Floating type automobile skylight auxiliary assembling device

Abstract

The invention relates to the technical field of automobile assembly, in particular to a floating type automobile skylight auxiliary assembly device which comprises a central controller, a walking mechanism, a steering mechanism and a clamping mechanism. The walking mechanism is provided with a driving motor; the steering mechanism comprises a horizontal deflection module and a vertical deflection module, and the vertical deflection module is provided with a vertical pressing cylinder; the clamping mechanism comprises a skylight pneumatic suction cup and a man-machine interaction part, and the man-machine interaction part, the skylight pneumatic suction cup, the vertical downward-pressing air cylinder and the driving motor are electrically connected with the central controller. The central controller accurately coordinates the positioning of the walking mechanism, the height adjustment of the vertical deflection module and the grabbing and releasing actions of the pneumatic suction cup, so that the device efficiently completes the whole process of taking, transferring and assembling of the skylight in the continuous operation state of the frame conveying line, and the smoothness and comfort of man-machine collaborative operation are optimized.

Description

A floating type automotive sunroof auxiliary assembly device Technical Field

[0001] This invention relates to the field of automotive assembly technology, and in particular to a floating type automotive sunroof auxiliary assembly device. Background Technology

[0002] Traditional methods of assembling automotive sunroofs are often problematic because sunroofs are heavy, making manual handling and alignment difficult and prone to causing worker fatigue. Alignment requires multiple people working together, resulting in lengthy adjustments, and manual operation is susceptible to misalignment, leading to issues such as poor sealing, abnormal noises, and leaks. While fully automated equipment is costly, the continuous operation of automotive sunroof assembly lines, where the vehicle frame conveyor line remains running, necessitates precise identification of the dynamic installation position, which current algorithms struggle to meet, resulting in a lack of flexibility. Therefore, manual intervention is still required to complete the assembly. There is an urgent need to design a system with high human-machine collaboration to improve sunroof assembly efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide an auxiliary assembly system and control method for automotive sunroofs, which solves the problem of low human-machine cooperation in traditional sunroof assembly methods.

[0004] To achieve this objective, the present invention adopts the following technical solution: a floating type automotive sunroof auxiliary assembly device, comprising a central controller, a walking mechanism, a steering mechanism, and a clamping mechanism; the walking mechanism is equipped with a drive motor that drives the steering mechanism to reciprocate linearly along the vehicle frame conveying direction; the steering mechanism includes a horizontal deflection module rotatably disposed on the walking mechanism and a vertical deflection module disposed on one side of the horizontal deflection module, the vertical deflection module being equipped with a vertically pressing cylinder that drives the clamping mechanism to vertically displace; the clamping mechanism includes a sunroof pneumatic suction cup and a human-machine interface component, the human-machine interface component, the sunroof pneumatic suction cup, the vertically pressing cylinder, and the drive motor being electrically connected to the central controller; when the operator operates the human-machine interface component by issuing a first control command, a second control command, and a third control command at different time points, the central controller controls the sunroof pneumatic suction cup, the vertically pressing cylinder, and the drive motor respectively according to the first control command, the second control command, and the third control command.

[0005] Preferably, the traveling mechanism further includes a traveling track and a traveling trolley slidably disposed on the traveling track; the traveling trolley includes a traveling main frame and traveling wheels, the traveling main frame includes two crossbars and a plurality of connecting rods perpendicular to the two crossbars and spaced apart between the two crossbars, each of the two crossbars has a traveling wheel at each end, and each traveling wheel is slidably disposed on the traveling track; a flange shaft assembly for connecting the steering mechanism is disposed between the two connecting rods located in the middle of the two crossbars; one of the connecting rods located at the edge of the two crossbars is connected to the drive motor, and the power output end of the drive motor is provided with a drive wheel that rolls with the traveling track.

[0006] Preferably, one of the connecting rods located at the edge of the two crossbars is hinged to a support arm, and a tensioning cylinder is hinged between one end of the support arm and the other adjacent connecting rod. The other end of the support arm is connected to one side of the drive motor, and the tensioning cylinder is electrically connected to the central controller.

[0007] Preferably, the horizontal deflection module includes a rotating main body and a first shaft disposed at one end of the rotating main body. The first shaft is rotatably disposed within the flange shaft assembly, and a first hinge seat extends from the other end of the rotating main body.

