ROBOT SYSTEM FOR APPLYING A VEHICLE SKIN

Abstract

A skin application system comprising: a robot body (100), a skin adsorption unit (200) connected to a first end of the robot body (100), and an application unit (400) connected to a second end of the robot body (100), wherein the skin adsorption unit (200) comprises: at least one guide module (210), the guide module (210) being connected to the robot body (100), and a vacuum module (220) being connected to each of the one or more guide modules (210). The skin application system further comprises a control device (500) configured to vary an angle of the vacuum module (220) depending on a curvature value of a panel of the vehicle.

Description

BACKGROUND(a) Technical field

[0001] The present invention / disclosure relates to a robotic system for skin application during the assembly of a vehicle, in particular a robotic system configured to enable the integration of a skin adsorption unit and an application unit with a robot body and the suitable application of a skin (e.g. a vehicle skin) to panel surfaces of various shapes. (b) Description of the state of the art

[0002] A skin application system is mounted on an industrial robot and is used in the process of applying skins (e.g., vehicle skins, vehicle skin panels) of various sizes and shapes to panel surfaces during vehicle assembly. The development of such a system provides a technique capable of stably applying skins (e.g., vehicle skins, vehicle skin panels) to surfaces of different shapes by precisely adjusting the application angle or position of the skins (e.g., vehicle skins, vehicle skin panels).

[0003] With existing skin application technology, it can be difficult to apply skins (e.g., vehicle skins, vehicle skin panels) of different shapes and sizes to a single panel, as different equipment and procedures are used for the respective work stages. Furthermore, the existing technology employs a separate air blowing process for skin application, which serves to assist in the application depending on the position and shape of the panel.

[0004] The existing skin application system requires sufficient installation space because the sealant application unit and the skin adsorption unit are independently designed. Furthermore, system components must be modified when applying skins of a new size and shape. Additionally, the use of the air blowing method reduces energy efficiency, generates noise, and increases mechanical wear on the equipment. Given these disadvantages of the existing skin application system, the technology must be improved to enhance its flexibility and efficiency for surfaces with complex shapes.

[0005] To solve these problems, a system was recently developed in which a skin adsorption unit and a sealant application unit are integrated with a robot body to quickly apply skin of different sizes and shapes to a target object.

[0006] The information disclosed above in this section concerning the background of the invention is provided solely for a better understanding of the background of the invention / disclosure and may therefore contain information that is not part of the prior art for a person skilled in the art in this country. BRIEF INVENTION EXPLANATION

[0007] The present invention / disclosure relates to a robotic system configured to integrate a skin adsorption unit and a sealant application unit in such a way that skins (e.g., vehicle skins, e.g., vehicle skin panels) of various sizes and shapes can be stably applied to a panel. Additionally, the present invention / disclosure provides a skin application device configured to adjust the angle of the skin adsorption unit so that a skin can be efficiently applied to a panel with a curved shape. Accordingly, it is possible not only to achieve space savings and improved work efficiency without performing additional processes separately, but also to reduce energy consumption and noise compared to a conventional air blowing process.

[0008] The objectives of the present invention / disclosure are not limited to those mentioned above, and other technical objectives not mentioned herein will become clear from the following description and will be evident from embodiments of the present invention / disclosure. Furthermore, the objectives of the present invention / disclosure can be achieved by means specified within the scope of the claims and their combinations.

[0009] According to one aspect, the present invention / disclosure provides a skin application system for applying a skin (e.g., a vehicle skin) to a vehicle, comprising: a robot body, a skin adsorption unit connected to a first end of the robot body, and an application unit connected to a second end of the robot body, wherein the skin adsorption unit comprises: at least one guide module, wherein the guide module is connected to the robot body, and a vacuum module connected to the guide module, wherein the skin application system further comprises a control device configured to vary an angle of the vacuum module depending on a curvature value of a panel of the vehicle.

[0010] In another aspect, the present invention / disclosure provides a skin application system comprising: a robot body, a skin adsorption unit connected to one end of the robot body, and an application unit connected to the other end of the robot body, wherein the skin adsorption unit comprises: a plurality of cylinder modules, each of the cylinder modules having one end connected to the robot body, and a vacuum module connected to the other end of each of the cylinder modules, wherein the skin application system further comprises a control device configured to vary an angle of the vacuum module depending on a curvature value of the panel.

[0011] In a preferred embodiment, the vacuum module can comprise: a vacuum distributor connected to the guide module, a plurality of vacuum tubes, each of which has one end connected to the vacuum distributor, a mounting plate connected to the other end of each of the vacuum tubes, a plurality of spring plungers arranged on the mounting plate, each of which extends from a corresponding one of the vacuum tubes, a plurality of vacuum pads, each of which is connected to a corresponding one of the spring plungers, and a plurality of ball joints arranged between each of the spring plungers and the vacuum pads.

[0012] In a further preferred embodiment, the vacuum module can also include a skin detection sensor mounted on an upper surface of the vacuum distributor.

[0013] In a further preferred embodiment, the skin application system can also include a vacuum generator mounted on the robot body, wherein the vacuum generator can be connected to the vacuum distributor.

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

[0015] In a further preferred embodiment, the skin application system may further comprise a skin storage unit configured to provide skin to the skin adsorption unit, wherein the skin storage unit may comprise a guide element configured to allow loading of the skin therein, a storage element located at a lower end of the guide element, a skin plate located between the guide element and the storage element, a first position sensor located at a lower end of the skin plate, wherein the first position sensor is arranged to face the skin, and a second position sensor mounted on at least one of opposite upper side faces of the guide element.

[0016] In a further preferred embodiment, the skin storage unit can further comprise a ball screw connected to the skin plate and a motor (e.g. electric motor) connected to the ball screw and configured to drive the ball screw, wherein the ball screw can move the skin plate upwards or downwards.

[0017] In another preferred embodiment, the control device can be configured to control the ball screw so that the skin is positioned at a specified position when a position signal of the skin is received from the second position sensor and it is determined that the skin is not at a predetermined position of the skin storage unit.

[0018] In yet another preferred embodiment, the skin storage unit can further comprise a motion cylinder arranged facing the guide part, wherein the motion cylinder is configured to move the guide part along an upper surface of the storage unit.

[0019] In yet another preferred embodiment, the control device can be configured to control the motion cylinder so that the guide part is positioned at a fixed position when receiving information about the presence or absence of the skin loaded into the guide part from the first position sensor and determining that the skin is not loaded into the guide part.

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

[0021] In a further preferred embodiment, the skin application system may also include an image detector configured to verify the attachment status of the skin attached to the vacuum pads.

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

[0023] In another aspect, the present invention / disclosure provides a vehicle skin application device comprising a robot and the skin application system for applying a skin to the vehicle.

[0024] In a further aspect, the present invention / disclosure provides a skin application control method comprising: determining, by a control device, whether a skin storage unit is in a normal state; determining, by the control device, whether a skin adsorption unit is in a normal state when the skin storage unit is in the normal state; applying a sealing agent to a holding device (e.g., a clamping device) by the control device when the skin adsorption unit is in the normal state; applying a skin corresponding to a position of the applied sealing agent by the control device; and monitoring, by the control device, whether the skin is applied at a correct position of the sealing agent.

