculations on at least two applications or programs for running the methods according to embodiments of the present invention.

[0050] In the following description, embodiments will be described in detail with reference to the accompanying drawings. When describing embodiments with reference to the accompanying drawings, the same or corresponding components will be indicated by the same reference numerals, and redundant descriptions thereof will be omitted.

[0051] Figure 1 This is a three-dimensional view of the skin attachment system.

[0052] According to embodiments of the present disclosure, the skin attachment system comprises a robot body 100, a skin adsorption unit 200 mounted on one side of the robot body 100, an application unit 400 mounted on the other side of the robot body 100, and a skin storage unit 300 configured to load the skin.

[0053] The robot body 100 includes a robotic arm mount 110 disposed at its upper end. The robotic arm mount 110 is configured to allow a robotic arm (not shown) to be mounted on the robot body 100, and a skin adsorption unit is mounted on one side of the robot body 100, while an application unit 400 is mounted on the other side of the robot body 100. Furthermore, the robot body 100 is capable of moving up, down, left, and right, or rotating in place, via the robotic arm (not shown) mounted on the robotic arm mount 110.

[0054] The skin adsorption unit 200 includes at least one guide module 210 (e.g., one or more guide modules 210) mounted on one side of the robot body 100 and a vacuum module 220 mounted on one end of the guide module 210. The vacuum module 220 can be configured to correspond to the number of guide modules 210.

[0055] Furthermore, the skin adsorption unit 200 adsorbs the skin by allowing the guide module 210 and vacuum module 220 to operate in combination, and the number of guide modules 210 and vacuum modules 220 to be used can vary according to the shape of the skin. For example, a skin with a width of 100 mm and a height of 300 mm can be adsorbed by one vacuum module 220, and a skin with a width of 200 mm and a height of 300 mm can be adsorbed by two vacuum modules 220. As described above, the number of guide modules 210 and vacuum modules 220 to be used can vary according to the size and shape of the skin.

[0056] Furthermore, according to another embodiment of this disclosure, by subdividing the vacuum module 220, various sizes of skin can be adsorbed by adjusting the width-to-height ratio of the vacuum module 220 or by adding guide modules 210. For example, when a vacuum module 220 has a width of 100 mm and a height of 300 mm, it can be divided into three vacuum modules 220, each with a width of 100 mm and a height of 100 mm. Moreover, guide modules 210 are added in response to the number of subdivided vacuum modules 220, and the subdivided vacuum modules 220 can be connected to the added guide modules 210. Therefore, through this structural change, skins of various sizes and shapes can be adsorbed.

[0057] In the construction of the skin adsorption unit 200, the guide module 210 is formed by multiple cylinders 211, and the cylinders 211 are fixed to one side of the substrate 213. The other side of the substrate 213 is connected to the robot body 100, so that the cylinders 211 and the robot body 100 can be formed as an integral structure. With this structure, the multiple cylinders 211 can move as a whole with the robot body 100.

[0058] Furthermore, cylinder 211 is formed by a cylinder barrel 214 serving as the main body, a piston (not shown) that performs piston movement within the cylinder barrel 214, and a piston rod 212, which is configured to be movable upward and downward by receiving force from the piston (not shown). Additionally, piston rod 212 is connected to the upper end of vacuum module 220. Therefore, piston rod 212 can move vacuum module 220 upward and downward according to the reciprocating motion of the piston (not shown). The reciprocating motion of the piston (not shown) can be performed by allowing pneumatic or hydraulic pressure to be introduced into cylinder 211 via a pneumatic or hydraulic port. Furthermore, the introduction of pneumatic or hydraulic pressure can be controlled by operating a solenoid valve 240 located on the upper surface of robot body 100.

[0059] In addition, one or more cylinders 211 are connected to the vacuum module 220, and the cylinders 211 are configured to guide the vacuum module 220 in the longitudinal direction.

[0060] The vacuum module 220 connected to cylinder 211 is formed by a vacuum manifold 221 and a plurality of vacuum tubes 222. The vacuum manifold 221 is connected to one end of piston rod 212, and the plurality of vacuum tubes 222 are connected to the rear surface of vacuum manifold 221. In addition, the vacuum module 220 is formed by a mounting plate 223, a plurality of spring plungers 224, and a plurality of vacuum pads 225. The mounting plate 223 is connected to one end of vacuum tube 222, the plurality of spring plungers 224 are located on the rear surface of mounting plate 223, and each vacuum pad 225 is connected to a corresponding spring plunger 224.

[0061] A vacuum manifold 221 mounted on piston rod 212 is fluidly connected to a vacuum generator 230, located on the rear surface of robot body 100, via a vacuum hose (not shown). Therefore, the vacuum generator 230 maintains the interior of the vacuum manifold 221 under vacuum and controls the vacuum level as needed. Here, vacuum level refers to a pressure relatively below atmospheric pressure, preferably the internal pressure of the vacuum module 220. Furthermore, as the vacuum level inside the vacuum module 220 decreases, the suction pressure becomes higher, thereby increasing the adhesion of the skin to the vacuum module 220.

[0062] One end of each of the plurality of vacuum tubes 222 is connected to the rear surface of the vacuum manifold 221. Furthermore, each of the vacuum tubes 222 is configured to extend in a direction perpendicular to the rear surface of the vacuum manifold 221. Therefore, each of the vacuum tubes 222 is fluidly connected to the vacuum manifold 221, thereby maintaining the same vacuum state as the vacuum manifold 221.

[0063] Furthermore, one end of each of the vacuum tubes 222 is connected to the mounting plate 223. The mounting plate 223 can be positioned parallel to the vacuum manifold 221. That is, the plurality of vacuum tubes are configured such that one end of each of the vacuum tubes is connected to the mounting plate 223, and its other end is connected to the vacuum manifold 221 between the mounting plate 223 and the vacuum manifold 221.