[0008] Preferably, a first brake disc is provided on the outer periphery of the first shaft or rotating main body, and a first brake cylinder that cooperates with the first brake disc is provided on the outer side of the flange shaft assembly. The first brake cylinder is electrically connected to the central controller.

[0009] Preferably, the vertical deflection module includes a vertically pressing cylinder disposed on one side of the first hinge seat, and an active arm and an auxiliary arm respectively hinged to the first hinge seat; the vertically pressing cylinder is electrically connected to the central controller, the active arm and the auxiliary arm are arranged in parallel, and their ends on the same side are hinged to a second hinge seat; the end of the active arm away from the second hinge seat extends to the telescopic end of the vertically pressing cylinder and is hinged thereto; one side of the second hinge seat is connected to the clamping mechanism.

[0010] Preferably, at least a first curved arm and a second curved arm are provided between the second hinge seat and the clamping mechanism. One end of the first curved arm is rotatably connected to the second hinge seat via a second shaft, and one end of the second curved arm is rotatably connected to the other end of the first curved arm via a third shaft. The other end of the second curved arm is fixedly connected to the clamping mechanism. The first shaft, the second shaft, and the third shaft are parallel to each other. An operating handle is provided on one side of the first curved arm, and the human-machine interface component is located on the operating handle.

[0011] Preferably, a second brake disc is provided on the outer periphery of the second shaft, and a second brake cylinder is provided on the outer side of the second hinge seat to cooperate with the second brake disc. The second brake cylinder is electrically connected to the central controller.

[0012] Preferably, a third brake disc is provided on the outer periphery of the third shaft, and a third brake cylinder that cooperates with the third brake disc is provided on the outer side of the other end of the first curved arm. The third brake cylinder is electrically connected to the central controller.

[0013] Preferably, the clamping mechanism further includes a clamping main frame connected to the other end of the second curved arm, an auxiliary handle disposed on the clamping main frame, an assembly positioning component, a material picking positioning component, and a sunroof model switching assembly. The assembly positioning component is used to abut and position itself against a first preset part of the target vehicle frame when the sunroof to be assembled is aligned with the sunroof assembly position. The material picking positioning component is used to abut and position itself against a second preset part of the sunroof material picking position when the sunroof edge contact block and the sunroof pneumatic suction cup are aligned with the sunroof to be assembled. The sunroof model switching assembly includes a switching cylinder and a sunroof edge contact block disposed at the extension end of the switching cylinder. The switching cylinder is used to adjust the distance between the sunroof edge contact block and the sunroof pneumatic suction cup. The switching cylinder is electrically connected to the central controller.

[0014] Compared with the prior art, the present invention has the following beneficial effects: In this embodiment, control commands are dynamically triggered manually at key assembly nodes, and the central controller precisely coordinates the positioning of the walking mechanism, the height adjustment of the vertical deflection module, and the gripping and releasing actions of the pneumatic suction cup. This enables the device to efficiently complete the entire process of sunroof material picking, transfer, and assembly while the frame conveyor line is running continuously. The horizontal and vertical deflection modules give the sunroof floating adjustment freedom, which not only retains the ability of manual real-time flexible calibration of the assembly position, but also automatically completes vertical displacement with the help of the vertical pressing cylinder and achieves non-destructive gripping and releasing with the pneumatic suction cup. This significantly reduces the physical load and operational difficulty of the operators, while ensuring accurate sunroof positioning and safe and reliable assembly process. It effectively balances the continuous cycle efficiency of the production line and the assembly quality, and optimizes the smoothness and comfort of human-machine collaborative operation. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0017] Figure 1 is a schematic diagram of the overall structure of a floating type automotive sunroof auxiliary assembly device according to an embodiment of this application; Figure 2 is a schematic diagram of the structure of the walking mechanism according to an embodiment of this application; Figure 3 is a schematic diagram of the structure of the steering mechanism according to an embodiment of this application; Figure 4 is a schematic diagram of the structure of the curved arm according to an embodiment of this application; Figure 5 is a schematic diagram of the structure of the clamping mechanism according to an embodiment of this application; Illustrations: 1. Walking mechanism; 11. Traveling track; 12. Walking wheel; 13. Drive motor; 14. Drive wheel; 15. Crossbar; 16. Connecting rod; 17. Flange shaft assembly; 18. Support arm; 19. Tensioning cylinder; 2. Steering mechanism; 21. Rotating main... Components; 22. First hinge seat; 23. Vertical downward pressure cylinder; 24. Active arm; 25. Auxiliary arm; 26. Second hinge seat; 27. First folding arm; 28. Second folding arm; 3. Clamping mechanism; 31. Clamping main frame; 32. Auxiliary handle; 33. Assembly positioning component; 34. Material picking positioning component; 35. Operating handle; 36. Human-machine interface component; 37. Switching cylinder; 38. Sunroof edge contact block; 39. Sunroof pneumatic suction cup; 41. First brake disc; 42. First brake cylinder; 43. Second brake disc; 44. Second brake cylinder; 45. Third brake disc; 46. Third brake cylinder. Detailed Implementation

