An automatic foam attaching device for automobile exterior parts

Abstract

The utility model relates to an automatic foam attaching device for automobile exterior trim, comprising a frame and a control system. The frame is provided with a workpiece foam attaching platform and a foam feeding device. The frame is provided with a multi-axis manipulator. The multi-axis manipulator is connected with a foam fixture. The fixture comprises a manipulator connecting seat, a foam suction cup and a foam clamp, an industrial camera and a light source. The foam suction cup, the foam clamp, the industrial camera, the multi-axis manipulator and the foam feeding device are all communicatively connected with the control system and controlled by it. Through the control system, the whole process from image capture, foam picking, transportation to attachment and pressing can be automated. The control system automatically adjusts the action of the foam clamp and the foam suction cup according to the image data captured by the industrial camera, thereby improving the consistency and reliability of the operation, realizing automated operation and improving the efficiency of cotton attaching.

Description

Technical Field

[0001] The utility model relates to the field of automatic foam attachment of automobile parts, in particular to automatic foam attachment equipment for automobile exterior decorations. Background Art

[0002] Automotive exterior parts include A-pillars, B-pillars, C-pillars, D-pillars and other parts installed on the outside of the car. For example, during the automobile manufacturing process, the B-pillar needs to be pasted with foam at multiple locations to achieve functions such as heat insulation, sound insulation, and shock absorption, thereby improving the comfort and safety of the car. However, the existing pasting method is mainly manual, which has many disadvantages.

[0003] Firstly, it is difficult to ensure the accuracy of the pasting position when manually pasting. Due to the complex shapes of automobile exterior trims and the differences in size and structure of exterior trims of different models, it is difficult to accurately attach the foam to the predetermined position when manually pasting it. This will not only affect the heat insulation and sound insulation effects of the foam, but may also cause gaps between the foam and the exterior trim, reducing the overall sealing and aesthetics of the car.

[0004] Secondly, manual pasting is inefficient. On large-scale automobile production lines, manual pasting of foam requires a lot of manpower and time. Operators need to cut, position and paste the foam one by one to various positions of the exterior trim, which is a cumbersome and time-consuming process. In a high-intensity working environment, manual operation is also prone to fatigue, further reducing work efficiency, seriously affecting the overall work efficiency of foam pasting, and becoming a bottleneck in the automobile production process.

[0005] In summary, the existing manual foam pasting method has many problems in the production and manufacturing of automotive exterior parts. There is an urgent need for an automated foam pasting device that can improve the accuracy of pasting position and work efficiency to meet the strict requirements of modern automobile manufacturing industry on production efficiency and product quality. Summary of the invention

[0006] The technical problem to be solved by the utility model is to provide an automatic foam attachment device for automobile exterior trims in view of the deficiencies of the above-mentioned prior art.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an automatic foam attachment device for automobile exterior trim, comprising a frame and a control system, the frame having a workpiece loading area and a foam feeding area, the workpiece loading area being provided with a plurality of workpiece foam attachment platforms for loading workpieces to be attached, the foam feeding area being provided with a plurality of foam feeding devices for periodically conveying foam, the frame being provided with a multi-axis manipulator, the multi-axis manipulator being connected with a foam tooling for extracting foam from the foam feeding device and delivering it to the attachment area on the workpiece foam attachment platform The fixture comprises a manipulator connection seat for connecting to a multi-axis manipulator, a plurality of foam suction cups arranged on the manipulator connection seat for absorbing foam, a plurality of foam grippers arranged on the manipulator connection seat for clamping foam, an industrial camera arranged on the manipulator connection seat for capturing images of workpieces and foam, and a plurality of light sources arranged on one side of the industrial camera for facilitating the acquisition of industrial camera images. The foam suction cups, foam grippers, industrial camera, multi-axis manipulator and foam feeding device are all communicatively connected to and controlled by the control system.

[0008] By adopting the above technical solution, the multi-axis manipulator has multiple degrees of freedom, can move and position flexibly, and realize complex spatial movement. Through precise control algorithms and drive systems, the manipulator can accurately move the foam fixture to the predetermined position. The manipulator connecting seat serves as a connecting part between the foam fixture and the multi-axis manipulator, ensuring that the fixture can be firmly installed on the manipulator and move with the manipulator. The foam suction cup is used to absorb large-sized foam (long in length or too wide to be easily clamped). The adsorption force is generated by the negative pressure system to firmly absorb the foam on the suction cup. The cotton gripper is used to clamp small-sized foam to ensure the stability of the foam during transportation. The optical lens and the light sources on both sides are integrated on the manipulator connection seat. The lens is responsible for capturing the real-time image of the automotive exterior and foam, and comparing it with the pre-set image, and then accurately determining whether the foam is placed incorrectly or missed, and also determining whether the exterior has the same problem. The workpiece loading area is used for manual or automatic loading and unloading of exterior parts at the workpiece cotton sticking platform. The foam feeding device is used to transport and cut foam paper of different specifications. The foam on the foam paper has a sticky surface with a self-adhesive structure. Through the precise control of the multi-axis manipulator and the adsorption and clamping functions of the foam fixture, the automatic attachment of the foam is realized, and the foam can be accurately attached to the exterior parts of complex shapes and different positions, so that it can be applied to large-scale automobile production lines, which can significantly reduce manpower and time consumption, improve overall production efficiency, solve the problem of inaccurate manual pasting position, improve the attachment accuracy, reduce manual intervention, and improve the automation level of the production line. The visual guidance system can adapt to exterior parts of different models and sizes, and improve the flexibility and adaptability of the production line. The control system includes PLC (programmable logic controller), human-machine interface (HMI) and related software to achieve automatic operation and precise control. The control system integrates the control of foam grippers, foam suction cups, industrial cameras, light sources and multi-axis manipulators, so that all components are coordinated with each other to achieve automatic operation. Through the control system, the whole process from image capture, foam picking, handling to attachment and pressing can be realized. The control system automatically adjusts the movement of the foam grippers and foam suction cups according to the image data captured by the industrial camera, which improves the consistency and reliability of the operation.