[0025] In a preferred embodiment, the determination by the control device as to whether the skin storage unit is in its normal state can comprise: receiving information about the presence or absence of skin in the skin storage unit by the control device from a first position sensor and determining by the control device whether the skin is loaded into the skin storage unit, and receiving information about whether the skin is present at a predetermined position of the skin storage unit by the control device from a second position sensor when the skin is loaded into the skin storage unit, and determining by the control device whether the skin is present at a predetermined position of the skin storage unit.

[0026] In a further preferred embodiment, the determination by the control device whether the skin adsorption unit is in its normal state when the skin storage unit is in its normal state can comprise: adsorbing the skin onto the skin adsorption unit and receiving, by the control device, a skin position from a skin detection sensor when the skin is adsorbed onto the skin adsorption unit; determining, by the control device, whether the skin is adsorbed at a predetermined position of the skin adsorption unit; receiving a vacuum level from a vacuum level sensor of a vacuum distributor and determining, by the control device, whether the vacuum level is greater than or equal to a specified vacuum level.

[0027] In a further preferred embodiment, the determination by the control device as to whether the skin is in the predetermined position of the storage unit can comprise: moving, by the control device, a plate upwards if the skin is outside the predetermined position of the storage unit; determining, by the control device, whether the height of the plate is greater than or equal to a specified reference value after the plate has been moved upwards; and issuing a skin refill message when the height of the plate is greater than or equal to the specified reference value.

[0028] In a further preferred embodiment, the application of the sealing agent to the holding device by the control unit, when the skin adsorption unit is in its normal state, can involve the control unit moving an application unit to the holding device and applying the sealing agent according to a position specified in the control unit.

[0029] In a further preferred embodiment, the application of the skin by the control device according to the position of the applied sealant can comprise: receiving, by the control device, the position of the applied sealant from a camera sensor and moving, by the control device, the skin adsorption unit according to the position of the applied sealant; receiving, by the control device, the position of the applied sealant from the camera sensor and determining, by the control device, whether the skin adsorption unit is located over the applied sealant; releasing, by the control device, the vacuum of the skin adsorption unit when the skin adsorption unit is located over the sealant; and applying, by the control device, the skin to the applied sealant; and applying, by the control device,the skin on the applied sealant and movement, by the control device, of the skin adsorption unit to its original position.

[0030] In a further preferred embodiment, the control unit can receive the position of the applied sealing agent from the camera sensor and determine whether the skin adsorption unit is located above the applied sealing agent, and the control unit can move the skin adsorption unit above the applied sealing agent if the skin adsorption unit is not located above the applied sealing agent.

[0031] In a further preferred embodiment, the control unit can receive information about the presence or absence of skin in the skin storage unit from the first position sensor and determine whether the skin is loaded into the skin storage unit by: outputting a skin refill message by the control unit if the skin is not loaded into the skin storage unit; controlling / driving a motion cylinder to move a guide element along an upper surface of a storage unit when the skin refill message is output; loading the skin into the guide element when the guide element is moved by the motion cylinder; and moving the guide element to an origin position of the guide element when the skin is loaded into the guide element.

[0032] Further aspects and preferred embodiments of the invention / disclosure are discussed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and further features of the present invention / disclosure are now described in detail with reference to certain exemplary embodiments thereof, which are shown in the attached drawings, which below serve only for explanation and thus do not limit the present invention / disclosure.

[0034] They show: Fig. 1 a perspective view of a skin application system according to an embodiment of the present invention / disclosure, Fig. 2A a perspective view of a vacuum module according to the embodiment of the present invention / disclosure, Fig. 2B a perspective view of a skin application step according to the embodiment of the present invention / disclosure, Fig. 3A a perspective view of a skin storage unit according to the embodiment of the present invention / disclosure, Fig. 3B a perspective view of a detection method of a first position sensor and a second position sensor according to the present invention / disclosure, Fig. 4 a schematic flowchart of a skin application control method according to the present invention / disclosure, and Fig. Figure 5 is a specific flowchart of the skin application control method according to the present invention / disclosure.

[0035] It is noted that the accompanying drawings are not necessarily to scale, but rather represent a somewhat simplified depiction of various preferred features that illustrate the basic principles of the invention / disclosure. The specific design features of the present invention / disclosure, as disclosed herein, including, for example, specific dimensions, orientations, positions, and shapes, are partly determined by the intended application and the environment in which they are used.

[0036] In the figures, reference numerals refer to identical or equivalent parts of the present invention / disclosure in the different figures of the drawing. DETAILED DESCRIPTION

[0037] It is noted that the term "vehicle" or other similar terms as used herein include motor vehicles in general, such as passenger cars including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles, watercraft including a variety of boats and ships, aircraft, and the like, and further include hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen vehicles, and other vehicles powered by alternative fuels (e.g., fuels derived from resources other than petroleum). As used herein, a hybrid vehicle is a vehicle that has two or more sources of propulsion, for example, both fuel-powered and electric vehicles.

[0038] The terminology used herein serves only to describe certain embodiments and is not intended to limit the present invention / disclosure. As used herein, the singular forms "a," "an," and "the" are to include the plural forms unless the context clearly indicates otherwise. It is further understood that the terms "includes" and / or "including," when used in this description, specify the presence of specified features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. As used herein, the term "and / or" includes all combinations of one or more of the elements listed.Unless explicitly stated otherwise, the word "include" and variations such as "indicates" or "indicating" throughout this description are to be understood as implying the inclusion of the specified elements, but not the exclusion of other elements. Furthermore, the terms "unit" and "module" used in this description refer to units for processing at least one function and operation and may be implemented by hardware components or software components and combinations thereof.

[0039] Furthermore, the control logic of the present invention / disclosure can be implemented as a non-transitory computer-readable medium on a computer-readable medium containing executable program instructions that are executed by a processor, control unit, or the like. Examples of computer-readable media include, but are not limited to, ROM, RAM, compact disc (CD)-ROMs, magnetic tapes, floppy disks, flash drives, smart cards, and optical data storage devices. The computer-readable medium can also be distributed across networked computer systems, such that the computer-readable medium is stored and executed in a distributed manner, for example, by a telematics server or a controller area network (CAN).

[0040] The following section refers in detail to various embodiments of the present invention / disclosure, examples of which are illustrated in the accompanying drawings and described below. Although the invention / disclosure is described in connection with exemplary embodiments, it should be noted that this description is not intended to limit the invention / disclosure to these exemplary embodiments. On the contrary, the invention / disclosure is intended to cover not only the exemplary embodiments but also various alternatives, modifications, variations, and other embodiments that may be included in the concept and scope of the invention / disclosure as defined by the accompanying claims. The present embodiments serve to explain the invention / disclosure more fully to those skilled in the field.

[0041] The terms used in this description serve only to describe specific embodiments and are not intended to limit them. Singular forms are intended to include plural forms unless the context clearly indicates otherwise.