[0018] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0019] In the description of this invention, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a component positioned centrally in the connection.

[0020] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0021] Please refer to Figures 1-5.

[0022] This invention provides a floating type automotive sunroof auxiliary assembly device, including a central controller, a traveling mechanism 1, a steering mechanism 2, and a clamping mechanism 3. The traveling mechanism 1 is equipped with a drive motor 13 that drives the steering mechanism 2 to reciprocate linearly along the vehicle frame conveying direction. The steering mechanism 2 includes a horizontal deflection module rotatably mounted on the traveling mechanism 1 and a vertical deflection module mounted on one side of the horizontal deflection module. The vertical deflection module is equipped with a vertically pressing cylinder 23 that drives the clamping mechanism 3 to vertically displace. The clamping mechanism 3 includes a sunroof pneumatic suction cup 39 and a human-machine interface component 36. The human-machine interface component 36, the sunroof pneumatic suction cup 39, the vertically pressing cylinder 23, and the drive motor 13 are electrically connected to the central controller. When the operator operates the human-machine interface component 36 with a first control command, a second control command, and a third control command at different time points, the central controller controls the drive motor 13, the vertically pressing cylinder 23, and the sunroof pneumatic suction cup 39 according to the first control command, the second control command, and the third control command, respectively.

[0023] This application employs a strategy of manual judgment and precise execution assisted by equipment to dynamically complete the sunroof assembly of a mobile vehicle frame. Specifically, the aforementioned floating automotive sunroof auxiliary assembly device flows between the sunroof material pick-up position and the sunroof assembly position. The sunroof assembly position is located on the roof of the target vehicle frame within the frame assembly area on the frame conveyor line. During the material pick-up, transfer, or assembly stages, this device assists manual operation, and the frame conveyor line does not need to be stopped. Each stage requires manual dynamic adjustment and triggering of corresponding control commands based on the actual situation.

[0024] The steering mechanism 2 includes a horizontal deflection module and a vertical deflection module, which drive the sunroof to float and move between the sunroof material handling position and the sunroof assembly position. Specifically, the horizontal deflection module is rotatably mounted on the traveling mechanism 1, giving the operator horizontal deflection freedom when handling or assembling the sunroof, facilitating manual adjustment of the sunroof's horizontal angle; the vertical deflection module uses a vertically pressing cylinder 23 to replace manual adjustment of the sunroof's vertical height, greatly reducing the intensity of manual labor.

[0025] In this embodiment, multiple control commands are not executed sequentially, but are triggered manually according to the actual assembly nodes and sequence. Specifically, the first control command controls the walking mechanism 1 to move directionally along the frame conveyor line and position itself above the workstation; the second control command controls the vertical pressing cylinder 23 to drive the sunroof up and down; the third control command can control the pneumatic suction cup to start and stop, performing non-destructive gripping and safe release of the sunroof. The central controller acts as the logic hub, converting commands into timed actions to control the corresponding mechanisms.

[0026] In this embodiment, control commands are dynamically triggered manually at key assembly nodes. The central controller precisely coordinates the positioning of the walking mechanism 1, the height adjustment of the vertical deflection module, and the gripping and releasing actions of the pneumatic suction cup. This enables the device to efficiently complete the entire process of sunroof material handling, transfer, and assembly while the frame conveyor line is running continuously. The horizontal and vertical deflection modules provide the sunroof with floating adjustment freedom, retaining the ability for manual real-time flexible calibration of the assembly position. At the same time, the vertical downward cylinder 23 automatically completes vertical displacement, and the pneumatic suction cup achieves non-destructive gripping and releasing, significantly reducing the physical load and operational difficulty for operators. This ensures accurate sunroof positioning and a safe and reliable assembly process, effectively balancing the continuous cycle efficiency of the production line and the assembly quality, and optimizing the smoothness and comfort of human-machine collaborative operation.