[0009] The above-mentioned automatic foam attaching equipment for automobile exterior parts can be further configured as follows: the manipulator connecting seat is provided with a foam pressing plate for pressing the foam after attaching it to the workpiece, and the manipulator connecting seat is provided with a pressing plate lifting mechanism for driving the foam pressing plate to move closer to or away from the manipulator connecting seat.

[0010] Using the above technical solution, the foam pressing plate is also a component installed on the manipulator connecting seat, which is used to press the foam after it is attached to the automobile exterior trim. The design of the pressing plate ensures close contact between the foam and the exterior trim to improve the bonding effect and completion, and improve the quality of the foam. The pressing plate lifting mechanism usually adopts actuators such as sliding cylinders or electric push rods, which can accurately control the vertical movement of the pressing plate and realize independent compression control of the foam.

[0011] The above-mentioned automatic foam attaching equipment for automobile exterior parts can be further configured as follows: the pressure plate lifting mechanism includes a pressure plate slide cylinder, the pressure plate slide cylinder is installed on the clamp mounting plate, and the output end is connected to the foam pressure plate, the end of the foam pressure plate away from the manipulator connecting seat is bent outward to form a clamping plate, and the pressure plate is driven to rise and fall axially by the pressure plate slide cylinder.

[0012] Using the above technical solution, the pressure plate lifting mechanism is composed of a pressure plate slide cylinder, which is a linear actuator usually used to provide linear motion. In this design, the pressure plate slide cylinder is installed on the clamp mounting plate to ensure that the pressure plate lifting mechanism can be stably fixed and perform its function. The end of the foam pressure plate away from the manipulator connection seat is bent outward to form a clamping plate, so that the pressure plate can apply pressure to the foam at a certain angle and area during the lifting process, thereby achieving more effective clamping. The pressure plate slide cylinder is extended and retracted to drive the clamping plate to perform axial lifting and lowering, so that the clamping plate can move in the vertical direction to adapt to foams and exterior trims of different thicknesses, ensuring the adaptability and effectiveness of the clamping process. The automated clamping process can be carried out quickly and continuously, significantly improving the efficiency and cotton pasting quality of the production line.

[0013] The above-mentioned automatic foam attachment equipment for automobile exterior parts can be further configured as follows: a suction cup mounting frame for installing the foam suction cup and a clamp mounting plate for installing the foam clamp are respectively provided at the manipulator connecting seat, and a clamp lifting mechanism for controlling the lifting of the foam clamp is provided at the clamp mounting plate corresponding to each group of foam clamps, and the clamp lifting mechanism drives the foam clamp to rise and fall so that it is higher or lower than the axial height of the foam suction cup.

[0014] With the above technical solution, a special mounting frame and mounting plate are provided on the manipulator connection seat. The foam suction cup and foam clamps are preferably installed side by side, so that synchronous or asynchronous operation of multiple sets of suction cups and clamps can be realized, and the side-by-side structure enables adjacent components to work together, so that the equipment can adapt to foams and exterior parts of different sizes and shapes. This design allows multiple sets of suction cups and clamps to work simultaneously, and cooperate with the transfer of longer foam strips, thereby improving the efficiency and flexibility of operation. The suction cup mounting plate and the clamp mounting plate are designed with precise positioning holes and fixing devices to ensure the correct installation and stable operation of the suction cup and clamps. Each set of foam clamps is equipped with an independent lifting mechanism, which usually adopts actuators such as slide cylinders or electric push rods. These lifting mechanisms are The mechanism can accurately control the vertical movement of the clamping jaws to achieve independent picking and placement of foam, and can work independently without interfering with other parts, ensuring that the clamping jaws can reach the working position smoothly and accurately, and improving the accuracy and repeatability of the operation. The clamping jaw lifting mechanism drives the foam clamping jaw to rise and fall to make it higher or lower than the axial height of the foam suction cup, so that the foam suction cup can be fixedly installed on the suction cup mounting frame. Under normal circumstances, the foam suction cup is independently set away from the manipulator connection seat, which is convenient for it to absorb the foam separately. When the foam needs to be clamped or compressed, the clamping jaw and the pressing plate can be driven by the clamping jaw lifting mechanism and the pressing plate slide cylinder to exceed the suction cup to work, thereby improving the flexibility and adaptability of the production line and significantly improving the efficiency of foam attachment.

[0015] The above-mentioned automatic foam attachment device for automobile exterior parts can be further configured as follows: the clamp lifting mechanism is a clamp slide cylinder, the foam clamp includes a finger cylinder, the clamp slide cylinder is installed on the clamp mounting plate, and the output end of the clamp slide cylinder is connected to the finger cylinder, and the finger cylinder is driven to rise and fall axially through the clamp slide cylinder.