[0042] A control unit 500 can be implemented by an algorithm configured to control the operation of various components arranged in a vehicle, a memory configured to store data about a program that reproduces the algorithm, and a processor configured to perform the operation described above using data stored in memory. In this case, the memory and the processor can be implemented as separate chips. Alternatively, the memory and the processor can be implemented as a single chip.For example, the control unit 500 can comprise at least two of the following components: an electronic control unit (ECU), a central processing unit (CPU), a microprocessor unit (MPU), a microcontroller unit (MCU), an application processor (AP), or any other type of processor known in the technical field of the present invention / disclosure.

[0043] Furthermore, the control device 500 can be formed from a combination of software and hardware that is capable of performing a calculation on at least two applications or programs to execute a method according to embodiments of the present invention.

[0044] The following are detailed descriptions of the embodiments with reference to the accompanying drawings. When describing the embodiments with reference to the accompanying drawings, identical or corresponding components are designated with the same reference numerals, and redundant descriptions are omitted.

[0045] Fig. Figure 1 is a perspective view of a skin application system.

[0046] According to one embodiment of the present invention / disclosure, the skin application system comprises a robot body 100, a skin adsorption unit 200 mounted on one side of the robot body 100, an application unit 400 mounted on the other side of the robot body 100, and a skin storage unit 300 configured to load skin(s) into it.

[0047] The robot body 100 comprises: a robot arm mount 110, which is located at its upper end and configured to allow the mounting of a robot arm (not shown); the skin adsorption unit is mounted on one side of the robot body 100; and the application unit 400 is mounted on the other side of the robot body 100. Furthermore, the robot body 100 is movable upwards, downwards, left and right, or rotates in place, by means of the robot arm (not shown) mounted on the robot arm mount 110.

[0048] The skin adsorption unit 200 comprises: at least one guide module 210 (e.g., one or more guide modules 210) mounted on one side of the robot body 100, and a vacuum module 220 mounted at one end of the guide module 210. The vacuum module 220 can be configured to correspond to the number of guide modules 210.

[0049] Furthermore, the skin adsorption unit 200 adsorbs skin by enabling the operation of the guide module 210 in conjunction with the vacuum module 220. The number of guide modules 210 and vacuum modules 220 required can vary depending on the shape of the skin. For example, skin measuring 100 mm wide and 300 mm high can be adsorbed by one vacuum module 220, while skin measuring 200 mm wide and 300 mm high can be adsorbed by two vacuum modules 220. As described above, the number of guide modules 210 and vacuum modules 220 required can vary depending on the size and shape of the skin.

[0050] Furthermore, according to another embodiment of the present invention / disclosure, vehicle skin(s) of different sizes can be adsorbed by adjusting the width-to-height ratio of the vacuum module 220 or by adding the guide module 210 according to the subdivision of the vacuum module 220. For example, if the width of a vacuum module 220 is 100 mm and its height is 300 mm, the single vacuum module 220 can be subdivided into three vacuum modules 220, each with a width of 100 mm and a height of 100 mm. The guide modules 210 are then added in proportion to the number of subdivided vacuum modules 220, and the subdivided vacuum modules 220 can be connected to the added guide modules 210. Accordingly, it is possible to adsorb vehicle skin(s) of different sizes and shapes by such a structural modification.

[0051] In one configuration of the skin adsorption unit 200, the guide module 210 is formed from a plurality of cylinders 211, and the cylinders 211 are attached to one side of a base plate 213. The other side of the base plate 213 is connected to the robot body 100, allowing the cylinder 211 and the robot body 100 to be formed as an integrated structure. This structural configuration allows a plurality of cylinders 211 to be moved integrally with the robot body 100.

[0052] Furthermore, the cylinder 211 consists of a cylinder tube 214, which serves as the main body, a piston (not shown) that performs a piston movement within the cylinder tube 214, and a piston rod 212, which is configured to be movable up and down by receiving force from the piston (not shown). The piston rod 212 is also connected to the upper end of the vacuum module 220. Accordingly, the piston rod 212 can move the vacuum module 220 up and down in accordance with the reciprocating motion of the piston (not shown). This reciprocating motion of the piston (not shown) can be achieved by introducing pneumatic or hydraulic pressure into a pneumatic or hydraulic port of the cylinder 211.Additionally, the introduction of pneumatic or hydraulic pressure can be controlled by actuating a solenoid valve 240, which is located on the upper surface of the robot body 100.

[0053] Furthermore, one or more cylinders 211 are connected to the vacuum module 220, and the cylinders 211 are configured to guide the vacuum module 220 in the longitudinal direction.

[0054] The vacuum module 220 connected to the cylinder 211 is formed by a vacuum distributor 221, which is connected to one end of the piston rod 212, and a plurality of vacuum tubes 222, which are connected to the rear surface of the vacuum distributor 221. Furthermore, the vacuum module 220 is formed by a mounting plate 223, which is connected to one end of the vacuum tube 222, a plurality of spring plungers 224, which are arranged on the rear surface of the mounting plate 223, and a plurality of vacuum pads 225, each of which is connected to a corresponding spring plunger 224.

[0055] The vacuum distributor 221, mounted on the piston rod 212, can be fluidly connected via a vacuum hose (not shown) to a vacuum generator 230 located on the rear surface of the robot body 100. The vacuum generator 230 therefore maintains a vacuum inside the vacuum distributor 221 and regulates the vacuum level of the distributor as needed. Here, the vacuum level refers to a pressure relatively lower than atmospheric pressure, and preferably to the internal pressure of the vacuum module 220. Furthermore, as the vacuum level inside the vacuum module 220 decreases, the suction pressure increases, thereby increasing the adhesion of the skin to the vacuum module 220.

[0056] One end of each of the plurality of vacuum tubes 222 is connected to the rear face of the vacuum manifold 221. Furthermore, each of the vacuum tubes 222 is configured to extend in a direction perpendicular to the rear face of the vacuum manifold 221. Therefore, each of the vacuum tubes 222 is fluidly connected to the vacuum manifold 221, thus maintaining the same vacuum state as that of the vacuum manifold 221.

[0057] Furthermore, one end of each vacuum tube 222 is connected to the mounting plate 223. The mounting plate 223 can be arranged parallel to the vacuum distributor 221. That is, a plurality of vacuum tubes are configured such that one end of each vacuum tube is connected to the mounting plate 223 and the other end is connected to the vacuum distributor 221 between the mounting plate 223 and the vacuum distributor 221.

[0058] A plurality of spring plungers 224 are connected to the rear surface of the mounting plate 223. The plurality of spring plungers 224 can be configured to extend from the respective vacuum tubes 222. Preferably, the vacuum tube 222 can extend from the vacuum distributor 221 and pass through the mounting plate 223. Furthermore, the number of spring plungers 224 can correspond to the number of vacuum tubes 222. In addition, the plurality of spring plungers 224 can be configured to compensate for a depth corresponding to the panel shape by adjusting the length of each spring plunger 224 differently depending on the shape of the panel.

[0059] Additionally, the vacuum pad 225 is arranged at one end of each of the spring plungers 224. The skin surface is connected to one end of the vacuum pad 225, and the vacuum pad 225 is configured to adsorb the skin from the skin storage unit 300.

