On-line automatic detection system for automobile triangular glass

Abstract

The utility model discloses an on-line automatic detection system for automobile triangular glass. The on-line automatic detection system comprises an incoming material conveying line, a turnover butt joint device, an automatic measuring device and an unloading conveying line, the overturning butt joint device comprises a supporting frame body; a support table; the switching module is arranged above the supporting table and can move in the Z direction, and an adsorption component is connected to the switching module; when the transfer robot is in the first working mode, the automobile triangular glass is transferred among the incoming material conveying line, the automatic measuring device and the unloading conveying line; and when in the second working mode, the turnover mechanism can turn over the automobile triangular glass picked up at the feeding conveying line, is matched with the switching module to transfer the automobile triangular glass to the supporting table, and transfers the automobile triangular glass among the supporting table, the automatic measuring device and the discharging conveying line. The automobile triangular glass on-line automatic detection system provided by the utility model can realize the automatic detection of the automobile triangular glass, and improves the measurement accuracy and the measurement efficiency.

Description

Technical Field

[0001] The utility model belongs to the field of measurement technology, and specifically relates to an online automatic detection system for automobile triangular glass. Background Art

[0002] Automobile triangular glass is indispensable in automobile body accessories, and it mainly plays a protective role. Automobile triangular glass mainly includes the following three categories: laminated glass, tempered glass and regional tempered glass, which can withstand strong impact. Automobile triangular glass is divided into four types according to its location: front windshield, side window glass, rear windshield and sunroof glass; the front windshield must be laminated glass according to national mandatory regulations, and the rear windshield is generally tempered glass with electric heating wire. The triangular window glass of cars has adopted a single-piece slightly curved triangular window glass. The triangular window glass of cars is generally made into a small curved surface type with a certain curvature on the top, bottom, left and right. The curved surface of the triangular window glass affects the transmittance and refractive index of the glass itself, so the detection of the curved surface of the glass becomes particularly important. The glass detection accuracy is high, and there are many types, so manual detection is more difficult.

[0003] Currently commonly used detection methods include: ultrasonic thickness gauge, three-coordinate measuring machine, tape measure and vernier caliper, magnifying glass, fiber optic inspection table, square ruler and level ruler, etc. The above detection methods are relatively simple and have a high degree of manual participation. Due to manual participation, manual detection has certain errors and subjectivity, which often leads to poor detection accuracy.

[0004] At present, automobile triangular window glass is manually inspected and the inspection items are also randomly inspected. Manual measurement has a large subjective factor and cannot guarantee consistency and stability. The efficiency is relatively low and it is easy to make mistakes and miss inspections. The inspection results are easy to be misjudged. Due to the subsequent mass production of production lines and the requirement of full dimensional inspection, the labor cost continues to increase. Simple manual inspection can no longer achieve the inspection accuracy and rhythm requirements.

[0005] The above information disclosed in the background technology is only used to increase the understanding of the background technology of the present application, and therefore, it may include information that does not constitute the prior art known to ordinary technicians in the field. Utility Model Content

[0006] In view of the above technical problems in the prior art, the utility model proposes an online automatic detection system for automobile triangular glass, which can realize fully automatic detection of automobile triangular glass, avoid errors caused by manual participation, and improve measurement accuracy and efficiency.

[0007] In order to achieve the above utility model / design purpose, the utility model adopts the following technical solutions:

[0008] An online automatic detection system for automobile triangular glass includes:

[0009] Incoming material conveyor line, flip docking device, automatic measuring device and unloading conveyor line;

[0010] The flip docking device comprises:

[0011] Support frame;

[0012] and a support platform arranged in the support frame body;

[0013] The adapter module is arranged above the support platform and is movable at least in the Z direction, and an adsorption component is connected to the end of the adapter module;

[0014] A transfer robot having a first working mode and a second working mode;

[0015] When it is in the first working mode, it transfers automobile triangular glass between the incoming material conveying line, the automatic measuring device and the unloading material conveying line;

[0016] When it is in the second working mode, it can flip the automobile triangular glass picked up from the incoming material conveyor line and cooperate with the transfer module to transfer the automobile triangular glass to the support table and transfer the automobile triangular glass between the support table, the automatic measuring device and the unloading conveyor line.

[0017] In some embodiments of the present application, the transfer robot includes:

[0018] Robot body;

[0019] And a suction gripper is arranged at the end of the robot body, and the suction gripper is replaceable.

[0020] In some embodiments of the present application, the invention comprises: a gripper support frame, wherein the gripper support frame is provided with a gripper platform;

[0021] A plurality of gripper placement racks are arranged on the gripper platform, positioning holes are arranged on the gripper placement racks, insertion holes are arranged on the adsorption gripper, and the adsorption gripper is fixed on the gripper placement racks by passing a latch through the insertion hole and the positioning hole.