[0016] Using the above technical solution, the gripper lifting mechanism adopts a gripper slide cylinder, which is responsible for controlling the vertical movement of the foam gripper, so that the gripper can be accurately moved to the desired position to pick up or release the foam. The foam gripper is composed of a finger cylinder, which is used to accurately clamp and release small-sized foam. The design of the finger cylinder enables it to open and close flexibly. The telescopic movement of the gripper slide cylinder can directly drive the finger cylinder to perform axial lifting and lowering, thereby realizing the opening and closing of the gripper. The automated clamping process can be carried out quickly and continuously, significantly improving the efficiency of the production line.

[0017] The above-mentioned automatic foam attachment device for automobile exterior parts can be further configured as follows: the output ends of the finger cylinders are respectively installed with corresponding external clamping plates, one end of the external clamping plate is connected to the output end of the finger cylinder, and the other end is bent toward each other to form an L-shaped clamping enlargement part, and there is a clamping space for clamping foam between the clamping enlargement parts, the clamping spaces of adjacent finger cylinders are on the same horizontal plane, and the finger cylinders drive the clamping enlargement parts to move closer to or separate from each other.

[0018] By adopting the above technical scheme, a detachable external clamping plate is installed at the output end of the finger cylinder so that it can be synchronized with the movement of the finger cylinder to ensure precise clamping action. One end of the external clamping plate is connected to the output end of the finger cylinder, and the other end is bent toward each other to form an L-shaped clamping enlargement portion, which increases the clamping area and improves the stability and reliability of clamping. The clamping spaces of adjacent finger cylinders are on the same horizontal plane, which ensures that adjacent jaws can synchronously and cooperatively clamp foams of different specifications, while ensuring that the foam is evenly stressed during the clamping process to avoid deformation or damage of the foam due to uneven stress. External clamping plates of different lengths can also be easily replaced for different processing environments to clamp foams of different specifications.

[0019] The above-mentioned automatic foam attachment equipment for automobile exterior parts can be further configured as follows: the foam suction cup is a needle suction cup or a vacuum suction cup, and the manipulator connecting seat is provided with a solenoid valve group connected to an external air source, and the solenoid valve group respectively controls the actions of the clamping claw slide cylinder, the pressure plate slide cylinder, the finger cylinder and the foam suction cup.

[0020] By adopting the above technical solution, the needle suction cup can provide multiple tiny adsorption points, thereby providing a larger contact area and stronger adsorption force when adsorbing foam, thereby realizing stable clamping and transfer of breathable foam. The vacuum suction cup can adsorb and transfer foam through negative pressure vacuum. The air pipes of all slide cylinders are integrated on the manipulator connection seat, which means that the air supply lines of all cylinders, finger cylinders and vacuum suction cups are centrally managed, simplifying the complexity of air source connection and facilitating maintenance and troubleshooting. The solenoid valve group is used to control the compressed air supply of the slide cylinder, finger cylinder and vacuum suction cup. The solenoid valve can respond quickly to electrical signals to ensure that all components can receive compressed air to perform lifting and clamping actions. The design of air pipe integration and solenoid valve group simplifies the maintenance and operation of the system, allowing maintenance personnel to more easily perform fault diagnosis and system maintenance.

[0021] The above-mentioned automatic foam attaching equipment for automobile exterior parts can be further configured as follows: a plurality of positioning grooves for accommodating workpieces are provided on the surface of the workpiece foam attaching platform, and a workpiece positioning component for limiting the workpiece from leaving the positioning groove during the foam attaching process is provided at the corresponding positioning grooves of the workpiece foam attaching platform.

[0022] By adopting the above technical scheme, a number of positioning grooves are opened on the surface of the cotton pasting platform for accommodating external decoration parts, ensuring that the external decoration parts maintain a stable position and do not change during the cotton pasting process. The workpiece positioning assembly is used to firmly adsorb the external decoration parts in the positioning groove to prevent them from detaching during the cotton pasting process. The workpiece positioning assembly can be a suction cup fixed or a pressure plate locked structure.

[0023] The above-mentioned automatic foam attaching equipment for automobile exterior trim can be further configured as follows: the workpiece positioning assembly includes a buckle plate and a locking plate respectively arranged on both sides of each positioning groove corresponding to the tool cotton attaching platform, and the tool cotton attaching platform is provided with a workpiece locking cylinder corresponding to the locking plate to drive the locking plate close to or away from the buckle plate.

[0024] Using the above technical solution, the workpiece positioning assembly consists of a buckle plate, a locking plate and a workpiece locking cylinder. These components work together to ensure the stability and accuracy of the workpiece during the cotton pasting process. The buckle plate is arranged on one side of each positioning slot of the tool cotton pasting platform to support the workpiece from the side and cooperate with the locking plate to limit its movement in the positioning slot, thereby realizing the locking and unlocking of the workpiece and preventing it from deviating from the set position during the cotton pasting process.

[0025] The above-mentioned automatic foam attachment equipment for automobile exterior trim can be further configured as follows: the foam feeding device includes a feeding roller, a traction roller assembly, a discharging table assembly, a waste collection roller and a power assembly; the foam roll is installed on the feeding roller, and the foam passes through the traction roller assembly and the discharging table assembly in sequence and is finally wound around the waste collection roller; the discharging table assembly includes a discharging rack and a discharging platform located at the upper end of the discharging rack; a clamping roller assembly for clamping the back paper after peeling off the foam is horizontally arranged in the discharging rack; a pressing assembly for positioning the foam and preventing material deviation when peeling off the foam is arranged on the discharging platform; and the power assembly drives the clamping roller assembly and the waste collection roller to rotate.