[0027] In the above embodiment, the traveling mechanism 1 further includes a traveling track 11 and a traveling trolley slidably disposed on the traveling track 11; the traveling trolley includes a traveling main frame and traveling wheels 12, the traveling main frame includes two crossbars 15 and a plurality of connecting rods 16 perpendicular to the two crossbars 15 and spaced apart between the two crossbars 15, each of the two ends of each crossbar 15 is provided with a traveling wheel 12, and each traveling wheel 12 is respectively rolled on the traveling track 11; a flange shaft assembly 17 for connecting the steering mechanism 2 is provided between the two connecting rods 16 located in the middle of the two crossbars 15; one of the connecting rods 16 located on the side of the two crossbars 15 is connected to the drive motor 13, and the power output end of the drive motor 13 is provided with a drive wheel 14 that rolls with the traveling track 11.

[0028] The flange shaft assembly 17 has a flange at one end, which is installed between the two connecting rods 16 in the middle of the two crossbars 15, and a bushing at the other end, which is integrally formed with the flange. The bushing contains a bearing (not shown in the figure). Understandably, the drive motor 13 drives the drive wheel 14 to rotate in one direction. Under the sliding support of the traveling wheel 12, it drives the traveling main frame and the flange shaft assembly 17 to move in the same direction, thereby driving the steering mechanism 2 to move synchronously.

[0029] Furthermore, in order to adjust the tightness of the fit between the drive wheel 14 and the working surface of the track to achieve the effect of instant braking, a support arm 18 is hinged to one of the connecting rods 16 located on the side of the two crossbars 15. One end of the support arm 18 is hinged to the other adjacent connecting rod 16 with a tension cylinder 19. The other end of the support arm 18 is connected to one side of the drive motor 13. The tension cylinder 19 is electrically connected to the central controller.

[0030] In this embodiment, the tensioning cylinder 19 drives the support arm 18 to swing through its telescopic movement, dynamically adjusting the position of the drive motor 13, thereby precisely controlling the degree of clamping between the drive wheel 14 and the working surface of the track 11. When braking is required, the tensioning cylinder 19 rapidly increases the clamping force, using frictional resistance to achieve instant braking, effectively suppressing inertial slippage and ensuring that the sunroof is accurately and stably docked at the assembly position; at the same time, it can also significantly reduce abnormal impacts and wear on the track, extending the service life of the equipment.

[0031] The aforementioned horizontal deflection module includes a rotating main body 21 and a first shaft (not shown in the figure) disposed at one end of the rotating main body 21. The first shaft is rotatably disposed within the flange shaft assembly 17, and a first hinge seat 22 extends from the other end of the rotating main body 21.

[0032] Understandably, the horizontal deflection module, through the first rotating pair formed by the first shaft and the bearing inside the flange shaft assembly 17, enables the rotating main body 21 to rotate smoothly around the vertical axis, thereby driving the clamping mechanism 3 to achieve flexible angle adjustment in the horizontal plane. Operators can manually fine-tune and precisely calibrate the sunroof position according to the actual assembly position and viewing angle requirements of the roof, effectively compensating for the slight positional offset or angular deviation generated during the frame transportation process, and significantly improving the docking accuracy and assembly smoothness of the sunroof and the vehicle body installation position. This structure relies on bearing support to achieve low-friction, jam-free rotational movement, which not only greatly reduces the operational intensity and technical threshold of manual adjustment, but also enhances the adaptability and stability of the device in dynamic operating environments.

[0033] In this embodiment, to reduce the adverse effects of horizontal deflection during material handling or assembly alignment, the material is kept stationary during this stage. A first brake disc 41 is provided on the outer periphery of the first shaft or rotating main body 21, and a first brake cylinder 42 that cooperates with the first brake disc 41 is provided on the outer side of the flange shaft assembly 17. The first brake cylinder 42 is electrically connected to the central controller.

[0034] Specifically, when the first brake cylinder 42 receives a braking command, its piston rod is quickly pushed out, driving the brake pads to press tightly against the surface of the first brake disc 41 that rotates synchronously with the horizontal deflection module, thereby instantly locking the horizontal deflection degree of freedom of the rotating main body 21 through the generated frictional resistance.