[0064] Multiple spring plungers 224 are connected to the rear surface of the mounting plate 223. The multiple spring plungers 224 can be formed to extend from corresponding vacuum tubes 222. Preferably, the vacuum tubes 222 can extend from the vacuum manifold 221 and pass through the mounting plate 223. Furthermore, the number of spring plungers 224 can correspond to the number of vacuum tubes 222. Additionally, the multiple spring plungers 224 can be configured to compensate for a depth corresponding to the panel shape by adjusting the length of each spring plunger 224 according to the panel shape.

[0065] Furthermore, a vacuum pad 225 is located at one end of each of the spring plungers 224. A skin surface is bonded to one end of the vacuum pad 225, and the vacuum pad 225 is configured to adsorb the skin from the skin storage unit 300.

[0066] Furthermore, the vacuum pad 225 can be formed of a pleated pad. The pleated pad has multiple pleats and is designed to fold or unfold when the skin is attached to the panel surface. In this way, the pleated pad can attach the skin to the panel surface along the curved shape of the panel surface. Furthermore, the number of vacuum pads 225 is configured to correspond to the number of spring plungers 224.

[0067] The ball joint 228 is located between the spring plunger 224 and the vacuum pad 225. The ball joint 228 can be configured as a four-way ball joint 228, and can be configured to move the vacuum pad 225 vertically and horizontally or rotate the vacuum pad 225.

[0068] The skin storage unit 300, configured to provide skin to the vacuum pad 225, is formed by a guide member 310 and a storage member 320. The guide member 310 is loaded with skin, and the storage member 320 is positioned facing the lower end of the guide member 310. Furthermore, the skin storage unit 300 is formed by a skin plate 330, a moving cylinder 380, a first position sensor 340, and a second position sensor 350. The skin plate 330 is located between the guide member 310 and the storage member 320, the moving cylinder 380 is located on the upper surface of the storage member 320, the first position sensor 340 is located at the lower end of the skin plate 330, and the second position sensor 350 is located on both sides of the upper end of the guide member 310.

[0069] The storage component 320 is formed into a rectangular box shape. A loading space can be formed inside the storage component 320. Here, a ball screw 360 and a motor 370 are built into the storage component 320. The ball screw 360 is configured to move the skin plate 330 up and down, and the motor 370 is configured to drive the ball screw 360.

[0070] The guide member 310 is formed with a cuboid structure, and its upper and lower parts are open. Preferably, the guide member 310 may be configured such that one surface of the stacked skin is open. With this structural configuration, an operator can inspect the amount of skin stacked in the guide member 310 from the outside.

[0071] At least two sensors are arranged on the upper part of the guide member 310 to determine the correct position of the skin in the guide member 310. The at least two sensors refer to the second position sensors 350, and each of the second position sensors 350 is configured to detect the position of the skin and determine whether the skin is placed in the set position.

[0072] The second position sensor 350 can be an optical sensor, an ultrasonic sensor, or a proximity sensor. Preferably, the second position sensor 350 can be configured as a reflective or transmissive optical sensor among optical sensors. An optical sensor consists of a light emitting component and a light receiving component, and detects signal changes when the skin blocks or reflects light.

[0073] Furthermore, according to embodiments of this disclosure, the second position sensor 350 can be configured as an ultrasonic distance sensor among ultrasonic sensors. The ultrasonic sensor emits sound waves, receives sound waves reflected from the skin, and detects the position of the skin by the change in reflection time.

[0074] Furthermore, the second position sensor 350 can be configured as an inductive or electrostatic proximity sensor. When the skin approaches the proximity sensor, the sensor detects the change in magnetic field using electromagnetic waves.

[0075] The controller 500 of this disclosure receives the skin position from each of the second position sensors 350 and determines whether the skin is in the correct position within the guide member 310. When the skin is not in the correct position within the guide member 310, the controller 500 raises the skin plate 330 located between the guide member 310 and the storage member 320 to place the skin in the correct position.

[0076] Furthermore, the controller 500 receives the skin position from each of the second position sensors 350, determines whether the skin is in the correct position, and raises the skin plate 330 until it is determined that the skin is in the correct position. Through this operation, the skin is moved to the upper part of the guide member 310 and loaded onto the vacuum module 220 at a predetermined position.

[0077] When the skin is loaded by the vacuum module 220 and all the skin loaded in the guide member 310 is completely used up, the first position sensor 340 located at the lower end of the skin plate 330 issues a skin replenishment notification. The first position sensor 340 can be configured as an ultrasonic sensor. The first position sensor 340 sends an ultrasonic signal to the skin, the surface of which contacts the skin plate 330, and receives the ultrasonic waves reflected by the skin to determine whether skin is present in the guide member. When the first position sensor 340 sends an ultrasonic signal to the skin but does not receive any ultrasonic waves reflected by the skin, the controller determines that no skin is loaded in the guide member 310.

[0078] In other words, the first position sensor 340 measures the presence or absence of the skin in the guide component 310. Similar to the second position sensor 350, the first position sensor 340 can be configured as an optical sensor, an ultrasonic sensor, or a proximity sensor.

[0079] When a skin replenishment notification is issued, the controller 500 actuates the movable cylinder 380 located at the upper end of the storage component 320 to move the guide component 310 to a predetermined position. The movable cylinder 380 is positioned to face the other end face of the guide component 310. Therefore, when a movement signal is applied to the movable cylinder 380 for the guide component 310, the movable cylinder 380 applies force to the other end face of the guide component 310. As a result, the guide component 310 moves along the upper surface of the storage component 320. The guide component 310 is placed at the replenishment position set by the controller 500 on the upper surface of the storage component 320. At this replenishment position, skin is replenished in the guide component 310, and the replenished skin is provided to the vacuum pad 225.