[0026] By adopting the above technical scheme, the foam feeding device drives the clamping roller assembly and the waste collection roller to rotate through the power component, thereby realizing automatic transportation of foam and automatic recovery of waste, and improving the efficiency of foam feeding; by arranging a pressing assembly on the discharge table, the foam to be peeled is positioned, and the foam deviation is effectively avoided, and the extraction of the foam is avoided, and the base paper is pulled, thereby improving the working accuracy and stability of the equipment; the clamping roller assembly arranged in the discharge frame can assist the pressing assembly to flatten the material, and assist the waste collection roller to recover the waste.

[0027] The utility model is further described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a three-dimensional schematic diagram of embodiment 1 of the utility model.

[0029] Figure 2This is a three-dimensional schematic diagram of Example 1 of the utility model without the frame.

[0030] Figure 3 This is a connection diagram of the foam tooling fixture of Example 1 of the utility model.

[0031] Figure 4 The explosion of the foam fixture of the utility model embodiment 1 Figure 1 .

[0032] Figure 5 The explosion of the foam fixture of the utility model embodiment 1 Figure 2 .

[0033] Figure 6 It is a three-dimensional schematic diagram of the B column and the workpiece cotton sticking platform of Example 1 of the utility model.

[0034] Figure 7 This is a schematic structural diagram of the foam feeding device of Example 1 of the utility model.

[0035] Figure 8 It is a three-dimensional schematic diagram of the C column and the workpiece cotton pasting platform of Example 2 of the utility model.

[0036] Fig. 9 It is a three-dimensional schematic diagram of the foam tooling fixture of Example 2 of the utility model.

[0037] Fig.10 This is a schematic structural diagram of the foam feeding device of Example 2 of the utility model.

[0038] Fig.11 It is a three-dimensional schematic diagram of the C column and the workpiece cotton sticking platform of Example 3 of the utility model.

[0039] Fig.12 It is a three-dimensional schematic diagram of the foam tooling fixture of Example 3 of the utility model. DETAILED DESCRIPTION Example

[0040] like Figure 1-Figure 7As shown, an automatic foam attachment device for automobile exterior trims includes a frame 1 and a control system. The frame 1 has a workpiece loading area Ⅰ and a foam feeding area Ⅱ. The workpiece loading area Ⅰ is provided with a workpiece foam attachment platform 2 for loading a B-pillar 21 to be attached. The foam feeding area Ⅱ is provided with two foam feeding devices 3 for periodically conveying foam 31. The frame 1 is provided with a multi-axis manipulator 4. The multi-axis manipulator 4 is connected with a foam fixture 5 for extracting the foam 31 from the foam feeding device 3 and delivering it to the attachment area on the workpiece foam attachment platform 2. The fixture 5 includes a manipulator connecting seat 51 for connecting with the multi-axis manipulator 4, and a manipulator connecting seat 51 arranged on the manipulator connecting seat 51. The suction cup mounting frame 52 and the clamping claw mounting plate 53 on the seat 51, the suction cup mounting frame 52 is provided with a plurality of vacuum suction cups 521 arranged side by side for adsorbing foam, the clamping claw mounting plate 53 is provided with a plurality of clamping claw slide cylinders 531 arranged side by side, a finger cylinder 54 arranged at the output end of the clamping claw slide cylinder 531, a pressure plate slide cylinder 55 arranged on the back of the clamping claw mounting plate 53 and a foam pressure plate 551 arranged at the output end of the pressure plate lifting cylinder 55, the end of the foam pressure plate 551 away from the manipulator connecting seat 51 is bent outward to form a clamping plate 552, and the clamping plate 552 is driven to rise and fall axially by the pressure plate slide cylinder 55, and the finger cylinder 5 The output ends of the finger cylinders 54 are respectively provided with corresponding external clamping plates 541, one end of the external clamping plates 541 is connected to the output end of the finger cylinder 54, and the other end is bent toward each other to form an L-shaped clamping enlargement part 542, and there is a clamping space 543 for clamping the foam between the clamping enlargement parts 542, and the clamping spaces 543 of adjacent finger cylinders 54 are on the same horizontal plane, and the finger cylinders 54 drive the clamping enlargement parts 542 to move closer to or separate from each other, wherein the manipulator connecting seat 51 is also provided with an industrial camera 6 for capturing images of the B-pillar 21 and the foam 31, and two industrial cameras 6 arranged on both sides of the industrial camera 6 for facilitating the collection of images of the industrial camera 6 Light source 61, two light sources 61 are respectively installed on the light source frame 611 connected to the manipulator connecting seat 51, and the manipulator connecting seat 51 is provided with a plurality of solenoid valve groups 511 connected to the external air source. The solenoid valve groups 511 respectively control the air supply actions of the gripper slide cylinder 531, the pressure plate slide cylinder 55, the finger cylinder 54 and the vacuum suction cup 521 to achieve precise opening and closing control. The control system is the control brain of the entire automatic attachment equipment, which is respectively communicated with the solenoid valve group 511, the industrial camera 6, the light source 61, the multi-axis manipulator 4, the foam feeding device 3 and the workpiece positioning component, and controls the coordinated work between all components.