[0035] Understandably, the first brake disc 41, in conjunction with the first brake cylinder 42, effectively suppresses minute angular deviations caused by external vibrations, operational disturbances, or inertia during the critical stages of sunroof material handling and assembly alignment. This ensures that the clamping mechanism 3 and the sunroof remain absolutely still and in a precise posture, significantly improving the docking accuracy and assembly reliability with the roof mounting holes.

[0036] The aforementioned vertical deflection module includes a vertically pressing cylinder 23 located on one side of the first hinge seat 22, and an active arm 24 and an auxiliary arm 25 respectively hinged to the first hinge seat 22. The vertically pressing cylinder 23 is electrically connected to the central controller. The active arm 24 and the auxiliary arm 25 are arranged in parallel, and their ends on the same side are hinged to a second hinge seat 26. The end of the active arm 24 away from the second hinge seat 26 extends to the telescopic end of the vertically pressing cylinder 23 and is hinged thereto. One side of the second hinge seat 26 is connected to the clamping mechanism 3.

[0037] In this embodiment, the first hinge seat 22, the active arm 24, the auxiliary moving arm 25, and the second hinge seat 26 form a parallelogram linkage mechanism. Power is provided by the vertically pressing cylinder 23 to convert the linear extension and retraction motion of the cylinder piston rod into the vertical lifting and lowering motion of the second hinge seat 26.

[0038] Understandably, the vertical deflection module effectively maintains the horizontal posture of the clamping mechanism 3 throughout the entire movement, avoiding positioning deviations caused by tilting or shaking of the sunroof, and significantly improving the alignment accuracy and fitting reliability with the roof mounting surface; at the same time, the automated execution of the cylinder replaces manual downward pressure, greatly reducing the operational intensity and technical threshold, shortening the vertical adjustment time, and enhancing the controllability and repeatability of the lifting process, providing stable, efficient and safe vertical displacement support for human-machine collaborative assembly.

[0039] For example, the vertically pressing cylinder 23 extends vertically downwards and retracts vertically upwards. When the vertically pressing cylinder 23 extends, the parallelogram linkage mechanism drives the second hinge seat 26 to rise smoothly and vertically, and vice versa.

[0040] In another embodiment, at least a first curved arm 27 and a second curved arm 28 are provided between the second hinge seat 26 and the clamping mechanism 3. One end of the first curved arm 27 is rotatably connected to the second hinge seat 26 via a second shaft (not shown in the figure), and one end of the second curved arm 28 is rotatably connected to the other end of the first curved arm 27 via a third shaft (not shown in the figure). The other end of the second curved arm 28 is fixedly connected to the clamping mechanism 3. The first shaft, the second shaft, and the third shaft are parallel to each other. An operating handle 35 is provided on one side of the first curved arm 27, and the human-machine interface component 36 is provided on the operating handle 35.

[0041] Understandably, based on the actual distance between the sunroof material pick-up position and the sunroof assembly position, as well as the freedom requirements during the assembly process, the first crank arm 27 and the second crank arm 28 can be L-shaped, Z-shaped, or S-shaped, etc. The first crank arm 27 and the second hinge seat 26 form a second revolute joint, and the first crank arm 27 and the second crank arm 28 form a third revolute joint, providing more freedom for sunroof assembly through multiple crank arms. On the one hand, the aforementioned clamping mechanism 3 is offset from its corresponding position on the second hinge seat 26 so that the clamping mechanism 3 can move freely between the sunroof material pick-up position and the sunroof assembly position. On the other hand, because the sunroof assembly position is fluid, even with slight assembly deviations during the sunroof alignment and installation process, the clamping mechanism 3 can adaptively and slightly float and deflect under the torque generated at the assembled part, allowing the unassembled part to easily align during the overall flow process, thereby avoiding jamming or stuck during the assembly process.

[0042] In this embodiment, a second brake disc 43 is provided on the outer periphery of the second shaft, and a second brake cylinder 44 that cooperates with the second brake disc 43 is provided on the outer side of the second hinge seat 26. The second brake cylinder 44 is electrically connected to the central controller.

[0043] In the above embodiment, the second brake cylinder 44 operates under the command of the central controller, pushing the brake pads to press against the second brake disc 43 on the outer periphery of the second shaft, thereby immediately locking the rotational degree of freedom of the hinge point of the curved arm, so that the vertical deflection module can convert the floating joint into a rigid connection during the critical stage of material picking, alignment and assembly contact.