[0080] This disclosure is configured to include an image detector 250 to check whether the skin is accurately attached to a predetermined position on the vacuum pad 225 when the skin is adsorbed onto the vacuum pad 225. The image detector 250 is formed by a camera and image processing software and is configured to collect image data by photographing the upper and peripheral portions of the skin in a standby state after the skin is loaded.

[0081] In addition, when the skin is attached to the correct position of the vacuum pad 225, the controller 500 applies sealant to the inside of the panel via the application unit 400.

[0082] The coating unit 400 is attached to the other side of the robot body 100. Preferably, the coating unit 400 is configured to be connected to the robot body 100 so that it can move in the upward and downward directions.

[0083] Furthermore, the application unit 400 moves on the panel according to the preset positions stored in the controller 500. With this configuration, the application unit 400 applies sealant to the preset positions stored in the controller 500. Moreover, the controller 500 controls the movement path and position of the application unit 400, ensuring that the sealant is evenly applied to at least one area according to the preset positions on the panel.

[0084] Furthermore, when the skin adsorbed on the vacuum pad 225 is attached to the panel, the controller 500 can adjust the angle of the vacuum pad 225 in response to the curvature value of the vehicle panel shape. The angle of the vacuum pad 225 refers to the angle between the line extending from the vacuum tube 222 and the panel surface that contacts the skin surface.

[0085] This disclosure can be configured to detect whether the skin is adsorbed onto the vacuum pad 225 and the curvature of the panel by utilizing a detection sensor 226 located on the upper side of the vacuum manifold 221. In another embodiment of this disclosure, the detection sensor 226 may be mounted on the lower end of the mounting plate 223 or on the vacuum pad 225. In this way, the detection sensor 226 can be mounted in various locations and is not limited to the embodiments described in the specification.

[0086] The detection sensor 226 measures the curvature of the panel in real time and transmits the curvature value to the controller 500. Furthermore, the detection sensor 226 can use various types of sensors. Preferably, the detection sensor 226 can use a contact sensor, a non-contact distance sensor, or a laser scanner.

[0087] The contact sensor detects the curvature of the panel by directly contacting its surface. The contact sensor changes its angle based on its contact position with the panel. The controller 500 calculates the panel's curvature value based on this angle change information. This contact sensor provides accurate measurements based on mechanical motion.

[0088] Non-contact distance sensors use ultrasonic waves or infrared light to measure the distance to the panel surface. The non-contact sensors collect information about the distance to the panel surface, and the controller 500 uses this information to determine the curvature shape of the panel in real time.

[0089] The laser scanner quickly scans the entire shape of the panel. The laser scanner collects distance data at multiple points on the panel, and the controller 500 receives the distance data.

[0090] In addition, the controller 500 calculates the necessary angle adjustment value based on the curvature data received from the detection sensor 226.

[0091] When angle adjustment is required, the controller 500 rotates the vacuum pad 225 up, down, left and right via the ball joint 228 located at the upper end of the vacuum pad 225 to change the structure of the vacuum pad 225, or to adjust the vacuum level of multiple vacuum tubes 222 individually.

[0092] According to embodiments of this disclosure, the controller 500 adjusts the angle of the vacuum pad 225 by changing the angle of the vacuum pad 225 to the ball joint 228 with reference to a calculated angle adjustment value. Furthermore, the controller 500 individually adjusts the vacuum level of each vacuum tube 222 in response to the curvature value of the panel, thereby allowing the vacuum pad 225 to stably adhere to the skin and allowing the skin to attach to curved panel surfaces.

[0093] For example, in areas of the panel with a high curvature value, the controller 500 increases the vacuum level of the vacuum tube 222 to allow the vacuum pad 225 to attach to the curved portion of the skin. The higher vacuum level of the vacuum pad 225 increases the adhesion of the skin, so even when the skin is attached to a panel area with a high curvature value, the skin will not detach from the vacuum pad but will remain attached to it. In this way, the skin is stably placed on the curved surface of the panel. In other words, the higher vacuum level of the vacuum tube enables the skin to be stably attached to the curved surface of the panel.

[0094] As another example, when a portion of the panel has a small curvature value or the panel has a flat surface, the controller 500 adjusts the vacuum level of the vacuum tube 222 so that the vacuum pad 225 attaches the skin to the flat portion of the panel. In this case, the vacuum level of the vacuum tube 222 is reduced to allow the skin to attach horizontally to the flat surface of the panel, and the angle of the vacuum pad is adjusted so that the vacuum pad properly attaches to the panel surface.

[0095] Furthermore, when a finer angle adjustment of the vacuum pad is required after the angle adjustment of the vacuum pad is performed via the ball joint 228 and the vacuum degree control, the controller 500 can adjust the angle of the vacuum pad 225 by unfolding or folding the folds of the vacuum pad 225 with reference to the calculated angle adjustment value.

[0096] The folds can be unfolded or folded according to the curvature of the panel, thereby adjusting the vacuum pad 225 to the shape of the panel. Preferably, when the vacuum pad 225 is operated in conjunction with an actuator (not shown), the controller 500 can control the actuator with reference to the curvature value of the panel to determine whether to unfold or fold the folds at a specific location on the panel, thereby adjusting the angle.

[0097] Furthermore, the controller 500 can respond to the curvature shape of the panel by combining the operation of the spring plunger 224, the ball joint 228, and the vacuum pad 225 to perform depth and angle adjustments. In the case of depth adjustment, the depth is adjusted by moving the ball joint 228 up and down with the longitudinal compression of the spring plunger 224.