[0041] like Figure 6As shown, the surface of the workpiece cotton sticking platform 2 is provided with two positioning grooves 22 for accommodating two mirror-symmetrical B-pillars 21 respectively, and a workpiece positioning assembly for limiting the B-pillar 21 from leaving the positioning groove 22 during the cotton sticking process is provided at the positioning groove 22 of the workpiece cotton sticking platform 2, and the workpiece positioning assembly includes a buckle plate 23 and a locking plate 24 respectively arranged on both sides of each positioning groove 22 of the tool cotton sticking platform 2, and a workpiece locking cylinder 241 for driving the locking plate 24 to approach or move away from the buckle plate 23 is provided at the locking plate 24 of the tool cotton sticking platform 2.

[0042] like Figure 7 As shown, the foam feeding device 3 includes a feeding roller 32, a traction roller assembly 33, a discharging platform assembly 34, a waste collection roller 35 and a power assembly 36. The foam roll is mounted on the feeding roller 32. The foam 31 passes through the traction roller assembly 33 and the discharging platform assembly 34 in sequence and is finally wound around the waste collection roller 35. The discharging platform assembly 34 includes a discharging frame 341 and a discharging platform 342 located at the upper end of the discharging frame 341. A clamping roller assembly 343 for clamping the backing paper after the foam is peeled off is horizontally arranged in the discharging frame 341. A pressing assembly for positioning the foam and preventing the material from shifting when the foam is peeled off is arranged on the discharging platform 341. The power assembly 36 drives the clamping roller assembly 343 and the waste collection roller 35 to rotate. The waste collection roller 35 and the power assembly 36 are located below the discharge roller 32 and close to the clamping roller assembly 34. The clamping roller assembly 34 is located on the side of the discharge rack 342 close to the discharge roller 32. The output end of the discharge platform 342 is provided with a guide fold 3421, and the guide fold 3421 is an inclined surface inclined downward. By arranging the guide fold 3421 at the output end of the discharge platform 342, the stripped bottom paper can be guided so that it is more closely attached to the discharge platform 342 when folded back, which is convenient for collecting waste. The assembly includes a lifting cylinder 37 and a pressing piece 371 arranged on both sides of the discharge frame 341. The two ends of the pressing piece 371 are connected to the output end of the lifting cylinder 37. The end face of the pressing piece 371 is arranged parallel to the discharge platform 342. A rectangular frame 372 is opened on it. The lower end face of the pressing piece 371 is provided with two downwardly bent edges 373. The folding edges 373 are arranged on the two sides of the length direction of the pressing piece 371. The two folding edges 373 are arranged on the two sides of the length direction of the pressing piece 371. Since the contact area of ​​the folding edges 373 is small, it will not press on the foam when pressing the material, avoiding the foam The cotton is deformed by pressure, and the pressing piece 371 is connected to the output end of the lifting cylinder 37 at both ends, so that the pressing piece 371 can intermittently press the bottom paper under the foam. When pressing the material, the lifting cylinder 37 drives the pressing piece 371 to descend until the pressing piece 371 and the bottom paper are against each other. The rectangular frame 372 opened on the pressing piece 371 just frames the foam to be peeled off to avoid affecting other foams to be peeled off. After the foam is peeled off, the lifting cylinder 37 lifts the pressing piece again, and the bottom paper moves forward to be collected under the drive of the power component 36, and the new foam to be peeled off is placed in the rectangular frame 372.

[0043] like Figure 1-Figure 5 As shown, the foam automatic attaching device of the utility model has the following steps when automatically attaching foam to the B-pillar 21 of the automobile:

[0044] Step 1: Preparation

[0045] Ensure that the main components such as the frame 1, control system, workpiece cotton pasting platform 2, foam feeding device 3, multi-axis manipulator 4, foam fixture 5, etc. have been correctly installed and connected;

[0046] Check whether the vacuum suction cup 521, the finger cylinder 54, the foam pressing plate 551, the industrial camera 6, the light source 61 and the solenoid valve group 511 are installed in place;

[0047] Place the B-pillar 21 in the positioning groove 22 of the workpiece cotton sticking platform 2, and drive the locking plate 24 to press against the B-pillar 21 through the workpiece locking cylinder 241 and cooperate with the buckle plate 23 to ensure that the B-pillar 21 is fixed in place;

[0048] Check whether the control system has been correctly programmed to control the normal delivery of the foam feeding device 3 of two specifications;

[0049] Step 2: Lighting Preparation

[0050] Turn on the light source 61 to provide necessary lighting for the industrial camera 6 to ensure that the captured image is clear;

[0051] Step 3: Vision System Calibration

[0052] An industrial camera 6 is used to capture an image of the B-pillar 21 and analyzed by a visual system to determine the precise location where the foam 31 is attached;

[0053] Step 4: Foam periodic delivery

[0054] The foam material roll is sleeved on the unwinding roller 32, and the bottom of the foam 31 has a self-adhesive layer. The bottom paper with the foam 31 adhered to it passes through the traction roller assembly 33, the discharging platform 342, folds downward, enters the clamping roller assembly 34, and finally winds around the waste collection roller 35. The power assembly 36 drives the waste collection roller 35 and the clamping roller assembly 34 to rotate at the same time, thereby driving the foam material roll to be transported; when the foam material roll is transported to the discharging platform 342, it is flattened on the discharging platform 342 with the assistance of the clamping roller assembly 34. When the foam is peeled off, the lifting cylinder 37 drives the pressing piece 371 to press down until the folded edge 373 is against the discharging platform 342, and the foam 31 to be peeled off is located in the rectangular frame 372 for the multi-axis manipulator 4 to extract;

[0055] Step 5: Foam Pick-up and Attachment

[0056] According to the foam specifications identified by the visual system, the foam fixture 5 is automatically controlled to pick up and attach the foam:

[0057] For the shorter and narrower B-pillar short foam 311 , a single finger cylinder 54 is used for clamping.