[0044] In this embodiment, a third brake disc 45 is provided on the outer periphery of the third shaft, and a third brake cylinder 46 that cooperates with the third brake disc 45 is provided on the outer side of the other end of the first curved arm 27. The third brake cylinder 46 is electrically connected to the central controller.

[0045] The third brake cylinder 46, as described above, operates under the command of the central controller, pushing the brake pads to press against the third brake disc 45 on the outer periphery of the third shaft, thereby immediately locking the rotational freedom between the clamping mechanism 3 and the second curved arm 28.

[0046] The third brake cylinder 46 and the second brake cylinder 44 form a coordinated locking mechanism. During the critical stages of material picking, positioning and assembly, the vertical deflection module is rigidly fixed step by step from the second hinge seat 26 to the multi-level floating joint of the clamping mechanism 3. This completely eliminates the influence of slight end-point shaking on the sunroof's posture and ensures that it is stably fitted to the roof mounting surface at a precise preset angle.

[0047] Understandably, by setting corresponding braking mechanisms at three different rotary joints—including setting a first brake disc and a first brake cylinder at the first rotary joint, a second brake disc and a second brake cylinder at the second rotary joint, and a third brake disc and a third brake cylinder at the third rotary joint—the corresponding rotary joints are transformed into rigid connections, effectively suppressing positioning drift caused by slight swaying between the components of each rotary joint. A reasonable locking strategy is triggered by manual operation. For example, during material handling, the third brake cylinder is controlled to lock the third brake disc, limiting the positional relationship between the clamping mechanism and the second curved arm relative to the first curved arm, ensuring the stability of the clamping component's posture during material handling and transfer. During transfer, all rotary joints are released to improve the flexibility of material transfer. When the window aligns with the vehicle assembly, only the first and second brake cylinders are controlled to lock the corresponding brake discs. The clamping mechanism can be manually adjusted to fine-tune the window's position at the vehicle assembly to provide corresponding assembly deviations. After accurate alignment, the three brake cylinders are controlled to lock the entire horizontal deflection module to ensure assembly accuracy. On the other hand, by setting up the aforementioned braking mechanism, wear between the components of the rotating pair can be reduced, thereby extending its service life.

[0048] Understandably, because the torque borne by each rotating joint is different, the brake disc diameters from largest to smallest are the first brake disc, the second brake disc, and the third brake disc, and the brake cylinder diameters from largest to smallest are the first brake cylinder, the second brake cylinder, and the third brake cylinder.

[0049] The aforementioned clamping mechanism 3 also includes a clamping main frame 31 connected to the other end of the second curved arm 28, an auxiliary handle 32 disposed on the clamping main frame 31, an assembly positioning component 33, a material picking positioning component 34, and a sunroof model switching assembly. The assembly positioning component 33 is used to abut and position itself against a first preset part of the target vehicle frame when the sunroof to be assembled is aligned with the sunroof assembly position. The material picking positioning component 34 is used to abut and position itself against a second preset part of the sunroof material picking position when the sunroof edge contact block 38 and the sunroof pneumatic suction cup 39 are aligned with the sunroof to be assembled. The sunroof model switching component includes a switching cylinder 37 and a sunroof edge contact block 38 located at the extension end of the switching cylinder 37. The switching cylinder 37 is used to adjust the distance between the sunroof edge contact block 38 and the sunroof pneumatic suction cup 39. The switching cylinder 37 is electrically connected to the central controller. In this embodiment, the clamping main frame 31 is horizontally arranged to match the placement posture of the sunroof at the sunroof material picking position and the assembly posture of the sunroof assembly position. It serves as the mechanical foundation of the entire clamping mechanism 3 and connects to the second curved arm 28. The sunroof pneumatic suction cup 39 is used to generate a vacuum suction force on the internal area of ​​the sunroof, providing stability during the movement and assembly of the sunroof. The switching cylinder 37 in the sunroof model switching assembly provides linear motion driving force to the sunroof edge contact block 38. The sunroof edge contact block 38 supports the sunroof edge after being sucked into the sunroof, preventing tipping. By changing the distance between the sunroof pneumatic suction cup 39 and the sunroof edge contact block 38 through the switching cylinder 37, it can adapt to different models and sizes of sunroofs. The assembly positioning component 33 contacts the first preset part (such as positioning hole, rib) pre-designed on the roof sheet metal during the assembly of the sunroof to the roof, providing a mechanical positioning effect for assembly, reducing assembly errors and improving assembly efficiency. The material picking positioning component 34 has a similar function to the assembly positioning component 33, acting in the initial stage of grasping the sunroof, contacting the second preset part on the sunroof picking position, ensuring that the clamping mechanism 3 is absolutely consistent with the initial position of the sunroof during each grasp. The auxiliary handle 32 is for manual intervention, allowing the operator to manually push or guide the entire clamping mechanism 3 during the material picking and assembly process. The operating handle 35 can be fixed to the second curved arm 28. Generally, manually pushing the operating handle 35 can drive the clamping mechanism 3 to move synchronously as a whole, and it is also convenient to operate the human-machine interface component 36. The human-machine interface component 36 is integrated on the operating handle 35 and can be a button, knob, touch screen or other trigger.