[0098] Figure 2A It is a 3D view of vacuum module 220, and Figure 2B This is a diagram illustrating the skin attachment process.

[0099] According to embodiments of this disclosure, the vacuum module 220 can move up and down via the guide module 210 and can rotate integrally with the rotation of the robot body 100.

[0100] Furthermore, the vacuum module 220 includes a vacuum manifold 221, which is connected to the guide module 210 and fluidly connected to the vacuum generator 230 via a vacuum hose (not shown). Preferably, the vacuum hose (not shown) can be connected to a vacuum connector 227, which is located on the upper surface of the vacuum manifold 221.

[0101] Furthermore, the vacuum manifold 221 can be manufactured in a cuboid shape, and multiple connection ports can be formed on the rear surface of the vacuum manifold. Vacuum tubes 222 are respectively connected to the connection ports. Therefore, the vacuum manifold 221 can be configured to be fluidly connected to multiple vacuum tubes 222 through corresponding connection ports, and the internal airflow can be controlled to provide an individual vacuum state for each vacuum tube 222.

[0102] Furthermore, a vacuum tube 222 can be located between the vacuum manifold 221 and the mounting plate 223 to fluidly connect the vacuum manifold 221 to the mounting plate 223. Additionally, multiple vacuum tubes 222 can be located between the vacuum manifold 221 and the mounting plate 223, with a predetermined interval between them, and the vacuum tubes 222 can extend perpendicular to the upper surface of the mounting plate 223. Specifically, each vacuum tube 222 can independently maintain its vacuum state, allowing the vacuum to be selectively applied only to necessary portions based on the curvature of the panel shape. Each vacuum tube 222 can also be individually controlled to maintain a specific vacuum level, ensuring optimal adhesion based on different panel curvatures.

[0103] Mounting plate 223 includes multiple holes for securing multiple vacuum tubes 222. This configuration allows the vacuum tubes 222 to be integrally formed with the mounting plate 223. The vacuum tubes 222 can be positioned by passing through the multiple holes formed in the mounting plate 223.

[0104] A spring plunger 224 extending from vacuum tube 222 is connected to the lower end of mounting plate 223.

[0105] According to this disclosure, the spring plunger 224 is configured to adjust the position and adhesion of the vacuum pad 225 so as to uniformly attach the skin to the panel surface.

[0106] The spring plunger 224 is formed by a housing and a helical spring (not shown) disposed inside the housing, and a pad mounting bracket capable of securing the vacuum pad 225 is connected to the lower end of the spring plunger 224. The helical spring is located inside the plunger housing, and when the vacuum pad 225 contacts the panel surface, the housing is compressed to generate an elastic force.

[0107] The spring plunger 224 is configured to accommodate various panel shapes by adjusting the length and strength of the coil spring. In flat sections of the panel, the spring plunger 224 provides minimal spring force, allowing the vacuum pad 225 to adhere properly to the panel. On the other hand, in response to panel shapes with large curvature, the coil spring is compressed, and the vacuum pad 225 is adjusted to be properly positioned on the panel surface.

[0108] Furthermore, the spring plunger 224 may include a helical spring with a multi-layered structure. This structure provides a versatile elastic effect, allowing the spring strength to gradually increase to accommodate various curvatures while maintaining a constant pressure.

[0109] In other words, in this disclosure, the depth of the vacuum pad 225 can be appropriately adjusted by the spring plunger 224 for the depth difference caused by the curvature value of the panel shape.

[0110] like Figure 2B As shown, when the skin is attached to the panel, this disclosure is configured to adjust the depth and angle of the vacuum pad 225 according to the curvature value of the panel shape.

[0111] The vacuum pad 225 is configured to be height-adjustable via a spring plunger 224. Preferably, the height of the vacuum pad refers to the vertical distance from the lowest point of the panel shape.

[0112] For example, when the panel shape includes a flat surface and an inclined surface on the inner side, and the height of the inclined surface gradually increases towards both ends of the flat surface, the coil spring of the spring plunger 224 located at the large curvature panel portion is compressed more than the coil spring of the spring plunger 224 located at the small curvature panel portion. In this case, the length of the spring plunger 224 is reduced, and the vacuum pad 225 facing the large curvature panel portion can be located at a higher position than the vacuum pad 225 facing the lowest end of the panel.

[0113] On the other hand, the spring plunger connected to the vacuum pad 225 facing the flat surface of the panel is stretched longer than the spring plunger connected to the vacuum pad 225 facing the large curvature panel portion. Therefore, the vacuum pad 225 facing the flat surface of the panel is located at a lower position than the vacuum pad 225 facing the large curvature panel portion.

[0114] As another example, when the panel shape includes a flat surface and an inclined surface on the inner side, and the height of the inclined surface gradually decreases towards both ends of the flat surface, the helical spring of the spring plunger located on the flat surface of the panel is compressed more than the helical spring of the spring plunger located on the panel portion with high curvature. In this case, the length of the spring plunger located on the flat surface of the panel becomes shorter than the length of the spring plunger located on the panel portion with high curvature. With this configuration, the height of the vacuum pad 225 located on the flat surface of the panel has a larger value compared to the height of the vacuum pad 225 facing the panel portion with high curvature.

[0115] Conversely, the length of the spring plunger 224 facing the panel portion with high curvature is greater than the length of the spring plunger 224 facing the flat surface of the panel. Therefore, the vacuum pad 225 facing the panel portion with high curvature is located at a lower position than the vacuum pad 225 facing the flat surface of the panel.