[0058] For the B-pillar long foam 312 which is long and wide and has a folded angle on the fitting surface, multiple groups of vacuum suction cups 521 are used for adsorption transfer.

[0059] Step 6: Press the foam tightly

[0060] The foam pressure plate 551 is used to press the surface of the foam 311 / 312 , especially the folded high and low edges, to ensure close contact between the foam and the B-pillar 21 and improve stability.

[0061] Step 7: Check and Release

[0062] The industrial camera 6 captures the compressed image again to check whether the foam is correctly attached.

[0063] After confirmation, the control system releases the fixture 5 to reset, completing the attachment process.

[0064] Step 8: Automating the loop

[0065] The control system repeats the above steps, and the worker replaces the B-pillar 21 after the foam is applied, and places a new B-pillar 21 at the same time, so as to facilitate the foam application of the next B-pillar 21, thereby realizing automated continuous operation. Example

[0066] like Figure 8-Figure 10 As shown, in this embodiment 2, the foam automatic attaching device of the utility model is used to automatically attach foam to the C-pillar 25 of the automobile, wherein the C-pillar 25 includes three long and narrow C-pillar narrow foams 313 and one wide and long C-pillar long foam 314, wherein the foam feeding device 3 of the C-pillar narrow foam 313 is consistent with the foam feeding device 3 of the embodiment 1, and the other C-pillar long foam 314 adopts a new pressing component structure, wherein the pressing component includes two support plates 3411 fixedly arranged at the output end of the discharge rack 341, and a clamping plate 3412 arranged between the two support plates 3411, and the clamping plate 3412 and the discharge rack 341 are connected. The material platform 342 is arranged on the same horizontal plane, the support plate 3412 is L-shaped, and a clamping gap 3413 for clamping the material after the foam is peeled off is reserved between the clamping plate 3412 and the side of the discharge platform 342. By arranging the clamping plate 3412 on the same horizontal plane as the discharge platform 342, the foam passes downward through the clamping gap 3413 at the output end of the discharge platform 342 and is clamped by the clamping roller assembly 343. Such a structural arrangement ensures that the foam base paper is always in a flat state and will not shift as the foam is peeled off, and the base paper used to support the foam will not be lifted up due to the peeling of the foam, thereby facilitating the peeling of the foam.

[0067] The C-pillar 25 of the automobile in the second embodiment is automatically cotton-tightened, and has the following steps:

[0068] Step 1: Preparation

[0069] Ensure that the main components such as the frame 1, control system, workpiece cotton pasting platform 2, foam feeding device 3, multi-axis manipulator 4, foam fixture 5, etc. have been correctly installed and connected;

[0070] Check whether the vacuum suction cup 521, the finger cylinder 54, the foam pressing plate 551, the industrial camera 6, the light source 61 and the solenoid valve group 511 are installed in place;

[0071] Place the C-pillar 25 in the positioning groove 22 of the workpiece cotton sticking platform 2, and drive the locking plate 24 to press against the C-pillar 25 through the workpiece locking cylinder 241 and cooperate with the buckle plate 23 to ensure that the C-pillar 25 is fixed in place;

[0072] Check whether the control system has been correctly programmed to control the normal delivery of the foam feeding device 3 of two specifications;

[0073] Step 2: Lighting Preparation

[0074] Turn on the light source 61 to provide necessary lighting for the industrial camera 6 to ensure that the captured image is clear;

[0075] Step 3: Vision System Calibration

[0076] An industrial camera 6 is used to capture an image of the C-pillar 25 and analyzed by a visual system to determine the precise location where the foam 31 is attached;

[0077] Step 4: Foam periodic delivery

[0078] The foam material roll is sleeved on the unwinding roller 32, and the bottom of the foam 31 has a self-adhesive layer. The bottom paper with the foam 31 adhered to it passes through the traction roller assembly 33, the discharging platform 342, folds downward, enters the clamping roller assembly 34, and finally winds around the waste collection roller 35. The power assembly 36 drives the waste collection roller 35 and the clamping roller assembly 34 to rotate at the same time, thereby driving the foam material roll to be transported; when the foam material roll is transported to the discharging platform 342, the bottom paper directly passes through the clamping gap 3413 and is clamped by the clamping roller assembly 343, so that the long foam 314 of the C-pillar stays on the discharging platform 342 to be clamped;

[0079] Step 5: Foam Pick-up and Attachment

[0080] According to the foam specifications identified by the visual system, the foam fixture 5 is automatically controlled to pick up and attach the foam:

[0081] For the three long and narrow C-pillar narrow foams 313 , a single finger cylinder 54 is used to replace the longer outer clamping plate 541 to clamp them one by one.

[0082] For the C-pillar long foam 314 which is long and wide and has a folded angle on the fitting surface, multiple groups of vacuum suction cups 521 are used for suction transfer.