[0022] In some embodiments of the present application, the gripper placement rack includes: a gripper support platform, on which the positioning hole is arranged;

[0023] And a gripper support rod fixed at the bottom of the gripper support platform, wherein a plurality of gripper support rods are provided and evenly arranged along the circumference of the gripper support platform.

[0024] In some embodiments of the present application, a unloading docking module is also provided on the unloading conveyor line, which is used to cooperate with the transfer robot to pick up the flipped automobile triangular glass and transfer the automobile triangular glass to the unloading conveyor line.

[0025] In some embodiments of the present application, the unloading docking module includes:

[0026] A discharge support frame is disposed transversely at the inlet end of the discharge conveying line;

[0027] And a unloading lifting module is assembled on the unloading support frame, and a unloading adsorption component is connected to the unloading lifting module.

[0028] In some embodiments of the present application, a Z-direction fixing frame is provided on the support table;

[0029] The switch module includes:

[0030] A Z-direction moving module is slidably connected to the Z-direction fixing frame;

[0031] A Z-direction pneumatic drive module is connected to the Z-direction moving module and is used to drive the Z-direction moving module to move up and down along the Z-direction fixed frame;

[0032] The adsorption support frame is slidably connected to the Z-direction moving module and can slide in the X direction along the Z-direction moving module. The adsorption support frame is connected with an adsorption component.

[0033] In some embodiments of the present application, the adsorption support frame includes a load-bearing frame and a load-bearing frame connected to the load-bearing frame, and the upper and lower positions of the load-bearing frame relative to the load-bearing frame are adjustable.

[0034] In some embodiments of the present application, mutually cooperating height adjustment components are provided between the load-bearing frame and the load-bearing frame, and the height adjustment components include: a hanging component formed at the top position of the load-bearing frame;

[0035] A hanging fixture is arranged vertically, one end of which is fixed in the hanging component, and the other end is screwed and fixed on the bearing frame below the hanging component;

[0036] A locking hole is provided on the carrying frame, and an adjusting long hole is provided on the carrying frame;

[0037] When the assembly is in place, the adjusting bolt passes through the adjusting long hole and is screwed and fixed in the locking hole to press and fix the supporting frame on the supporting frame;

[0038] When adjusting, loosen the adjusting bolt, rotate the hanging fixture, and drive the load-bearing frame to move relative to the load-bearing frame to adjust the height position;

[0039] After moving into position, the locking adjustment bolts press and fix the supporting frame on the supporting frame.

[0040] In some embodiments of the present application, the adsorption component includes: an adsorption rod, an outer thread is provided on the outer side of the adsorption rod; a suction cup connected to the end of the adsorption rod;

[0041] The adsorption support frame includes a second connection portion, and a through hole is provided on the second connection portion;

[0042] The adsorption rod passes through the through hole, and the upper end and the lower end of the adsorption rod are locked and fixed on the second connection part by locking nuts.

[0043] Compared with the prior art, the advantages and positive effects of the utility model are:

[0044] The automobile triangular glass automatic detection system of the utility model realizes the mutual docking from loading, detection and unloading of automobile triangular glass through the sequentially arranged incoming material conveying line, flip docking device, automatic measuring device and unloading conveying line, and realizes automatic transfer docking through the transfer robot during loading and unloading transfer. The entire detection loading, unloading and station conversion docking do not require manual grasping by human participation, thus avoiding the problems of large errors and low precision caused by human participation, not only ensuring the detection accuracy but also realizing automatic detection, greatly improving the detection efficiency, so that it can adapt to the rhythm requirements of large-scale production lines with rapid production.

[0045] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 This is a structural schematic diagram of an embodiment of the online automatic detection system for automobile triangular glass proposed by the utility model;

[0048] Figure 2 It is a structural schematic diagram of the incoming material conveying line of the online automatic detection system for automobile triangular glass proposed by the utility model;

[0049] Figure 3 It is a structural schematic diagram of a transfer robot of an online automatic detection system for automobile triangular glass proposed by the utility model;

[0050] Figure 4 It is a structural schematic diagram of the adsorption gripper of the online automatic detection system for automobile triangular glass proposed by the utility model;

[0051] Figure 5 It is a structural schematic diagram of a gripper support frame of an online automatic detection system for automobile triangular glass proposed by the utility model;

[0052] Figure 6 It is a three-dimensional structural diagram of the flip docking device of the online automatic detection system of the automobile triangular glass proposed by the utility model;

[0053] Figure 7 This is the internal structure diagram of the flip docking device of the online automatic detection system of the automobile triangular glass proposed by the utility model;

[0054] Figure 8 This is a structural diagram of the coordination of the docking module and the adsorption support frame of the online automatic detection system for automobile triangular glass proposed by the utility model;

[0055] Fig. 9 for Figure 8 A local enlarged view of point A;

[0056] Fig.10 This is a diagram showing the coordination structure of the adsorption components and adsorption support frame of the online automatic detection system for automobile triangular glass proposed by the utility model;

[0057] Fig.11 It is a structural schematic diagram of the unloading conveying line and unloading docking module of the online automatic detection system for automobile triangular glass proposed by the utility model;

[0058] Fig.12 The utility model is a structural schematic diagram of a discharging and lifting module of an online automatic detection system for automobile triangular glass.