[0060] Furthermore, the vacuum pad 225 can be formed from a pleated pad. This pleated pad features multiple pleats and is designed to fold or unfold them when the skin is applied to the panel surface. In this way, the pleated pad can adhere the skin to the panel surface along its curved shape. Additionally, the number of vacuum pads 225 is configured to correspond to the number of spring plungers 224.

[0061] A ball joint 228 is arranged between the spring plunger 224 and the vacuum pad 225. The ball joint 228 can be configured as a four-way ball joint 228 and can be configured to move the vacuum pad 225 vertically and horizontally or to rotate it.

[0062] The skin storage unit 300, configured to supply the skin to the vacuum pad 225, comprises a guide part 310 into which the skin is loaded, and a storage unit 320 arranged to face the lower end of the guide part 310. Furthermore, the skin storage unit 300 consists of a skin plate 330 located between the guide part 310 and the storage unit 320, a motion cylinder 380 located on the upper surface of the storage unit 320, a first position sensor 340 located at the lower end of the skin plate 330, and a second position sensor 350 located on both sides of the upper end of the guide part 310.

[0063] The storage unit 320 is configured to have a rectangular, parallelepiped housing shape. A loading compartment can be formed within the storage unit 320. Here, a ball screw 360, configured to move the skin plate 330 up and down, and a motor, e.g., an electric motor, 370, configured to drive the ball screw 360, are installed in the storage unit 320.

[0064] The guide section 310 is configured to have a rectangular parallelepiped structure, and its upper and lower sections are open. Preferably, the guide section 310 can have a configuration in which one surface onto which the skin is stacked is open. This structural configuration allows an operator to check the amount of skin stacked in the guide section 310 from the outside.

[0065] At least two sensors are arranged on the upper section of the guide part 310 to determine the correct position of the skin within the guide part 310. These two sensors are related to the second position sensors 350, and each of the second position sensors 350 is configured to detect the position of the skin and determine whether the skin is placed in a specified position.

[0066] The second position sensor 350 can be an optical sensor, an ultrasonic sensor, or a proximity sensor. Preferably, the second position sensor 350 can be configured as a reflective photosensor or a transmissive photosensor among the optical sensors. The optical sensor consists of a light-emitting part and a light-receiving part and detects a change in signal when the skin blocks or reflects light.

[0067] Furthermore, according to one embodiment of the present invention / disclosure, the second position sensor 350 can be configured as an ultrasonic distance sensor among ultrasonic sensors. The ultrasonic sensor emits sound waves, receives sound waves reflected by the skin, and detects the position of the skin by a change in the reflection time.

[0068] Furthermore, the second position sensor 350 can be configured as an inductive proximity sensor or as an electrostatic proximity sensor. The proximity sensor detects a change in magnetic fields using an electromagnetic wave when skin approaches the sensor.

[0069] A control device 500 of the present invention / disclosure receives the skin position from each of the second position sensors 350 and determines whether the skin is in the correct position within the guide part 310. If the skin is not in the correct position within the guide part 310, the control device 500 lifts the skin plate 330, which is located between the guide part 310 and the storage unit 320, to position the skin in the correct position.

[0070] Furthermore, the control unit 500 receives the skin position from each of the second position sensors 350 and determines whether the skin is in the correct position. It then raises the skin plate 330 until the correct position is confirmed. This process moves the skin to the upper section of the guide part 310 and loads it onto the vacuum module 220 at the predetermined position.

[0071] When the skin is loaded by the vacuum module 220 and all skins loaded into the guide section 310 are completely emptied, the first position sensor 340, located at the bottom of the skin plate 330, issues a skin refill message. The first position sensor 340 can be configured as an ultrasonic sensor. The first position sensor 340 sends an ultrasonic signal to the skin whose surface is in contact with the skin plate 330 and receives an ultrasonic wave reflected from the skin to determine whether the skin is present in the guide section. If the first position sensor 340 sends an ultrasonic signal to the skin but does not receive an ultrasonic wave reflected from the skin, the control unit determines that the skin is not loaded into the guide section 310.

[0072] This means that the first position sensor 340 measures the presence or absence of skin in the guide part 310. Similar to the second position sensor 350, the first position sensor 340 can be configured as an optical sensor, ultrasonic sensor, or proximity sensor.

[0073] When the skin refill signal is issued, the control unit 500 drives the motion cylinder 380, located at the upper end of the reservoir 320, to move the guide part 310 to a predetermined position. The motion cylinder 380 faces the other end face of the guide part 310. Therefore, when a movement signal for the guide part 310 is applied to the motion cylinder 380, the motion cylinder 380 exerts a force on the other end face of the guide part 310. Accordingly, the guide part 310 is moved along the upper surface of the reservoir 320. The guide part 310 is placed at a refill position on the upper surface of the reservoir 320, as determined by the control unit 500. At the refill position, the skin in the guide part 310 is refilled, and the refilled skin is supplied to the vacuum pad 225.

[0074] The present invention / disclosure is configured to include an image detector 250 for verifying that the skin, when adsorbed onto the vacuum pad 225, is positioned precisely at the predetermined location of the vacuum pad 225. The image detector 250 comprises a camera and image processing software and is configured to collect image data by photographing the upper section and the circumferential parts of the skin in a standby state after the skin has been loaded.

[0075] Furthermore, when the skin is attached to the correct position of the vacuum pad 225, the control unit 500 applies a sealant to the inside of the panel via the application unit 400.

[0076] The application unit 400 is attached to the other side of the robot body 100. Preferably, the application unit 400 is configured to be connected to the robot body 100 in order to be movable in the upward and downward directions.

[0077] Furthermore, the application unit 400 moves to / on the panel according to the predefined position stored in the control unit 500. This configuration allows the application unit 400 to apply the sealant above the predefined position stored in the control unit 500. Additionally, the control unit 500 controls the movement path and position of the application unit 400 so that the sealant is applied evenly to at least one area according to the predefined position of the panel.

[0078] When the skin adsorbed to the vacuum pad 225 is attached to the panel, the control unit 500 can additionally adjust the angle of the vacuum pad 225 in response to a curvature value corresponding to the shape of the vehicle panel. The angle of the vacuum pad 225 is defined as the angle between a line extending from the vacuum tube 222 and the surface of the panel that contacts the skin.

[0079] The present invention / disclosure can be configured to detect whether the skin is adsorbed onto the vacuum pad 225, as well as any curvature of the panel, using a detection sensor 226 located on the upper side of the vacuum distributor 221. In a further embodiment of the present invention / disclosure, the detection sensor 226 can be mounted on the lower end of the mounting plate 223 or on the vacuum pad 225. In this way, the detection sensor 226 can be mounted in various positions and is not limited to the embodiment described in the description.

[0080] The detection sensor 226 measures the curvature of the panel in real time and transmits a curvature value of the panel to the control unit 500. Furthermore, the detection sensor 226 can use various types of sensors. Preferably, the detection sensor 226 can use a contact sensor, a non-contact distance sensor, and a laser scanner.