[0116] The angle adjustment is configured such that when the skin is attached to the panel, the vacuum pad 225, including the pleated pad, is adjusted to the tilt of the panel. The pleated pad folds or unfolds in response to pressure changes in the spring plunger 224, thereby adjusting the tilt of the vacuum pad 225.

[0117] For example, as the tilt of the panel gradually increases towards one end, the folds formed at one end of the vacuum pad 225 are folded, and the folds formed at the other end of the vacuum pad 225 are unfolded. With this configuration, the vacuum pad 225 is formed at an angle to ensure close contact with the tilted surface of the panel. Conversely, on the flat portion of the panel, the folds formed at one and the other ends of the vacuum pad 225 are folded or unfolded equally. Therefore, the vacuum pad can remain flat and in contact with the panel.

[0118] In this way, the vacuum pad 225 is configured to flexibly respond to various tilts of the panel, so that the skin is evenly attached to the panel surface.

[0119] Figure 3A It is a 3D view of the skinned storage unit 300, and Figure 3B This is a perspective view of the first position sensor 340 and the second position sensor 350.

[0120] According to an embodiment of the present disclosure, the skin storage unit 300 is used to provide skin to the skin adsorption unit 200.

[0121] When the skin adsorption unit 200 loads skins from the skin storage unit 300, a blocking member 390 can be provided at the upper end of the guide member 310 to prevent the adsorption of two or more skins at the same time.

[0122] The stopper 390, having a hook-shaped or roller-like device, prevents two or more skins from being loaded into the storage unit. For example, when using a hook-shaped stopper 390, the end of the hook-shaped stopper 390 is formed to face the inside of the guide member 310, such that only a single skin passes through the hook-shaped stopper. The end of the hook-shaped stopper 390 is designed to allow the front portion of a single skin to pass through while physically blocking any subsequent skin attempting to follow, thereby preventing overlap or double feeding.

[0123] As another example, when using a roller assembly, the upper and lower rollers are configured to rotate while allowing a single skin to pass steadily through. As the skin passes through the gap between the upper and lower rollers, the rollers apply downward pressure to firmly hold and separate each skin, allowing the skin to move individually to prevent duplicate feeding. Here, as a subsequent skin follows the preceding skin, the rotational force of the rollers pushes out or filters the subsequent skin, thus preventing two or more skins from passing through the rollers.

[0124] In this way, the hook-shaped stopper 390 and the roller device control the skin so that the skin is supplied one by one through their respective structures, thereby enabling the vacuum pad 225 to precisely adsorb individual skins.

[0125] The guide member 310, including the blocking member 390, is formed as a cuboid structure with open upper and lower parts, and its internal width and length can be adjusted according to the shape and size of the skin. Adjustable tracks or insert members are provided on the inner surface of the guide member 310, so the width or length of the guide member 310 can be adjusted according to the shape of skins of various sizes. With this configuration, the guide member 310 can accommodate skins of various sizes from small to large, and can prevent the skin from wobbling or being placed in the wrong position within the guide member 310.

[0126] The movable cylinder 380, located on the other side facing the guide member 310, moves the guide member 310 along the upper surface of the storage member 320.

[0127] like Figure 3B As shown, the controller 500 of this disclosure can receive information indicating whether a skin is present in the guide member 310 via the first position sensor 340. When at least one skin is present in the guide member 310, the controller can determine that a skin is present in the guide member 310.

[0128] Furthermore, the controller 500 can receive information about the distance between the first position sensor 340 and the skin via the first position sensor 340. When the distance between the first position sensor 340 and the skin is equal to or greater than a preset distance stored in the controller 500, the controller can issue a skin replenishment notification.

[0129] When a skin replenishment notification is issued, the controller 500 drives the moving cylinder 380 to move the guide component 310 to a preset position stored in the controller 500. With this configuration, workers can easily replenish the skin, and the operation can be performed automatically by the robot. Preferably, the controller 500 can perform skin replenishment when the guide component 310 is at the replenishment position stored in the controller 500.

[0130] A motor 370 is disposed inside the storage component 320. The motor 370 is configured to control the upward and downward movement of the skin plate 330 located between the guide component 310 and the storage component 320, and a stepper motor can be used as the motor. A stepper motor is a motor configured to progressively convert electrical signals, causing the motor to rotate at a constant angle, thereby achieving precise position control.

[0131] One end of the ball screw 360 is connected to the motor 370, and the other end is connected to the skin plate 330. Therefore, when the motor 370 is driven, the ball screw 360, connected to the motor 370, rotates, and the skin plate 330 moves upward due to the rotation of the ball screw 360. In other words, the stepper motor 370 applies a driving force to the skin plate 330, causing the skin to be positioned correctly within the guide member 310.

[0132] Figure 4 This is a schematic flowchart of the skin attachment control method.

[0133] According to embodiments of this disclosure, in the skin attachment control method, the controller 500 determines whether the skin storage unit 300 is in a normal state (S100), determines whether the skin adsorption unit 200 is in a normal state (S200), and applies sealant corresponding to a preset position stored in the controller 500 (S300). Furthermore, after applying the sealant, the skin is attached to the vacuum pad 225 corresponding to the sealant application position (S400), and it is monitored whether the skin is attached to the correct position (S500). As described above, a series of processes are executed sequentially.

[0134] First, in the step (S100) where the controller 500 determines whether the skin storage unit 300 is in a normal state, the controller determines whether the skin is placed in a predetermined position within the guide member 310 and whether the skin is loaded inside the guide member 310. The controller 500 receives information from the first position sensor 340 regarding the presence of the skin in the guide member 310 and determines whether the skin is loaded in the guide member 310 (S110).