[0050] In the above embodiments, the clamping mechanism 3 works in conjunction with the central processor and the steering mechanism 2 to achieve high-precision operation of the sunroof from material picking to assembly.

[0051] In conjunction with the above embodiments, before material handling, the operator manually pulls the operating handle 35 or auxiliary handle 32 to move the clamping assembly to the sunroof material handling position. Based on the model of the sunroof to be assembled, the operator operates the corresponding trigger key in the human-machine interface component 36 to trigger the switching cylinder 37, adjusting the pneumatic suction cup 39 and the sunroof edge contact block 38 to match the sunroof model. During the pulling process, due to height requirements, the vertical pressing cylinder 23 also needs to be triggered simultaneously to position the clamping assembly at a suitable height.

[0052] Next, after the assisted positioning by the material-picking positioning component 34, the pneumatic suction cup 39 is triggered to adsorb the sunroof. At this time, the edge of the sunroof is supported by the edge contact block 38 to prevent the sunroof from tipping over after adsorption. Immediately afterwards, the operator pulls the operating handle 35 or the auxiliary handle 32 again to move the clamping assembly and the clamped sunroof away from the sunroof picking position and towards the sunroof assembly position. During this process, the vertical pressing cylinder 23 is triggered again to adjust the height of the clamping assembly to avoid collision with the target assembly position. With the cooperation of the multi-degree-of-freedom steering mechanism 2 and the positioning effect of the assembly positioning component 33, the operator can easily align the sunroof to the sunroof assembly position.

[0053] During assembly, the vertical downward cylinder 23 is manually activated again, and the horizontal steering is used to fine-tune the position of the sunroof and its mounting position to ensure accurate assembly. After assembly, the sunroof pneumatic suction cup 39 is activated to release the sunroof, and the operating handle 35 or auxiliary handle 32 is pulled to move the clamping components away from the sunroof and into position, ready for the next sunroof to be assembled with the next vehicle frame.

[0054] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A floating type automotive sunroof auxiliary assembly device, characterized in that, The system includes a central controller, a walking mechanism (1), a steering mechanism (2), and a clamping mechanism (3). The walking mechanism (1) is equipped with a drive motor (13) that drives the steering mechanism (2) to reciprocate linearly along the vehicle frame conveying direction. The steering mechanism (2) includes a horizontal deflection module rotatably mounted on the walking mechanism (1) and a vertical deflection module mounted on one side of the horizontal deflection module. The vertical deflection module is equipped with a vertically pressing cylinder (23) that drives the clamping mechanism (3) to vertically displace. The clamping mechanism (3) includes a sunroof pneumatic suction cup (39) and a man-mounted air vent. The human-machine interface component (36), the sunroof pneumatic suction cup (39), the vertical pressing cylinder (23) and the drive motor (13) are electrically connected to the central controller respectively. When the operator operates the human-machine interface component (36) with the first control command, the second control command and the third control command at different time points, the central controller controls the sunroof pneumatic suction cup (39), the vertical pressing cylinder (23) and the drive motor (13) respectively according to the first control command, the second control command and the third control command.

2. The floating sunroof auxiliary assembly device according to claim 1, characterized in that, The traveling mechanism (1) further includes a traveling track (11) and a traveling trolley slidably disposed on the traveling track (11); the traveling trolley includes a traveling main frame and traveling wheels (12), the traveling main frame includes two crossbars (15) and a number of connecting rods (16) perpendicular to the two crossbars (15) and spaced apart between the two crossbars (15), each of the two ends of each crossbar (15) is provided with a traveling wheel (12), each of the traveling wheels (12) is slidably disposed on the traveling track (11); a flange shaft assembly (17) for connecting the steering mechanism (2) is provided between the two connecting rods (16) located in the middle of the two crossbars (15); one of the connecting rods (16) located on the side of the two crossbars (15) is connected to the drive motor (13), and the power output end of the drive motor (13) is provided with a drive wheel (14) that rolls with the traveling track (11).