[0081] The contact sensor detects the curvature of the panel by directly touching its surface. The sensor's angle changes depending on its position relative to the panel. The 500 control unit calculates the panel's curvature value based on this angular change. This type of contact sensor provides an accurate measurement based on mechanical movement.

[0082] The non-contact distance sensor uses ultrasound or infrared beams to measure the distance to the panel surface. The sensor gathers information about this distance, and the control unit 500 uses this information to determine the panel's curvature in real time.

[0083] The laser scanner quickly scans the entire shape of the panel. The laser scanner collects distance data at several points on the panel, and the control unit 500 receives this distance data.

[0084] In addition, the control unit 500 calculates a required angle setting value based on curvature data received from the detection sensor 226.

[0085] If an angle adjustment is required, the control device 500 rotates the vacuum pad 225 upwards, downwards, left and right via the ball joint 228 located at the top of the vacuum pad 225, changes the structure of the vacuum pad 225 or individually adjusts the vacuum level of a plurality of vacuum tubes 222.

[0086] According to the embodiment of the present invention / disclosure, the control device 500 adjusts the angle of the vacuum pad 225 by varying the angle of the vacuum pad 225 via the ball joint 228 with respect to the calculated angle setting value. Furthermore, the control device 500 individually adjusts the vacuum level of each vacuum tube 222 in response to the curvature value of the panel, thereby enabling the vacuum pad 225 to stably adsorb the skin and the skin to adhere to the curved surface of the panel.

[0087] For example, in an area where the panel has a high curvature, the control unit 500 increases the vacuum level of the vacuum tube 222 to allow the vacuum pad 225 to adhere to the curved section of the skin. The vacuum pad 225, operating at a high vacuum level, increases the skin's adhesion, and even when the skin is attached to an area of ​​the panel with a high curvature, it does not detach from the vacuum pad but remains adhered to it. In this way, the skin is stably positioned on the curved surface of the panel. In other words, the high vacuum level in the vacuum tube ensures that the skin adheres stably to the curved surface of the panel.

[0088] As another example, if part of the panel has a small curvature value or the panel has a flat surface, the control unit 500 adjusts the vacuum level of the vacuum tube 222 so that the vacuum pad 225 causes the skin to adhere to a flat section of the panel. In this case, the vacuum tube 222 reduces its vacuum level to allow the skin to adhere horizontally to the flat surface of the panel, and the angle of the vacuum pad is adjusted so that the vacuum pad adheres appropriately to the panel surface.

[0089] If, after adjusting the angle of the vacuum pad via the ball joint 228 and the vacuum level control, a fine angle adjustment of the vacuum pad is required, the control device 500 can adjust the angle of the vacuum pad 225 by unfolding or folding the folds of the vacuum pad 225 with reference to the calculated angle setting value.

[0090] Depending on the curvature of the panel, the folds can be unfolded or folded, thereby adapting the vacuum pad 225 to the shape of the panel. Preferably, when the vacuum pad 225 is operated in conjunction with an actuator (not shown), the control device 500 can control the actuator with reference to the curvature value of the panel in such a way as to determine whether the folds are unfolded or folded at a specific position of the panel, thereby setting the angle.

[0091] Furthermore, the control unit 500 can perform depth and angle adjustments in response to the curvature of the panel, in conjunction with the operations of the spring plunger 224, the ball joint 228, and the vacuum pad 225. In addition, when adjusting the depth, the depth is set by moving the ball joint 228 up and down together with the longitudinal compression of the spring plunger 224.

[0092] Fig. 2A is a perspective view of the vacuum module 220 and Fig. 2B is a view showing the skin application process.

[0093] According to the embodiment of the present invention / disclosure, the vacuum module 220 can be moved upwards and downwards by the guide module 210 and can be rotated integrally with the rotation of the robot body 100.

[0094] Furthermore, the vacuum module 220 has a vacuum distributor 221, which is connected to the guide module 210 and fluidly connected to the vacuum generator 230 via a vacuum hose (not shown). Preferably, the vacuum hose (not shown) can be connected to a vacuum port 227 located on the upper surface of the vacuum distributor 221.

[0095] Furthermore, the vacuum manifold 221 can be manufactured in the form of a rectangular parallelepiped, and a plurality of connection ports can be configured on the rear surface of the vacuum manifold. The vacuum tubes 222 are each connected to the connection ports. Therefore, the vacuum manifold 221 can be configured to be fluid-connected to the plurality of vacuum tubes 222 via the respective connection ports and to control an airflow within it such that each vacuum tube 222 is provided with an individual vacuum state.

[0096] Additionally, the vacuum tube 222 can be arranged between the vacuum distributor 221 and the mounting plate 223 for fluid connection between the vacuum distributor 221 and the mounting plate 223. Furthermore, a plurality of vacuum tubes 222 can be arranged between the vacuum distributor 221 and the mounting plate 223 at a predetermined distance between them, and the vacuum tubes 222 can extend in a state perpendicular to the upper surface of the mounting plate 223. In particular, each vacuum tube 222 can maintain the vacuum state independently, so that the vacuum can be selectively applied to only a required section depending on the curvature of the panel shape. Each vacuum tube 222 can also be individually controlled to maintain specific vacuum levels, thereby ensuring optimal adhesion based on different panel curvatures.

[0097] The mounting plate 223 has a plurality of holes for attaching the plurality of vacuum tubes 222. This configuration allows the vacuum tubes 222 to be designed to be integrated with the mounting plate 223. The vacuum tubes 222 can be positioned by each passing through a plurality of holes formed in the mounting plate 223.

[0098] The spring plunger 224, which extends from the vacuum tube 222, is connected to the lower end of the mounting plate 223.

[0099] The spring plunger 224 according to the present invention / disclosure is configured to adjust the position and adhesion of the vacuum pad 225 so that the skin is applied evenly to the panel surface.

[0100] The spring plunger 224 consists of an outer housing and a coil spring (not shown in the drawing) located inside the housing. A pad mounting bracket, capable of securing the vacuum pad 225, is connected to the lower end of the spring plunger 224. The coil spring is located inside the plunger housing, and when the vacuum pad 225 comes into contact with the panel surface, the housing is compressed to generate a spring force.

[0101] The spring plunger 224 is configured to respond to different panel shapes by adjusting the length and strength of the coil spring. In the flat section of the panel, the spring plunger 224 provides a minimal spring force, ensuring that the vacuum pad 225 adheres properly to the panel. Conversely, in response to a panel shape with a high degree of curvature, the coil spring is compressed, and the vacuum pad 225 is adjusted to be properly positioned on the panel surface.

[0102] Furthermore, the spring plunger 224 can incorporate a helical spring with a multi-layer structure. This structural configuration makes it possible to achieve a multifunctional elastic effect, allowing the spring force to be gradually increased to respond to various curvatures and maintaining constant pressure.

[0103] That is, in the present invention / disclosure, a depth adjustment of the vacuum pad 225 can be carried out in a suitable manner by means of the spring plunger 224 for a depth difference that is generated depending on the curvature value of the panel shape.

[0104] As in Fig. As shown in Figure 2B, the present invention / disclosure is configured to adjust the depth and angle of the vacuum pad 225 depending on the curvature value of the panel shape when the skin is attached to the panel.