[0059] In the figure, 100, incoming material conveying line; 200, flip docking device; 210, support frame; 220, support platform; 230, transfer module; 240, adsorption component; 241, adsorption rod; 242, suction cup; 250, adsorption drive module; 300, automatic measuring device; 400, unloading conveying line; 500, transfer robot; 510, robot body; 520, adsorption gripper; 521, suction cup fixing plate; 522, spring suction cup; 530, pneumatic quick change module; 540, gripper support frame; 541, gripper platform; 550, gripper placement frame; 551, positioning hole; 552, gripper support platform; 553, gripper support rod; 600, unloading Material docking module; 610, unloading support frame; 620, unloading adsorption component; 630, unloading lifting module; 631, lifting cylinder; 632, lifting fixed seat; 633, moving carrier; 634, guide rod; 710, Z-axis fixed frame; 720, Z-axis moving module; 730, Z-axis pneumatic drive module; 740, adsorption support frame; 741, frame base; 7411, locking hole; 742, carrying frame; 7421, adjustment long hole; 7422, second connecting part; 810, hanging component; 811, bayonet; 820, hanging clamping part; 821, first clamping part; 822, second clamping part; 830, locking nut; 910, first Z-axis buffer component. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0061] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore, should not be understood as a limitation on the present invention.

[0062] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. In the description of the implementation method, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0063] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0064] In the description of the present invention, unless otherwise specified, “plurality” means two or more.

[0065] The utility model provides an embodiment of an online automatic detection system for automobile triangular glass, including:

[0066] Incoming material conveying line 100, flip docking device 200, automatic measuring device 300 and unloading material conveying line 400.

[0067] The transportation of the automobile triangular glass located at the above-mentioned devices is mainly achieved by the transportation robot 500.

[0068] The material conveying line 100 can realize the material conveying of automobile triangular glass.

[0069] In some embodiments, the incoming material conveying line 100 is a belt conveyor structure, which has an incoming material driving motor, a pulley connected to the incoming material driving motor, and a conveying belt for conveying triangular glass.

[0070] When the triangular glass is conveyed, the incoming material driving motor is driven to rotate the pulley on the incoming material conveying frame, and then the conveyor belt connected to the pulley is driven to move, so as to convey the triangular glass.

[0071] In order to prevent the triangular glass from falling from the incoming material conveying line 100 when being conveyed to the end of the incoming material conveying line 100, an end baffle is provided at the end of the incoming material conveying line 100 to achieve the function of spacing and limiting.

[0072] The flipping and docking device 200 is used to cooperate with the transfer robot 500 to receive the automobile triangular glass flipped and transferred from the transfer robot 500.

[0073] The automatic measuring device 300 is used to realize automatic measurement and detection of automobile triangular glass.

[0074] Specifically, the automatic measuring device 300 in this embodiment can use the measuring device described in the patent with patent number: 2023208990979, and the patent name: A tool for detecting automobile triangular glass for detection and measurement. Its specific structure will not be described one by one here.

[0075] The unloading conveyor line 400 is used to unload the automobile triangular glass after the inspection.

[0076] In some embodiments, the unloading conveyor line 400 is a unloading belt conveyor, and its structure is the same as that of the incoming conveyor line 100 .

[0077] When the automobile triangular glass is placed on the unloading conveyor line 400 , the automobile triangular glass can be sorted outward through the unloading conveyor line 400 .

[0078] The machining line grabs the automobile triangular glass and places it at the incoming material docking point of the incoming material conveyor line 100. An incoming material detection sensor is provided at the outlet end of the incoming material conveyor line 100 to detect the presence or absence of the automobile triangular glass on the incoming material conveyor line 100.

[0079] The flip docking device 200 includes:

[0080] Support frame 210;

[0081] and a support platform 220 disposed within the support frame 210;

[0082] The adapter module 230 is arranged above the support platform 220 and is movable at least in the Z direction. An adsorption component 240 is connected to the end of the adapter module 230;

[0083] The transfer module 230 is arranged above the support platform 220 and is movable at least in the Z direction. It can move up and down along the Z direction to dock with the transfer robot through the adsorption component 240.

[0084] When the automobile triangular glass delivered from the incoming material conveying line 100 is placed upside down, the automobile triangular glass needs to be turned over, and the turning over of the automobile triangular glass is mainly achieved by the transfer robot 500.