[0135] When it is determined that a skin is present in the guide member 310, the controller 500 receives information about the skin position from the second position sensor 350 and determines whether the skin is placed in the correct position in the guide member 310 (S120).

[0136] In this situation, if it is determined that the skin is not in the correct position in the skin storage unit 300, the controller 500 raises the skin plate 330 to place the skin in the correct position in the skin storage unit 300. Preferably, the controller 500 supplies power to the motor 370 to move the skin plate 330 upward (S130).

[0137] When the skin panel 330 moves to a set height, the controller 500 receives a measurement value from the first position sensor 340 relating to the vertical distance between the first position sensor 340 and the skin panel facing the first position sensor 340. Through this step, the controller 500 can calculate the height value of the skin panel 330.

[0138] In addition, the controller 500 determines whether the calculated height value of the skin panel 330 exceeds the set height value stored in the controller 500 (S140). When the skin panel 330 exceeds the set height value stored in the controller 500, the controller 500 determines that additional skin is needed and issues a skin supplement notification (S150).

[0139] This notification can be displayed on a monitor. Furthermore, after issuing the skin replenishment notification, the controller 500 moves the guide member 310 to the replenishment position stored on the upper surface of the storage member 320 via the moving cylinder 380 (S160).

[0140] The controller 500 determines, via a camera sensor, whether the guide member 310 has moved to the replenishment position stored on the upper surface of the storage member 320. When the guide member 310 has moved to the replenishment position stored on the upper surface of the storage member 320, the controller 500 replenishes the skin into the guide member 310 via a skin replenishment unit (not shown) (S170). After skin replenishment is complete, the controller 500 moves the guide member 310 back to its original position via a moving cylinder 380 (S180). In this way, the skin replenishment steps are executed sequentially when a skin replenishment notification is issued.

[0141] In the step of determining whether the skin is loaded in the guide member 310, if it is determined that the skin is not loaded in the guide member 310, the controller 500 issues a skin replenishment notification (S150). After issuing the skin replenishment notification, the controller 500 moves the guide member 310 to a position set at the upper end of the storage member for skin replenishment (S160), and replenishes the skin in the guide member 310 according to the amount set in the controller 500 (S170). After the skin replenishment is completed, the controller 500 returns the guide member 310 to its original position (S180).

[0142] When the skin is present in the skin storage unit and the skin is in the correct position within the skin storage unit, the controller 500 determines that the skin storage unit 300 is in a normal state. Upon determining that the skin storage unit 300 is in a normal state, the controller 500 then determines whether the skin adsorption unit 200 is in a normal state (S200).

[0143] In the step of determining whether the skin adsorption unit 200 is in a normal state, the controller 500 moves the robot body 100 to a position corresponding to the position of the skin storage unit 300. At this time, the skin adsorption unit 200 and the robot body 100 move as a whole, and move above the skin storage unit 300. Preferably, the vacuum pad 225 of the vacuum module 220 is positioned to face the upper part of the skin storage unit 300.

[0144] In this configuration, the controller 500 lowers the vacuum module 220 via the guide module 210, which is connected to the vacuum module 220 located on the upper part of the skin. When the vacuum module 220 is lowered, the skin attaches to the vacuum pad 225 of the vacuum module 220 (S210).

[0145] After the skin is adsorbed onto the vacuum pad 225, the controller 500 uses the image detector 250 to determine whether the skin is attached to the predetermined position of the skin adsorption unit 200. Specifically, the controller 500 analyzes the image data collected from the image detector 250 to determine whether the skin is improperly positioned or improperly loaded.

[0146] For example, controller 500 uses edge image processing to determine whether two layers of skin are loaded, in order to detect whether two skins are loaded simultaneously. As another example, controller 500 uses color image processing to determine whether the skin is accurately attached to the predetermined position of vacuum pad 225, and determines whether the skin is correctly positioned by detecting specific color areas. Through this step, controller 500 can determine whether the skin is attached to the correct position of vacuum pad 225.

[0147] Simultaneously or sequentially, the controller 500 receives the vacuum level of the vacuum manifold from the vacuum sensor attached to the vacuum manifold and determines whether the vacuum level is equal to or higher than the set vacuum level stored in the controller 500 (S220).

[0148] When the skin is not adsorbed into the correct position in the skin adsorption unit 200, the controller 500 generates a skin not detected notification. Furthermore, when the vacuum level in the vacuum manifold is lower than the set vacuum level, the controller 500 generates a vacuum not generated notification (S230).

[0149] When the skin is attached to the correct position of the skin adsorption unit 200 and the vacuum level of the vacuum manifold is equal to or higher than the set vacuum level, the controller 500 determines that the skin adsorption unit 200 is operating normally.

[0150] When the skin adsorption unit 200 is operating normally, the robot body 100 moves to the fixture and performs the step of applying sealant to the panel (S300).

[0151] In the step of applying sealant to the panel, the controller 500 moves the robot body 100 to the gripper and then applies sealant to the panel corresponding to the application position set in the controller 500 (S310). After the sealant is applied to the panel, the controller 500 moves the skin adsorption unit 200 corresponding to the application position set in the controller 500. Preferably, the controller 500 positions the skin adsorption unit 200 above the applied sealant (S320).

[0152] After positioning the skin adsorption unit 200 above the applied sealant, the controller 500 performs the step of attaching the skin to the applied sealant (S400).

[0153] During the skin attachment step, the controller 500 determines whether the skin attachment unit 200 is located in the position corresponding to the sealant using a camera sensor attached to the robot body 100 or the skin attachment unit 200 (S410). Here, when the skin attachment unit 200 is above the applied sealant, the controller 500 releases the vacuum state of the vacuum pad 225 to allow the skin to fall onto the applied sealant. Furthermore, the controller 500 presses the skin using the spring plunger 224, causing the skin to be stably mounted on the panel (S420). After the attachment step is completed, the controller 500 returns the skin attachment unit 200 to its original position (S430).