[0105] The vacuum pad 225 is configured so that its height can be adjusted via the spring plunger 224. Preferably, the height of the vacuum pad is defined as a vertical distance from the bottom edge of the panel form.

[0106] For example, in the case of a panel with a shape where the inside of the panel has a flat surface and an inclined surface whose height gradually increases towards both ends of the flat surface, the coil spring of the spring plunger 224, which is arranged on a panel section with a large curvature, is compressed more than the coil spring of the spring plunger 224, which is arranged on a panel section with a small curvature. In this case, the length of the spring plunger 224 is reduced, and the vacuum pad 225, which faces the panel section with a large curvature, can be arranged higher than the vacuum pad 225, which faces the bottom end of the panel.

[0107] On the other hand, the spring plunger connected to the vacuum pad 225 facing the flat surface of the panel is stretched further than the spring plunger connected to the vacuum pad 225 facing the panel section with a large curvature. Therefore, the vacuum pad 225 facing the flat surface of the panel is located further down than the vacuum pad 225 facing the panel section with a large curvature.

[0108] As another example, in the case of a panel with a shape where the inside of the panel has a flat surface and an inclined surface whose height gradually decreases towards both ends of the flat surface, the coil spring of the spring plunger located on the flat surface of the panel is compressed more than the coil spring of the spring plunger located on a panel section with a high degree of curvature. In this case, the length of the spring plunger located on the flat surface of the panel becomes shorter than the length of the spring plunger located on the panel section with a high degree of curvature. Due to this configuration, the height of the vacuum pad 225 located on the flat surface of the panel has a greater value than the height of the vacuum pad 225 facing the panel section with a high degree of curvature.

[0109] In contrast, the length of the spring plunger 224 facing the panel section with a strong curvature is greater than the length of the spring plunger 224 facing the flat surface of the panel. Therefore, the vacuum pad 225 facing the panel section with a strong curvature is located in a lower position than the vacuum pad 225 facing the flat surface of the panel.

[0110] The angle adjustment is configured such that, when the skin is attached to the panel, the vacuum pad 225, which has a pleated pad, adapts to the panel's inclination. The pleated pad folds or unfolds in response to a change in pressure from the spring plunger 224, thereby adjusting the inclination of the vacuum pad 225.

[0111] For example, if the panel's inclination gradually increases towards one end, folds formed at one end of the vacuum pad 225 are folded, while folds formed at the other end are unfolded. This configuration allows the vacuum pad 225 to be inclined to make close contact with the inclined surface of the panel. Conversely, on the flat section of the panel, folds formed at both ends of the vacuum pad 225 are folded or unfolded in the same way. Accordingly, the vacuum pad can maintain its flat state and remain in contact with the panel.

[0112] In this way, the vacuum pad 225 is configured to respond flexibly to different inclinations of the panel, so that the skin is applied evenly to the panel surface.

[0113] Fig. 3A is a perspective view of the skin storage unit 300 and Fig. 3B is a perspective view of the first position sensor 340 and the second position sensor 350.

[0114] According to the embodiment of the present invention / disclosure, the skin storage unit 300 serves to provide the skin to the skin adsorption unit 200.

[0115] When the skin adsorption unit 200 loads the skin from the skin storage unit 300, a stop 390 can be provided at the upper end of the guide part 310 to prevent two or more skins from being adsorbed simultaneously.

[0116] The stop 390 prevents two or more skin webs from being loaded into the storage unit. This stop 390 can be either hook-shaped or roller-shaped. For example, when the hook-shaped stop 390 is used, the end of the hook stop 390 is designed to face the inside of the guide part 310, allowing only a single skin to pass through the hook stop. The end of the hook stop 390 is designed to allow the leading edge of a single skin to pass through, while subsequent skin webs are physically blocked, thus preventing overlapping or double feeding.

[0117] As another example, when using the roller device, an upper and a lower roller are positioned to rotate while a single skin can pass stably through them. As the skin webs pass through the gap between the upper and lower rollers, the rollers exert downward pressure to securely hold and separate each skin, moving them individually to prevent double feeding. As the subsequent skin follows the preceding skin, a rotational force from the rollers pushes the subsequent skin out or filters it, preventing two or more skin webs from passing through the rollers.

[0118] In this way, the hook-shaped stop 390 and the roller device control the skin webs so that they are fed individually through their respective structures, enabling the vacuum pad 225 to precisely adsorb a single skin layer.

[0119] The guide element 310, which includes the stop 390, is designed as a rectangular parallelepiped structure with an open upper and lower section, the inner width and length of which are adjustable depending on the shape and size of the skin. The inner surface of the guide element 310 is provided with an adjustable rail or insert element, so that the width or length of the guide element 310 can be adjusted to accommodate skin shapes of various sizes. This configuration allows the guide element 310 to load skin panels of varying sizes, from small to large, and prevents the skin panels from shifting or being moved into the wrong position within the guide element 310.

[0120] The motion cylinder 380, which is arranged facing the other side of the guide part 310, moves the guide part 310 along the upper surface of the storage unit 320.

[0121] As in Fig. As shown in Figure 3B, the control device 500 of the present invention / disclosure can receive information via the first position sensor 340 about whether the skin is located in the guide part 310. If at least one skin is located in the guide part 310, the control device can determine that the skin is located in the guide part 310.

[0122] Furthermore, the control unit 500 can receive information about the distance between the first position sensor 340 and the skin via the first position sensor 340. If the distance between the first position sensor 340 and the skin is greater than or equal to a predefined value stored in the control unit 500, the control unit can issue a skin refill message.

[0123] When the skin refill message is issued, the control unit 500 drives the motion cylinder 380 to move the guide part 310 to the predefined position stored in the control unit 500. This configuration allows a worker to conveniently refill the skin webs, and the process can also be performed automatically by a robot. Preferably, the control unit 500 can perform a skin refill when the guide part 310 is in the refill position stored in the control unit 500.

[0124] The motor 370, configured to control the upward and downward movement of the skin plate 330, which is located between the guide part 310 and the memory 320, is located inside the memory 320, and a stepper motor can be used as the motor. The stepper motor is a motor configured to convert electrical signals stepwise so that the motor rotates at a constant angle, thus enabling precise position control.

[0125] One end of the ball screw 360 is connected to the motor 370, and the other end of the ball screw 360 is connected to the skin plate 330. Therefore, when the motor 370 is driven, the ball screw 360, one end of which is connected to the motor 370, rotates, and the skin plate 330 is moved upwards by the rotation of the ball screw 360. That is, the stepper motor 370 exerts a driving force on the skin plate 330, so that the skin is positioned correctly within the guide element 310.

[0126] Fig. Figure 4 is a schematic flowchart of a skin application control procedure.

[0127] According to the embodiment of the present invention / disclosure, during the skin application control process, the control unit 500 determines whether the skin storage unit 300 is in a normal state (S100), determines whether the skin adsorption unit 200 is in a normal state (S200), and applies a sealing agent according to a fixed position stored in the control unit 500 (S300). Furthermore, after the sealing agent has been applied, a skin is attached to the vacuum pad 225 according to the position of the applied sealing agent (S400), and it is monitored whether the skin is attached in the correct position (S500). As described above, the process steps are executed sequentially.