[0085] In some embodiments of the present application, the transfer robot 500 includes:

[0086] Robot body 510;

[0087] And a suction gripper 520 is arranged at the end of the robot body 510, and the suction gripper 520 is replaceable.

[0088] The suction gripper 520 is mainly used to suck the triangular glass of the car, and then the robot arm of the robot body 510 performs a 180-degree flipping action to realize the flipping of the triangular glass of the car.

[0089] However, since the transfer robot 500 adsorbs the triangular glass of the car through the adsorption gripper 520, after turning 180 degrees, the adsorption gripper 520 is in an upward position and it is unable to lower the triangular glass of the car.

[0090] At this time, the car's triangular glass can be lowered through the adapter module 230, and the adsorption component 240 at the end of the adapter module 230 can be adsorbed on the front position of the car's triangular glass, and then the car's triangular glass can be placed on the support platform 220 by moving upward along Z, so that the later transfer robot 500 can grab and transfer the car's triangular glass.

[0091] The transfer robot 500 is an industrial robot which is floor-standing and fixedly mounted on a base.

[0092] In some embodiments, the suction gripper 520 is connected to the end position of the robot arm of the industrial robot through a pneumatic quick change module 530.

[0093] The pneumatic quick-change module 530 can adopt the existing quick-change module structure in the prior art.

[0094] The suction gripper 520 is connected to the transfer robot 500 through a pneumatic quick-change module 530, which can be used to achieve fast and convenient replacement of the suction gripper 520, so that it can be equipped with different types of suction grippers 520 to adapt to the gripping of different types of automobile triangular windows.

[0095] The adsorption gripper 520 includes an adsorption fixing plate and a spring suction cup 522 connected to the adsorption fixing plate. The spring suction cup 522 can adopt an existing structural method.

[0096] In some embodiments, the transfer robot 500 has a first working mode and a second working mode;

[0097] When it is in the first working mode, it transfers automobile triangular glass between the incoming material conveying line 100, the automatic measuring device 300 and the unloading material conveying line 400;

[0098] When the transfer robot 500 is in the first working mode, the corresponding automobile triangular glass is not placed upside down during the transportation from the incoming material conveyor line 100. At this time, there is no need to flip the automobile triangular glass. The automobile triangular glass entering the incoming material conveyor line 100 is transported to the end position through the incoming material conveyor line 100, and then the transfer robot 500 grabs the automobile triangular glass at the incoming material conveyor line 100, and places the grabbed automobile triangular glass on the automatic measuring device 300 for automatic inspection. After the automatic inspection is completed, the transfer robot 500 absorbs the automobile triangular glass on the automatic measuring device 300 and transfers it to the unloading conveyor line 400, and transports and sorts it through the unloading conveyor line 400.

[0099] When the transfer robot 500 is in the second working mode, it can flip the automobile triangular glass picked up from the incoming material conveyor line 100 and cooperate with the transfer module 230 to transfer the automobile triangular glass to the support table 220 and transfer the automobile triangular glass between the support table 220, the automatic measuring device 300 and the unloading conveyor line 400.

[0100] The second working mode state corresponds to the situation where the automobile triangular glass delivered from the incoming material conveying line 100 is placed in reverse on the incoming material conveying line 100. When the automobile triangular glass is placed in reverse, it is necessary to flip the automobile triangular glass before automatically detecting and measuring it.

[0101] The automobile triangular glass delivered by the incoming material conveying line 100 is first sucked and grasped by the transfer robot 500, and then the transfer robot 500 moves to flip the sucked automobile triangular glass 180 degrees to correct its direction, and then drives the automobile triangular glass to move to the lower position of the adapter module 230.

[0102] The transfer module 230 absorbs the triangular glass of the automobile from above, and then the transfer robot 500 moves away, and the triangular glass of the automobile is driven downward by the transfer module 230 to place the triangular glass of the automobile at the position of the support platform 220.

[0103] The transfer robot 500 then transfers the automobile triangular glass from the support platform 220 to the automatic measuring device 300 for measurement. After the measurement is completed, the transfer robot 500 transfers the automobile triangular glass from the automatic measuring device 300 to the unloading conveyor line 400 to realize the unloading of the automobile triangular glass.

[0104] The automobile triangular glass automatic inspection system in this embodiment realizes the mutual docking from loading, inspection and unloading of automobile triangular glass through the sequentially arranged incoming material conveyor line 100, the flip docking device 200, the automatic measuring device 300 and the unloading conveyor line 400, and realizes automatic transfer docking through the transfer robot 500 during loading and unloading. The entire inspection loading, unloading and station conversion docking do not require manual grasping by human participation, avoiding the problems of large errors and low precision caused by human participation, not only ensuring the inspection accuracy but also realizing automatic inspection, greatly improving the inspection efficiency, so that it can adapt to the rhythm requirements of large-scale production lines with rapid production.