[0083] Step 6: Press the foam tightly

[0084] The foam pressure plate 551 is used to press the surface of the foam 313 / 314, especially the folded high and low edges, to ensure close contact between the foam and the C-pillar 25 and improve stability.

[0085] Step 7: Check and Release

[0086] The industrial camera 6 captures the compressed image again to check whether the foam is correctly attached.

[0087] After confirmation, the control system releases the fixture 5 to reset, completing the attachment process.

[0088] Step 8: Automating the loop

[0089] The control system repeats the above steps, and the worker replaces the C-pillar 25 after the foam is applied, and places a new C-pillar 25 at the same time, so as to facilitate the foam application of the next C-pillar 25, thereby realizing automated continuous operation. Example

[0090] like Figure 11-Figure 12 As shown, in the third embodiment, the foam automatic attaching device of the utility model is used for automatically attaching foam to the C-pillar 25 of another type of automobile, wherein the C-pillar 25 comprises a short and narrow C-pillar short narrow foam 315, a slightly longer and narrow C-pillar long narrow foam 316, and a long and wide C-pillar wide long foam 317 with a folded angle on the subsequent attaching surface. The foam feeding device 3 in the third embodiment adopts the foam feeding devices 3 of the first two types, but the workpiece positioning assembly is different, wherein the workpiece positioning assembly comprises a plurality of workpiece suction cups 221 arranged in the positioning groove 22, and the workpiece suction cups 221 are respectively connected to the workpiece suction cups 221. The vacuum generator 222 and the digital pressure switch 223 connected to the vacuum generator 222, the vacuum generator 222 generates negative pressure on the workpiece suction cup 221 to adsorb the C-pillar 25 to be pasted with cotton in the positioning groove 22, and at the same time, the vacuum pressure value of the vacuum generator 222 is displayed on the digital pressure switch 223, and the digital pressure switch 223 monitors the pressure in the vacuum system of the workpiece positioning component in real time to ensure that the pressure is within the set range, so as to avoid the C-pillar 25 from being separated from the positioning groove 22 during the processing process, resulting in cotton pasting errors. In this way, the C-pillar 25 of the automobile in the third embodiment is automatically pasted with cotton, and the following steps are involved:

[0091] Step 1: Preparation

[0092] Ensure that the main components such as the frame 1, control system, workpiece cotton pasting platform 2, foam feeding device 3, multi-axis manipulator 4, foam fixture 5, etc. have been correctly installed and connected;

[0093] Check whether the vacuum suction cup 521, the finger cylinder 54, the foam pressing plate 551, the industrial camera 6, the light source 61 and the solenoid valve group 511 are installed in place;

[0094] Place the C-pillar 25 in the positioning groove 22 of the workpiece cotton sticking platform 2, and drive the locking plate 24 to press against the C-pillar 25 through the workpiece locking cylinder 241 and cooperate with the buckle plate 23 to ensure that the C-pillar 25 is fixed in place;

[0095] Check whether the control system has been correctly programmed to control the normal delivery of the foam feeding device 3 of two specifications;

[0096] Step 2: Lighting Preparation

[0097] Turn on the light source 61 to provide necessary lighting for the industrial camera 6 to ensure that the captured image is clear;

[0098] Step 3: Vision System Calibration

[0099] An industrial camera 6 is used to capture an image of the C-pillar 25 and analyzed by a visual system to determine the precise location where the foam 31 is attached;

[0100] Step 4: Foam periodic delivery

[0101] The foam material roll is sleeved on the unwinding roller 32, and the bottom of the foam 31 has a self-adhesive layer. The bottom paper with the foam 31 adhered to it passes through the traction roller assembly 33, the discharging platform 342, folds downward, enters the clamping roller assembly 34, and finally winds around the waste collection roller 35. The power assembly 36 drives the waste collection roller 35 and the clamping roller assembly 34 to rotate at the same time, thereby driving the foam material roll to be transported; when the foam material roll is transported to the discharging platform 342, the bottom paper directly passes through the clamping gap 3413 and is clamped by the clamping roller assembly 343, so that the wide and long foam 317 of the C-pillar stays on the discharging platform 342 to be clamped;

[0102] Step 5: Foam Pick-up and Attachment

[0103] According to the specifications of foam 315 / 316 / 317 identified by the visual system, the foam 315 / 316 / 317 of different specifications is automatically picked up and attached according to programming;

[0104] The shorter and narrower C-pillar foam 315 is identified and clamped using a single finger cylinder 5 .

[0105] For the slightly longer and narrower C-pillar long and narrow foam 316, two adjacent finger cylinders 5 are required for clamping and transferring.

[0106] For the longest and widest C-pillar foam 317 with a folded angle on the subsequent attachment surface, multiple sets of needle suction cups 521 are used for adsorption transfer. The corresponding needle suction cups 521 also have a suction cup slide cylinder 523 for lifting control.

[0107] Step 6: Press the foam tightly

[0108] The foam pressure plate 551 is used to press the surface of the foam 315 / 316 / 317, especially the folded high and low edges, to ensure close contact between the foam and the C-pillar 25 and improve stability.

[0109] Step 7: Check and Release

[0110] The industrial camera 6 captures the compressed image again to check whether the foam is correctly attached.

[0111] After confirmation, the control system releases the fixture 5 to reset, completing the attachment process.