[0128] In step (S100), the control unit 500 first determines whether the skin storage unit 300 is in its normal state, whether the skin is positioned at a predetermined location within the guide part 310, and whether the skin is loaded into the guide part 310. The control unit 500 receives information from the first position sensor 340 about whether the skin is located in the guide part 310 and determines whether the skin is loaded into the guide part 310 (S110).

[0129] When determining that the skin is located in the guide part 310, the control unit 500 receives information about the skin position from the second position sensor 350 and determines whether the skin is placed in the correct position in the guide part 310 (S120).

[0130] In this case, if the control unit 500 detects that the skin is not in the correct position in the skin storage unit 300, it raises the skin plate 330 to place the skin in the correct position in the skin storage unit 300. Preferably, the control unit 500 supplies energy to the motor 370 to move the skin plate 330 upwards (S130).

[0131] When the skin plate 330 has moved to the defined height, the control unit 500 receives a measurement from the first position sensor 340 regarding the vertical distance between the first position sensor 340 and the skin facing the first position sensor 340. This step allows the control unit 500 to calculate a height value of the skin plate 330.

[0132] Furthermore, the control unit 500 determines whether the calculated height value of the skin panel 330 exceeds a predefined height value stored in the control unit 500 (S140). If the skin panel 330 exceeds the predefined height value stored in the control unit 500, the control unit 500 determines that skin refilling is required and issues a skin refill message (S150).

[0133] Such a message can be displayed on a screen. In addition, after issuing the skin refill message, the control unit 500 moves the guide part 310 via the movement cylinder 380 into a refill position that is stored on the upper surface of the memory 320 (S160).

[0134] The control unit 500 uses a camera sensor to determine whether the guide part 310 has moved into the refill position stored on the upper surface of the memory 320. If the guide part 310 has moved into the refill position stored on the upper surface of the memory 320 at that time, the control unit 500 refills the guide part 310 with skin via a skin refill unit (not shown) (S170). After the skin refill is complete, the control unit 500 moves the guide part 310 back to its original position via the movement cylinder 380 (S180). In this way, when the skin refill message is issued, skin refill steps are executed sequentially.

[0135] During the step of determining whether the skin is loaded into the guide section 310, the control unit 500 issues a skin refill message (S150) if it determines that the skin is not loaded into the guide section 310. After issuing the skin refill message, the control unit 500 moves the guide section 310 to the position defined at the top of the storage area for skin refilling (S160) and refills the skin in the guide section 310 by the amount defined in the control unit 500 (S170). After the skin refilling is complete, the control unit 500 returns the guide section 310 to its original position (S180).

[0136] If skin is present in the skin storage unit and is in the correct position within the skin storage unit, the control unit 500 determines that the skin storage unit 300 is in its normal state. After determining that the skin storage unit 300 is in its normal state, the control unit 500 determines whether the skin adsorption unit 200 (S200) is also in its normal state.

[0137] In the step of determining whether the skin adsorption unit 200 is in its normal state, the control device 500 moves the robot body 100 to a position corresponding to the position of the skin storage unit 300. At this point, the skin adsorption unit 200 moves integrally with the robot body 100 and over the skin storage unit 300. Preferably, the vacuum pad 225 of the vacuum module 220 is arranged to face the upper section of the skin storage unit 300.

[0138] In this case, the control unit 500 lowers the vacuum module 220 through the guide module 210, which is connected to the vacuum module 220 located at the top of the skin. As the vacuum module 220 is lowered, the skin is pressed against the vacuum pad 225 of the vacuum module 220 (S210).

[0139] After the skin is adsorbed onto the vacuum pad 225, the control unit 500 uses the image detector 250 to determine whether the skin is attached to the predetermined position of the skin adsorption unit 200. Specifically, the control unit 500 analyzes image data collected by the image detector 250 to determine whether the skin is improperly positioned or improperly loaded.

[0140] For example, the control unit 500 uses edge image processing to determine whether the skin webs are loaded in two layers, in order to detect whether two skin webs / skin layers are loaded simultaneously. As another example, the control unit 500 uses color image processing to determine whether the skin is attached precisely to the predetermined position of the vacuum pad 225, and determines whether the skin is correctly positioned by detecting a specific color range. This step allows the control unit 500 to determine whether the skin is attached to the correct position on the vacuum pad 225.

[0141] Simultaneously or sequentially, the control unit 500 receives a vacuum level from the vacuum distributor from a vacuum sensor attached to the vacuum distributor and determines whether the vacuum level is greater than or equal to a vacuum level stored in the control unit 500 (S220).

[0142] If the skin is not adsorbed in the correct position of the skin adsorption unit 200, the control unit 500 generates a skin not detected message. If the vacuum level of the vacuum distributor is lower than the set vacuum level, the control unit 500 generates a vacuum not generated message (S230).

[0143] The control unit 500 determines that the skin adsorption unit 200 is functioning normally when the skin is attached to the correct position of the skin adsorption unit 200 and the vacuum level of the vacuum distributor is greater than or equal to the set vacuum level.

[0144] If the skin adsorption unit 200 is functioning normally, the robot body 100 is moved to a holding device (e.g. a clamping device) and a step of applying a sealant to the panel is performed (S300).

[0145] During the step of applying the sealant to the panel, the control unit 500 moves the robot body 100 to the holding device and then applies the sealant to the panel according to the application position (S310) defined in the control unit 500. After applying the sealant to the panel, the control unit 500 moves the skin adsorption unit 200 according to the application position defined in the control unit 500. Preferably, the control unit 500 positions the skin adsorption unit 200 above the applied sealant (S320).

[0146] After positioning the skin adsorption unit 200 over the applied sealant, the control unit 500 performs a step to attach the skin to the applied sealant (S400).

[0147] During the skin application step, the control unit 500 uses a camera sensor attached to the robot body 100 or the skin adsorption unit 200 to determine whether the skin adsorption unit 200 is positioned according to the position of the sealant (S410). When the skin adsorption unit 200 is positioned over the applied sealant, the control unit 500 releases the vacuum of the vacuum pad 225 to allow the skin to fall onto the applied sealant. The control unit 500 then pushes the skin through the spring plunger 224, ensuring that the skin is stably placed onto the panel (S420). After completion of the application step, the control unit 500 returns the skin adsorption unit 200 to its original position (S430).

[0148] During the step of determining whether the skin adsorption unit 200 is positioned correspondingly to the position of the sealant, the control unit 500 moves the skin adsorption unit 200 to the correct position of the applied sealant (S440) if the skin adsorption unit 200 is outside the correct position of the sealant. The control unit 500 then determines again whether the skin adsorption unit is positioned over the applied sealant. If the skin adsorption unit is positioned over the applied sealant, the application step is performed.

[0149] After completion of the application step, the control unit 500 performs a step in which the image detector 250 (S500) monitors whether the skin is properly attached in the correct position of the applied sealant, thereby completing the skin application step.

[0150] Fig. Figure 5 is a specific flowchart of a skin application control procedure.