[0154] However, in the step of determining whether the skin adsorption unit 200 is located in a position corresponding to the position of the sealant, if the skin adsorption unit 200 deviates from the correct position of the sealant, the controller 500 repositions the skin adsorption unit 200 to the correct position of the applied sealant (S440). Thereafter, the controller 500 again determines whether the skin adsorption unit is located above the applied sealant. Here, when the skin adsorption unit is located above the applied sealant, the attachment step is performed.

[0155] After the attachment step is completed, the controller 500 performs the step (S500) of monitoring by the image detector 250 whether the skin is properly attached to the correct position of the applied sealant, thereby completing the skin attachment step.

[0156] Figure 5 This is a flowchart illustrating the specific process for controlling skin attachment.

[0157] According to embodiments of this disclosure, in the step (S170) of loading the skin into the skin storage unit 300, the skin replenishment step may further include a step of checking the surface condition of the skin before loading the skin. In the skin surface condition inspection step, the controller 500 determines whether scratches or foreign objects such as dust are present on the skin surface using a camera sensor or an optical sensor. Furthermore, when an abnormality is detected on the skin surface, the controller 500 can automatically reject defective skin to prevent quality deterioration in subsequent processes.

[0158] Additionally, in the step (S210) of attaching the skin to the skin adsorption unit 200, the controller 500 may further include a step of pre-checking the vacuum status of the vacuum manifold 221.

[0159] The controller 500 compares the vacuum level displayed by the vacuum sensor attached to the vacuum manifold 221 with the initial vacuum level set in the controller 500. When the vacuum level is lower than the initial vacuum level, the controller controls the vacuum generator 230 to adjust or increase the vacuum within the vacuum manifold 221. This vacuum status check step ensures that the vacuum condition under which the skin is stably adsorbed onto the vacuum pad is maintained.

[0160] Furthermore, in the step (S310) of applying sealant to the panel after the skin is adsorbed onto the vacuum pad 225, the controller 500 may further include a quality inspection step after the sealant is applied to the panel.

[0161] The controller 500 receives the sealant application position and sealant application status from a camera sensor attached to the application unit 400. Based on the sealant application status, the controller can further perform the following processes: determining whether the sealant is uniformly applied to the panel, and whether the thickness of the distributed sealant matches the set thickness stored in the controller 500.

[0162] When the sealant is applied unevenly, or when the sealant thickness does not reach the preset thickness stored in the controller 500, the controller 500 generates a control signal to apply additional sealant to the panel or reapply sealant. The application unit can perform this additional application or reapplication process. The application unit can then return to its original position.

[0163] Furthermore, after the skin attachment step, the monitoring step (S500) may further include a step of monitoring the curing process of the sealant.

[0164] The controller 500 may include the following steps: after the sealant is applied to the panel, the controller 500 monitors the curing status of the sealant using a camera sensor and determines the curing progress. Furthermore, during the curing process, the controller 500 measures the temperature of the sealant using a non-contact temperature sensor to determine whether the temperature meets the set conditions. Additionally, the controller 500 can adjust the curing time and conditions as needed to maintain the quality of the sealant.

[0165] In summary, according to this disclosure, the sealant application unit 400 and the skin adsorption unit 200 can be integrally mounted on the robot body 100, and the depth adjustment and angle adjustment of the vacuum pad 225 can be performed with reference to the curvature value of the panel shape to accommodate various panel shapes. Furthermore, this disclosure provides a skin attachment control method that sequentially determines whether the skin storage unit 300 and the skin adsorption unit 200 are in a normal state, and then attaches the skin to a predetermined position on the panel.

[0166] It is evident from the above description that the present disclosure can achieve the following effects through the construction, combination, and usage relationships described in the embodiments.

[0167] First, this disclosure provides a skin attachment system configured to integrate the skin adhesion unit and the coating unit with the robot body. Therefore, separate equipment installation or additional processes are unnecessary, resulting in reduced installation space and simplified workflow. Consequently, manufacturing costs can be reduced and production efficiency can be improved.

[0168] Secondly, because the skin adsorption unit has the function of changing the angle of the skin adsorption unit through a controller, the skin can be attached to panels of various shapes. Through this structure, the skin can be stably attached to panels with curved surfaces, thereby increasing working accuracy and improving product quality.

[0169] Third, since vacuum pads and spring plungers are used instead of air blowing during skin attachment work, energy consumption and noise generation can be significantly reduced, thereby improving the working environment, increasing energy efficiency and reducing maintenance costs.

[0170] This disclosure has been described in detail with reference to preferred embodiments, and it can be used in various other combinations, modifications, and environments. That is, those skilled in the art will understand that changes can be made to these embodiments without departing from the principles and spirit of this disclosure, the scope of which is defined in the appended claims and their equivalents. The embodiments describe the best mode for implementing the technical ideas of this disclosure, and various changes are possible in the specific fields and uses of this disclosure. Therefore, the detailed description of this disclosure is not intended to limit it to the disclosed embodiments. Furthermore, the scope of the appended claims should be construed as including other embodiments as well.

Claims

1. A skin attachment system for attaching skin to a vehicle, the skin attachment system comprising: The robot itself; The skin adsorption unit is connected to the first end of the robot body; as well as The coating unit is connected to the second end of the robot body. The skin adsorption unit includes: At least one guidance module is connected to the robot body; and The vacuum module is connected to the guide module. The skin attachment system further includes a controller that adjusts the angle of the vacuum module based on the curvature value of the vehicle's panel.