3. The floating sunroof auxiliary assembly device according to claim 2, characterized in that, A support arm (18) is hinged to one of the connecting rods (16) located on the side of the two crossbars (15). One end of the support arm (18) is hinged to the other connecting rod (16) with a tension cylinder (19). The other end of the support arm (18) is connected to one side of the drive motor (13). The tension cylinder (19) is electrically connected to the central controller.

4. The floating sunroof auxiliary assembly device according to claim 2, characterized in that, The horizontal deflection module includes a rotating main body (21) and a first shaft located at one end of the rotating main body (21). The first shaft is rotatably located within the flange shaft assembly (17). The other end of the rotating main body (21) extends to provide a first hinge seat (22).

5. The floating sunroof auxiliary assembly device according to claim 4, characterized in that, The outer periphery of the first shaft or rotating main body (21) is provided with a first brake disc (41), and the outer side of the flange shaft assembly (17) is provided with a first brake cylinder (42) that cooperates with the first brake disc (41). The first brake cylinder (42) is electrically connected to the central controller.

6. The floating sunroof auxiliary assembly device according to claim 4, characterized in that, The vertical deflection module includes a vertically pressing cylinder (23) located on one side of the first hinge seat (22), an active arm (24) and an auxiliary arm (25) respectively hinged to the first hinge seat (22); the vertically pressing cylinder (23) is electrically connected to the central controller, the active arm (24) and the auxiliary arm (25) are arranged in parallel, and their ends on the same side are hinged to a second hinge seat (26); the end of the active arm (24) away from the second hinge seat (26) extends to the telescopic end of the vertically pressing cylinder (23) and is hinged; one side of the second hinge seat (26) is connected to the clamping mechanism (3).

7. The floating sunroof auxiliary assembly device according to claim 6, characterized in that, At least a first curved arm (27) and a second curved arm (28) are provided between the second hinge seat (26) and the clamping mechanism (3). One end of the first curved arm (27) is rotatably connected to the second hinge seat (26) through a second shaft. One end of the second curved arm (28) is rotatably connected to the other end of the first curved arm (27) through a third shaft. The other end of the second curved arm (28) is fixedly connected to the clamping mechanism (3). The first shaft, the second shaft and the third shaft are parallel to each other. An operating handle (35) is provided on one side of the first curved arm (27). The human-machine interaction component (36) is located on the operating handle (35).

8. The floating sunroof auxiliary assembly device according to claim 7, characterized in that, The second shaft is provided with a second brake disc (43) on its outer periphery, and the second hinge seat (26) is provided with a second brake cylinder (44) that cooperates with the second brake disc (43) on its outer side. The second brake cylinder (44) is electrically connected to the central controller.

9. The floating sunroof auxiliary assembly device according to claim 7, characterized in that, The outer periphery of the third shaft is provided with a third brake disc (45), and the outer side of the other end of the first curved arm (27) is provided with a third brake cylinder that cooperates with the third brake disc (45). The third brake cylinder is electrically connected to the central controller.

10. The floating sunroof auxiliary assembly device according to claim 1, characterized in that, The clamping mechanism (3) further includes a clamping main frame (31) connected to the other end of the second curved arm (28), an auxiliary handle (32) provided on the clamping main frame (31), an assembly positioning component (33), a material picking positioning component (34), and a sunroof model switching component. The assembly positioning component (33) is used to abut against and position itself against the first preset part of the target vehicle frame when the sunroof to be assembled is aligned with the sunroof assembly position. The material picking positioning component (34) is used to abut against and position itself against the second preset part of the sunroof material picking position when the sunroof edge contact block (38) and the sunroof pneumatic suction cup (39) are aligned with the sunroof to be assembled. The sunroof model switching component includes a switching cylinder (37) and a sunroof edge contact block (38) provided on the extension end of the switching cylinder (37). The switching cylinder (37) is used to adjust the distance between the sunroof edge contact block (38) and the sunroof pneumatic suction cup (39). The switching cylinder (37) is electrically connected to the central controller.

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