[0105] In some embodiments of the present application, it includes: a gripper support frame 540, on which a gripper platform 541 is provided. The gripper platform 541 is a gripper placement table arranged on the top of the gripper support frame 540, which is used for bearing and supporting.

[0106] A plurality of gripper racks 550 are arranged on the gripper platform 541 , positioning holes 551 are provided on the gripper racks 550 , and insertion holes are provided on the adsorption gripper 520 . The adsorption gripper 520 is fixed on the gripper racks 550 by means of a pin passing through the insertion hole and the positioning hole 551 .

[0107] The gripper placement rack 550 is used to place the adsorption gripper 520. The plurality of gripper placement racks 550 can be used to place adsorption grippers 520 of different models and sizes to adapt to different models of automobile triangular glass.

[0108] The positioning hole 551, the insertion hole and the latch can be used to coordinate with each other to achieve the initial positioning and quick disassembly of the suction gripper 520.

[0109] When the adsorption gripper 520 needs to be placed on the gripper placement rack 550 , it is only necessary to align the insertion hole on the adsorption gripper 520 with the positioning hole 551 , and then pass the latch through both.

[0110] Similarly, when the adsorption gripper 520 needs to be replaced, the plug can be unplugged and the adsorption gripper 520 can be taken out.

[0111] In some embodiments of the present application, the gripper placement rack 550 includes: a gripper support platform 552, on which the positioning hole 551 is provided;

[0112] And a gripper support rod 553 fixed at the bottom of the gripper support platform 552 , wherein a plurality of gripper support rods 553 are provided and are evenly arranged along the circumference of the gripper support platform 552 .

[0113] A plurality of positioning holes 551 may be provided, and are used to respectively cooperate with corresponding insertion holes on the suction cup fixing plate 521 on the suction gripper 520 .

[0114] A plurality of spring suction cups 522 are connected to the outer periphery of the suction cup fixing plate 521 of the suction gripper 520 .

[0115] When the adsorption gripper 520 is placed on the gripper support platform 552 , the suction cup fixing plate 521 is placed on the gripper support platform 552 and supported by the gripper support platform 552 , while the surrounding spring suction cups 522 are extended downward along the gripper support platform 552 .

[0116] In some embodiments of the present application, a unloading docking module 600 is also provided on the unloading conveyor line 400 for cooperating with the transfer robot 500 to pick up the flipped automobile triangular glass and transfer the automobile triangular glass to the unloading conveyor line 400.

[0117] In some embodiments of the present application, the unloading docking module 600 includes:

[0118] The unloading support frame 610 is disposed laterally at the inlet end of the unloading conveying line 400;

[0119] And a unloading lifting module 630 assembled on the unloading supporting frame 610 , and a unloading adsorption component 620 is connected to the unloading lifting module 630 .

[0120] When the triangular glass of the automobile transported to the unloading conveyor line 400 needs to be flipped, the unloading docking module 600 and the transfer robot 500 can cooperate to perform the flipping operation on the triangular glass of the automobile.

[0121] Specifically, the car triangular glass is first sucked up by the suction gripper 520 of the transfer robot 500, and then flipped 180 degrees. After flipping into place, the unloading suction component 620 is driven to move downward by the unloading lifting module 630 to suck the car triangular glass, and then the sucked car triangular glass is placed on the unloading conveyor line 400 by moving downward, and the car triangular glass is continued to be transported through the unloading conveyor line 400.

[0122] In some embodiments, the unloading suction component 620 is a unloading suction cup 242, which is connected to a vacuum generator to pick up the automobile triangular glass.

[0123] The unloading lifting module 630 includes: a lifting cylinder 631;

[0124] The lifting fixed seat 632 is fixed on the unloading support frame 610 , and the lifting cylinder 631 is assembled on the lifting fixed seat 632 .

[0125] The movable carrier 633 is connected to the unloading suction cup 242 and the cylinder rod of the lifting cylinder 631 .

[0126] A guide sleeve is provided on the lifting fixed seat 632 , and a guide rod 634 is provided inside the guide sleeve. The guide rod 634 is connected to the movable carrier 633 .

[0127] In some embodiments of the present application, a Z-direction fixing frame 710 is provided on the support platform 220;

[0128] In some embodiments of the present application, the Z-direction fixing frame 710 is vertically assembled and fixed on the supporting platform 220 .

[0129] A Z-direction moving module 720 slidably connected to the Z-direction fixing frame 710 ;

[0130] The Z-direction moving module 720 is a Z-direction moving plate, which is arranged horizontally. A sliding block and a slide rail assembly that cooperate with each other is arranged between the Z-direction moving plate and the Z-direction fixing frame 710 .

[0131] In order to limit the position of the Z-direction moving module 720 , an upper limit detection sensor and a lower limit detection sensor are respectively provided at the upper end and the lower end of the Z-direction fixing frame 710 .