2. The skin attachment system according to claim 1, wherein, The vacuum module includes: A vacuum manifold is connected to the guiding module; A plurality of vacuum tubes, each of which is connected to the vacuum manifold; Mounting plates are connected to each of the vacuum tubes; A plurality of spring plungers are located on the mounting plate, each of the spring plungers extending from a corresponding one in the vacuum tube; Multiple vacuum pads, each of which is coupled to a corresponding one of the spring plungers; and Multiple ball joints are located between the spring plunger and the vacuum pad, respectively.

3. The skin attachment system according to claim 2, wherein, The vacuum module further includes a skin detection sensor, which is mounted on the vacuum manifold.

4. The skin attachment system of claim 3, further comprising a vacuum generator mounted on the robot body, in, The vacuum generator is fluidly connected to the vacuum manifold.

5. The skin attachment system according to claim 1, wherein, Each of the vacuum pads is formed by a pleated pad.

6. The skin attachment system according to claim 1, further comprising a skin storage unit, the skin storage unit providing the skin to the skin adsorption unit. in, The skin storage unit includes: A guide component that allows the skin to be loaded into the guide component; A storage component is located at the lower end of the guiding component; A skin panel is located between the guide component and the storage component; A first position sensor, located at the lower end of the skin panel and configured to face the skin; and A second position sensor is mounted on at least one of the opposite upper surfaces of the guide member.

7. The skin attachment system according to claim 6, wherein, The skinned storage unit further includes: A ball screw is connected to the skin plate; and A motor is connected to the ball screw and drives the ball screw. The ball screw moves the skin plate up or down.

8. The skin attachment system according to claim 7, wherein, When the controller receives the position signal of the skin from the second position sensor and determines that the skin is not located at the predetermined position of the skin storage unit, the controller controls the ball screw to position the skin at the set position.

9. The skin attachment system according to claim 6, wherein, The skinned storage unit further includes a moving cylinder positioned facing the guide member, and the moving cylinder moves the guide member along the upper surface of the storage unit.

10. The skin attachment system according to claim 9, wherein, When the controller receives information from the first position sensor regarding whether the guide component is loaded with the skin and determines that the guide component is not loaded with the skin, the controller controls the moving cylinder to position the guide component at a set position.

11. The skin attachment system according to claim 2, wherein, The controller controls the vacuum level of each of the vacuum pads and / or the length of each of the spring plungers based on the curvature value of the panel.

12. The skin attachment system of claim 2, further comprising an image detector that checks the attachment status of the skin attached to the vacuum pad.

13. A vehicle skin attachment assembly, comprising: robot; as well as The skin attachment system of claim 1, wherein the skin attachment system attaches a skin to a vehicle.

14. A skin attachment control method for attaching a skin to a vehicle, the skin attachment control method comprising: The controller determines whether the skinned storage unit is in a normal state; When the skin storage unit is in normal condition, the controller determines whether the skin adsorption unit is in normal condition. When the skin adsorption unit is in normal condition, the controller applies sealant to the fixture; The controller attaches the skin to the position corresponding to the applied sealant; as well as The controller monitors whether the skin is attached to the sealant in the correct position.

15. The skin attachment control method according to claim 14, wherein, Determining whether the skinned storage unit is in a normal state includes: The controller receives information from the first position sensor regarding the presence of the skin in the skin storage unit, and the controller determines whether the skin is loaded in the skin storage unit; and When the skin is loaded into the skin storage unit, the controller receives information from the second position sensor regarding whether the skin is located at a predetermined position in the skin storage unit, and the controller determines whether the skin is located at the predetermined position in the skin storage unit.

16. The skin attachment control method according to claim 14, wherein, When the skin storage unit is in a normal state, determining whether the skin adsorption unit is in a normal state includes: Adsorbing the skin onto the skin adsorption unit; and When the skin is adsorbed onto the skin adsorption unit, the controller receives the skin position from the skin detection sensor, determines whether the skin has been adsorbed onto the predetermined position of the skin adsorption unit, receives the vacuum level of the vacuum manifold from the vacuum measurement sensor, and determines whether the vacuum level is equal to or higher than the set vacuum level.

17. The skin attachment control method according to claim 15, wherein, Determining whether the skin is located at a predetermined position in the skin storage unit includes: When the skin deviates from the predetermined position of the skin storage unit, the controller moves the skin plate upward; After the skin panel moves upward, the controller determines whether the height of the skin panel is equal to or higher than a set reference value; and When determining whether the height of the skin panel is equal to or higher than the set reference value, a skin supplement notification is issued when the height of the skin panel is equal to or higher than the set reference value.

18. The skin attachment control method according to claim 14, wherein, When the skin adsorption unit is in normal condition, applying the sealant to the fixture includes: The controller moves the coating unit to the fixture; and Apply the sealant to the position corresponding to the position set in the controller.

19. The skin attachment control method according to claim 14, wherein, Attaching the skin to the location corresponding to the applied sealant includes: The controller receives the position of the applied sealant from the camera sensor, and the controller moves the skin adsorption unit to the position corresponding to the applied sealant. The controller receives the position of the applied sealant from the camera sensor, and the controller determines whether the skin adsorption unit is located above the applied sealant. When the skin adsorption unit is positioned above the sealant, the controller releases the vacuum from the skin adsorption unit and attaches the skin to the applied sealant; and The controller attaches the skin to the applied sealant and moves the skin adsorption unit to its original position.

20. The skin attachment control method according to claim 19, wherein, The controller receives the position of the applied sealant from the camera sensor and determines whether the skin adsorption unit is located above the applied sealant, including: When the skin adsorption unit is not positioned above the applied sealant, the controller repositions the skin adsorption unit above the applied sealant.

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