[0112] Step 8: Automating the loop

[0113] The control system repeats the above steps, and the worker replaces the C-pillar 25 after the foam is applied, and places a new C-pillar 25 at the same time, so as to facilitate the foam application of the next C-pillar 25, thereby realizing automated continuous operation.

Claims

1. An automatic foam attaching device for automobile exterior parts, characterized in that: The invention comprises a frame and a control system, wherein the frame is provided with a workpiece loading area and a foam feeding area, wherein the workpiece loading area is provided with a plurality of workpiece cotton pasting platforms for loading the workpieces to be pasted, the foam feeding area is provided with a plurality of foam feeding devices for periodically conveying foam, the frame is provided with a multi-axis manipulator, the multi-axis manipulator is connected with a foam fixture for extracting foam from the foam feeding device and delivering it to the pasting area on the workpiece cotton pasting platform, the fixture comprises a manipulator connecting seat for connecting with the multi-axis manipulator, a plurality of foam suction cups arranged on the manipulator connecting seat for adsorbing foam, a plurality of foam clamps arranged on the manipulator connecting seat for clamping foam, an industrial camera arranged on the manipulator connecting seat for capturing images of the workpiece and foam, and a plurality of light sources arranged on one side of the industrial camera for facilitating the acquisition of images of the industrial camera, the foam suction cup, foam clamp, industrial camera, multi-axis manipulator and foam feeding device are all communicatively connected with and controlled by the control system.

2. The automatic foam attaching device for automobile exterior parts according to claim 1 is characterized in that: The manipulator connecting seat is provided with a foam pressing plate for pressing the foam after attaching it to the workpiece, and the manipulator connecting seat is provided with a pressing plate lifting mechanism for driving the foam pressing plate to approach or move away from the manipulator connecting seat.

3. The automatic foam attaching device for automobile exterior parts according to claim 2 is characterized in that: The pressure plate lifting mechanism includes a pressure plate slide cylinder, which is installed on the clamp mounting plate, and the output end is connected to the foam pressure plate. The end of the foam pressure plate away from the manipulator connecting seat is bent outward to form a clamping plate, and the pressure plate is driven to rise and fall axially by the pressure plate slide cylinder.

4. The automatic foam attaching device for automobile exterior parts according to claim 3 is characterized in that: The manipulator connecting seat is respectively provided with a suction cup mounting frame for installing the foam suction cup and a clamp mounting plate for installing the foam clamp. The clamp mounting plate is provided with a clamp lifting mechanism for controlling the lifting of the foam clamp corresponding to each group of foam clamps. The clamp lifting mechanism drives the foam clamp to rise and fall so that it is higher or lower than the axial height of the foam suction cup.

5. The automatic foam attaching device for automobile exterior parts according to claim 4, characterized in that: The clamping jaw lifting mechanism is a clamping jaw slide cylinder, and the foam clamping jaw includes a finger cylinder. The clamping jaw slide cylinder is installed on the clamping jaw mounting plate, and the output end of the clamping jaw slide cylinder is connected to the finger cylinder, and the finger cylinder is driven to move axially through the clamping jaw slide cylinder.

6. The automatic foam attaching device for automobile exterior parts according to claim 5, characterized in that: The output ends of the finger cylinders are respectively installed with corresponding external clamping plates, one end of the external clamping plate is connected to the output end of the finger cylinder, and the other end is bent toward each other to form an L-shaped clamping enlargement part, and there is a clamping space for clamping foam between the clamping enlargement parts. The clamping spaces of adjacent finger cylinders are on the same horizontal plane, and the finger cylinders drive the clamping enlargement parts to move closer to or separate from each other.

7. The automatic foam attaching device for automobile exterior parts according to claim 6, characterized in that: The foam suction cup is a needle suction cup or a vacuum suction cup. The manipulator connecting seat is provided with a solenoid valve group connected to an external air source. The solenoid valve group controls the actions of the gripper slide cylinder, the pressure plate slide cylinder, the finger cylinder and the foam suction cup respectively.

8. The automatic foam attaching device for automobile exterior parts according to any one of claims 1 to 7, characterized in that: The surface of the workpiece cotton sticking platform is provided with a plurality of positioning grooves for accommodating the workpieces, and the workpiece cotton sticking platform is provided with workpiece positioning components corresponding to the positioning grooves to limit the workpieces from leaving the positioning grooves during the cotton sticking process.

9. The automatic foam attaching device for automobile exterior parts according to claim 8, characterized in that: The workpiece positioning assembly includes a buckle plate and a locking plate respectively arranged on both sides of each positioning groove of the tool cotton sticking platform. The tool cotton sticking platform is provided with a workpiece locking cylinder corresponding to the locking plate to drive the locking plate to approach or move away from the buckle plate.

10. The automatic foam attaching device for automobile exterior parts according to any one of claims 1 to 7, characterized in that: The foam feeding device includes a feeding roller, a traction roller assembly, a discharging platform assembly, a waste collection roller and a power assembly. The foam roll is installed on the feeding roller, and the foam passes through the traction roller assembly and the discharging platform assembly in sequence and is finally wound onto the waste collection roller. The discharging platform assembly includes a discharging rack and a discharging platform located at the upper end of the discharging rack. A clamping roller assembly for clamping the back paper after the foam is peeled off is horizontally arranged in the discharging rack. A pressing assembly for positioning the foam and preventing the material from shifting when the foam is peeled off is arranged on the discharging platform. The power assembly drives the clamping roller assembly and the waste collection roller to rotate.

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