[0132] A Z-direction pneumatic drive module 730, which is mounted on the Z-direction fixed frame 710 and connected to the Z-direction moving module 720, and is used to drive the Z-direction moving module 720 to move up and down along the Z-direction fixed frame 710;

[0133] In some embodiments of the present application, the Z-direction pneumatic drive module 730 includes a Z-direction drive cylinder, and the Z-direction drive cylinder includes a Z-direction cylinder rod. During assembly, the Z-direction drive cylinder is assembled on the back of the Z-direction fixing frame 710 .

[0134] The Z-direction cylinder rod is connected and fixed to the Z-direction moving module 720 .

[0135] An extension portion is provided on the Z-direction moving module 720 , and the extension portion passes through the Z-direction fixing frame 710 and is fixedly connected to the end of the Z-direction cylinder rod.

[0136] Since the Z-axis cylinder rod will drive the extension part to move up and down when it moves up and down, in order to avoid the extension part, a long avoidance groove arranged along the height direction of the Z-axis fixing frame 710 is provided on the Z-axis fixing frame 710 to facilitate the extension part to move up and down.

[0137] In some embodiments of the present application, the Z-axis cylinder rod is connected and fixed to the extension portion via a floating joint.

[0138] The adsorption support frame 740 is slidably connected to the Z-direction moving module 720 and can slide along the Z-direction moving module 720 in the X direction. The adsorption component 240 is connected to the adsorption support frame 740 .

[0139] In some embodiments of the present application, it includes: an adsorption drive module 250, which is connected to the adsorption support frame 740, and can drive the adsorption support frame 740 to move in the X direction along the Z-direction moving module 720 to adjust the position of the adsorption support frame 740, so that the adsorption support frame 740 can accurately place the car triangular glass in the middle of the support platform 220.

[0140] The adsorption driving module 250 is assembled at one end of the Z-direction moving module 720 .

[0141] A slide rail assembly that cooperates with each other is provided between the Z-axis moving module 720 and the adsorption support frame 740 .

[0142] In some embodiments, a through channel is provided on the support platform 220 , and an automobile triangular glass detection element for detecting whether the automobile triangular glass is in place is provided below the support platform 220 at a position corresponding to the through channel.

[0143] In some embodiments of the present application, the adsorption drive module 250 is an adsorption drive cylinder, which includes: an adsorption cylinder rod, which is connected to the adsorption support frame 740. When the adsorption cylinder rod is extended and retracted, it correspondingly drives the adsorption support frame 740 to move in the X direction and change its position.

[0144] During connection, the adsorption cylinder rod is connected and fixed to the adsorption support frame 740 via a floating joint.

[0145] The Z-direction pneumatic drive module 730 and the adsorption drive module 250 are both configured as pneumatically driven structures. Compared with the existing linear module structure, the overall structure is simpler, the drive is more direct and faster, and the overall cost is lower.

[0146] The adsorption component 240 is a vacuum suction cup, which can be used to adsorb the triangular glass of the automobile. The vacuum suction cup is connected to a vacuum generating device arranged on the adsorption support frame 740 .

[0147] After the transfer robot 500 flips the car's triangular glass 180 degrees, the front of the car's triangular glass faces upward. At this time, the adapter module 230 can move downward along the Z-direction fixing frame 710 through the Z-direction moving module 720 to drive the adsorption support frame 740 to move downward to a position close to the car's triangular glass. At the same time, the car's triangular glass is adsorbed from the upper position through the adsorption working surface. The robot releases the car's triangular glass, and the car's triangular glass adsorbed by the adsorption component 240 moves downward under the drive of the Z-direction moving module 720 and is placed on the support platform 220 to achieve direct docking with the robot.

[0148] In some embodiments of the present application, the adsorption component 240 includes: an adsorption rod 241, an external thread is provided on the outer side of the adsorption rod 241, and a suction cup 242 connected to the end of the adsorption rod 241;

[0149] The adsorption support frame 740 includes a second connection portion 7422, and a through hole is provided on the second connection portion 7422;

[0150] The adsorption rod 241 passes through the through hole, and the upper end and the lower end thereof are locked and fixed on the second connection portion 7422 by means of locking nuts 830 .

[0151] The second connection portion 7422 is a second connection plate, and a via hole is formed on the upper portion of the second connection plate.

[0152] The adsorption component 240 includes an adsorption rod 241 and a suction cup 242 connected to the end of the adsorption rod 241 .

[0153] An external thread is provided on the outer side of the adsorption rod 241 , and the adsorption rod 241 passes through the through hole. Locking nuts 830 are screwed on the adsorption rod 241 at the upper and lower ends of the through hole to limit and fix the adsorption rod 241 on the second connecting portion 7422 .

[0154] By adjusting the locking nuts 830 screwed at the upper and lower ends of the adsorption rod 241, the height position of the adsorption rod 241 and the suction cup 242 can be adjusted to adapt to automobile triangular windows of different thicknesses, thereby improving the versatility of the entire device.

[0155] For example, when the thickness of the car's triangular glass is thicker, the extended length of the adsorption rod 241 needs to be shortened. At this time, the locking nut 830 at the bottom can be rotated, and then the adsorption rod 241 can be moved upward, and then the locking nut 830 at the bottom and the locking nut 830 at the top can be locked and fixed respectively.

[0156] In some embodiments of the present application, the adsorption support frame 740 includes a frame base 741 and a supporting frame 742 connected to the frame base 741 , and the upper and lower positions of the supporting frame 742 relative to the frame base 741 are adjustable.

[0157] A height adjustment assembly that cooperates with each other is provided between the frame base 741 and the carrying frame 742, and the height adjustment assembly includes: a hanging component 810 formed at the top position of the frame base 741;

[0158] The hanging clamping member 820 is arranged vertically, one end of which is clamped in the hanging component 810, and the other end is screwed and fixed on the supporting frame 742 below the hanging component 810;

[0159] The supporting frame 742 is provided with an adjusting long hole 7421 , and a locking hole 7411 is provided on the frame base 741 at a position corresponding to the adjusting long hole 7421 ;

[0160] When assembled in place, the adjusting bolt passes through the adjusting long hole 7421 and is screwed and fixed in the locking hole 7411 to press and fix the supporting frame 742 on the frame base 741 .

[0161] When it is necessary to fine-tune the height position of the supporting frame 742 relative to the frame base 741, the adjusting bolt can be loosened and the hanging clamp 820 can be rotated to drive the adjusting long hole 7421 on the supporting frame 742 to move up and down relative to the adjusting bolt, thereby realizing the up and down movement relative to the supporting frame 742. After moving into place, the adjusting bolt is tightened to press and fix the supporting frame 742 on the frame base 741, so as to realize the locking and fixation of the supporting frame 742 relative to the frame base 741.

[0162] By rotating the hanging card member 820, the supporting frame 742 that is threadedly matched with the supporting frame 742 can be driven to move up and down, thereby adjusting the position of the supporting frame 742, and further driving the adsorption component 240 connected to the supporting frame 742 to move up and down.

[0163] Since the up and down movement stroke of the Z-axis moving module 720 will be limited when it moves to the bottom position of the Z-axis fixing frame 710, the up and down positions of the supporting frame 742 and the adsorption component 240 relative to the frame base 741 can be adjusted to enable it to perform fine adjustment in the height direction to ensure that it can adapt to automobile triangular glasses of different thicknesses, thereby ensuring that the height of the supporting frame 742 that can be adjusted after the Z-axis moving module 720 moves to the bottom position can be adjusted to ensure that the automobile triangular glass can be placed in place.

[0164] Since the height adjustment range of the suction cup 242 position is limited only by the suction rod 241 and the locking nut 830, when the suction rod 241 and the locking nut 830 cannot adjust the position to the right position, the height position can be adjusted relative to the frame base 741 through the supporting frame 742 to ensure that it is adjusted to the right position so that it can match the car triangular glass of different thicknesses.

[0165] In some embodiments of the present application, a bayonet 811 is formed on one side of the hanging component 810.

[0166] The hanging card arrangement 820 includes:

[0167] A clamping body, and a first clamping portion 821 and a second clamping portion 822 sequentially arranged along a length direction of the clamping body, with a spacing between the first clamping portion 821 and the second clamping portion 822;

[0168] In some embodiments, the locking member body is a locking column, and the first locking portion 821 and the second locking portion 822 are a first locking protrusion and a second locking protrusion respectively formed on the locking column.

[0169] In some embodiments, the clamping member body is a clamping column, and the first clamping portion 821 and the second clamping portion 822 are a first clamping nut and a second clamping nut.

[0170] During assembly, the clamping body located between the first clamping portion 821 and the second clamping portion 822 is clamped into the clamping port 811 from the side, the first clamping portion 821 is clamped at the top surface of the hanging component 810 around the clamping port 811, and the second clamping portion 822 is clamped at the bottom surface of the hanging component 810 around the clamping port 811.

[0171] The first clamping portion 821 and the second clamping portion 822 cooperate to limit the clamping component body in the up and down directions, so that the hanging clamping component 820 can only rotate in the circumferential direction and cannot move up and down relative to the hanging component 810.

[0172] In some embodiments, a Z-direction buffer component is included, and the Z-direction buffer component includes:

[0173] The first Z-direction buffer component 910 is mounted on the support platform 220 and arranged vertically to buffer the Z-direction moving module 720 whose bottom is in contact with the first Z-direction buffer component 910;

[0174] In some embodiments, the first Z-direction buffer component 910 uses a hydraulic buffer to avoid damage caused by excessive impact force when the Z-axis slides downward, and the hydraulic buffer is used to buffer it.

[0175] There are two second buffer components, which are symmetrically arranged at both sides of the first Z-direction buffer component 910 and fixed on the Z-direction fixing frame 710, and include: a buffer component support frame, which is arranged vertically and has a bending support portion formed on the top, and a flexible buffer pad is provided on the bending support portion.

[0176] The buffer support frame can realize hard limit of the Z-direction movement of the Z-direction moving module 720 through the flexible buffer pad above it.

[0177] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the above embodiments, or to replace some of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. An online automatic detection system for automobile triangular glass, characterized in that: Included are: Incoming material conveyor line, flip docking device, automatic measuring device and unloading conveyor line; The flip docking device comprises: Support frame; and a support platform arranged in the support frame body; The adapter module is arranged above the support platform and is movable at least in the Z direction, and an adsorption component is connected to the end of the adapter module; A transfer robot having a first working mode and a second working mode; When it is in the first working mode, it transfers automobile triangular glass between the incoming material conveying line, the automatic measuring device and the unloading material conveying line; When it is in the second working mode, it can flip the automobile triangular glass picked up from the incoming material conveyor line and cooperate with the transfer module to transfer the automobile triangular glass to the support table and transfer the automobile triangular glass between the support table, the automatic measuring device and the unloading conveyor line.

2. The automotive triangular glass online automatic detection system according to claim 1 is characterized in that: The transfer robot comprises: Robot body; And a suction gripper is arranged at the end of the robot body, and the suction gripper is replaceable.

3. The online automatic detection system for automobile triangular glass according to claim 1 is characterized in that: It includes: a gripper support frame, on which a gripper platform is arranged; A plurality of gripper placement racks are arranged on the gripper platform, positioning holes are arranged on the gripper placement racks, insertion holes are arranged on the adsorption gripper, and the adsorption gripper is fixed on the gripper placement racks by passing a latch through the insertion hole and the positioning hole.

4. The automotive triangular glass online automatic detection system according to claim 3 is characterized in that: The gripper placement rack comprises: a gripper support platform, on which the positioning hole is arranged; And a gripper support rod fixed at the bottom of the gripper support platform, wherein a plurality of gripper support rods are provided and evenly arranged along the circumference of the gripper support platform.

5. The online automatic detection system for automobile triangular glass according to claim 1 is characterized in that: The unloading conveyor line is also provided with an unloading docking module, which is used to cooperate with the transfer robot to pick up the flipped automobile triangular glass and transfer the automobile triangular glass to the unloading conveyor line.

6. The online automatic detection system for automobile triangular glass according to claim 5 is characterized in that: The unloading docking module includes: A discharge support frame is disposed transversely at the inlet end of the discharge conveying line; And a unloading lifting module is assembled on the unloading support frame, and a unloading adsorption component is connected to the unloading lifting module.

7. The automotive triangular glass online automatic detection system according to claim 1, characterized in that: A Z-direction fixing frame is arranged on the supporting platform; The switch module includes: A Z-direction moving module is slidably connected to the Z-direction fixing frame; A Z-direction pneumatic drive module is connected to the Z-direction moving module and is used to drive the Z-direction moving module to move up and down along the Z-direction fixed frame; The adsorption support frame is slidably connected to the Z-direction moving module and can slide in the X direction along the Z-direction moving module. The adsorption support frame is connected with an adsorption component.

8. The online automatic detection system for automobile triangular glass according to claim 7 is characterized in that: The adsorption support frame comprises a frame base and a bearing frame connected to the frame base, and the upper and lower positions of the bearing frame relative to the bearing frame are adjustable.

9. The online automatic detection system for automobile triangular glass according to claim 8 is characterized in that: A height adjustment assembly that cooperates with each other is arranged between the load-bearing frame and the load-bearing frame, and the height adjustment assembly includes: a hanging component formed at the top position of the load-bearing frame; A hanging fixture is arranged vertically, one end of which is fixed in the hanging component, and the other end is screwed and fixed on the bearing frame below the hanging component; A locking hole is provided on the frame base, and an adjusting long hole is provided on the supporting frame; When assembled in place, the adjusting bolt passes through the adjusting long hole and is screwed into the locking hole to press and fix the supporting frame onto the frame base; When adjusting, loosen the adjusting bolts, rotate the hanging fixture, and drive the load-bearing frame to move relative to the frame base to adjust the height position; After moving into position, the locking adjustment bolts press and fix the supporting frame onto the frame base.

10. The online automatic detection system for automobile triangular glass according to claim 7, characterized in that: The adsorption component includes: an adsorption rod, an outer side of which is provided with an external thread; a suction cup connected to the end of the adsorption rod; The adsorption support frame includes a second connection portion, and a through hole is provided on the second connection portion; The adsorption rod passes through the through hole, and the upper end and the lower end of the adsorption rod are locked and fixed on the second connection part by locking nuts.

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