[0151] According to the embodiment of the present invention / disclosure, the skin refill step in the skin storage unit 300 (S170) can further include a step of checking the surface condition of the skin before loading. In the skin surface condition check step, the control unit 500 uses a camera sensor or an optical sensor to determine whether scratches or foreign substances, such as dust, are present on the skin surface. Furthermore, when the control unit 500 detects an anomaly in the skin surface, it can automatically exclude defective skin to prevent a deterioration in quality in subsequent processes.

[0152] In addition, the control device 500 can also include a step of prematurely checking the vacuum state of the vacuum distributor 221 during the step of attaching the skin to the skin adsorption unit 200 (S210).

[0153] The control unit 500 compares a vacuum level displayed by the vacuum sensor attached to the vacuum distributor 221 with an initial vacuum level set in the control unit 500. If the vacuum level is lower than the initial vacuum level, the control unit activates the vacuum generator 230 to adjust or increase the vacuum within the vacuum distributor 221. This vacuum condition check ensures a vacuum state at which the skin is stably adsorbed to the vacuum pad.

[0154] Furthermore, the control unit 500 can include a quality control step after the application of the sealant to the panel during the step of applying the sealant to the panel after the skin has been adsorbed onto the vacuum pad 225 (S310).

[0155] The control unit 500 receives a sealant application position and a sealant application status from the camera sensor attached to the application unit 400. Depending on the sealant application status, the control unit can further perform a process of determining whether the sealant is applied evenly to the panel and whether the thickness of the distributed sealant corresponds to a thickness specified in the control unit 500.

[0156] If the sealant is not applied evenly, or if the thickness of the applied sealant does not reach the specified thickness stored in the control unit 500, the control unit 500 generates a control signal to apply additional sealant to the panel or to reapply it. The application unit can then perform such an additional application or reapply. Afterward, the application unit can return to its original position.

[0157] Furthermore, the monitoring step (S500) following the skin application step may also include a step of monitoring a curing process of the sealant.

[0158] The 500 control unit can include a step of monitoring the curing status of the sealant using a camera sensor after the sealant has been applied to the panel, and determining the curing progress of the sealant. Furthermore, the 500 control unit measures the temperature of the sealant using a non-contact temperature sensor during the curing process to determine whether the temperature meets specified conditions. Additionally, the 500 control unit can adjust the curing time and conditions as needed to maintain the quality of the sealant.

[0159] In summary, according to the present invention / disclosure, the sealing agent application unit 400 and the skin adsorption unit 200 can be integrally mounted on the robot body 100, and the depth and angle of the vacuum pad 225 can be adjusted with respect to a curvature value of the panel shape in order to respond to different panel shapes. Furthermore, the present invention / disclosure provides a skin application control method for applying skin to a predetermined position on a panel by sequentially determining whether the skin storage unit 300 and the skin adsorption unit 200 are in their normal state.

[0160] As can be seen from the above description, the present invention / disclosure can achieve the following effects through the configuration, combination and usage ratio as described in the embodiments.

[0161] First, the present invention / disclosure provides a skin application system configured to allow a skin adsorption unit and an application unit to be integrated with a robot body. Accordingly, it is not necessary to perform a separate setup installation or additional processes, thereby reducing installation space and simplifying the workflow. Consequently, manufacturing costs can be reduced and production efficiency improved.

[0162] Secondly, because a skin adsorption unit has a function of changing its angle via a control device, it is possible to attach the skin to panels of different shapes. This configuration allows the skin to be stably attached to a panel with a curved surface, thereby increasing working accuracy and improving product quality.

[0163] Thirdly, since a vacuum pad and a spring plunger are used instead of an air blowing method during skin application, energy consumption and noise generation can be significantly reduced, resulting in an improved working environment, increased energy efficiency and reduced maintenance costs.

[0164] The present invention / disclosure has been described in detail with reference to preferred embodiments thereof, and the present invention / disclosure can be used in various other combinations, modifications, and environments. That is to say, a person skilled in the art will recognize that changes can be made to these embodiments without departing from the principles and the basic idea of ​​the invention / disclosure, the scope of which is defined in the attached claims and their equivalents. The embodiments describe the best way of implementing the technical idea of ​​the present invention / disclosure, and various modifications required in certain fields of application and uses of the present invention / disclosure are also possible.Accordingly, the detailed description of the present invention / disclosure is not intended to limit the present invention / disclosure to the disclosed embodiments. Furthermore, the scope of the appended claims is to be interpreted as also including other embodiments.

Claims

[1] Skin application system for attaching a skin to a vehicle, wherein the skin application system comprises: a robot body (100), a skin adsorption unit (200) connected to a first end of the robot body (100), and an application unit (400) connected to a second end of the robot body (100), wherein the skin adsorption unit (200) comprises: at least one guide module (210), wherein the guide module (210) is connected to the robot body (100), and a vacuum module (220) connected to the guide module (210), wherein the skin application system further comprises a control device (500) configured to vary an angle of the vacuum module (220) depending on a curvature value of a panel of the vehicle. [2] Skin application system according to claim 1, wherein the vacuum module (220) comprises: a vacuum distributor (221) connected to the guide module (210), a plurality of vacuum tubes (222), each of the vacuum tubes (222) being connected to the vacuum distributor (221), a mounting plate (223) connected to each of the vacuum tubes (222), a plurality of spring plungers (224) arranged on the mounting plate (223), each of the spring plungers (224) extending from a corresponding vacuum tube (222), a plurality of vacuum pads (225), each of the vacuum pads (225) being connected to a corresponding spring plunger (224), and a plurality of ball joints (228) which are arranged between the spring plungers (224) and the vacuum pads (225). [3] Skin application system according to claim 2, wherein the vacuum module (220) further comprises a skin detection sensor (226) mounted on the vacuum distributor (221). [4] Skin application system according to any one of claims 2 to 3, further comprising a vacuum generator (230) attached to the robot body (100), wherein the vacuum generator (230) is fluidly connected to the vacuum distributor (221). [5] Skin application system according to any one of claims 1 to 4, wherein each of the vacuum pads (225) is formed from a fold pad. [6] Skin application system according to any one of claims 1 to 5, further comprising a skin storage unit (300) configured to provide the skin to the skin adsorption unit (200), wherein the skin storage unit (300) comprises: a guide part (310) configured to allow the skin to be loaded into it (S170), a storage device (320) which is arranged at a lower end of the guide part (310), a skin plate (330) which is arranged between the guide part (310) and the storage unit (320), a first position sensor (340) which is arranged at a lower end of the skin plate (330), wherein the first position sensor (340) is arranged to be facing the skin, and a second position sensor (350) which is mounted on at least one of opposite upper side surfaces of the guide part (310). [7] Skin application system according to claim 6, wherein the skin storage unit (300) further comprises: a ball screw (360) connected to the skin plate (330), and a motor (370) connected to the ball screw (360) which is configured to drive the ball screw (360), wherein the ball screw (360) moves the skin plate (330) upwards or downwards. [8] Skin application system according to claim 7, wherein the control device (500) is configured to control the ball screw (360) so that the skin is positioned at a specified position when a position signal of the skin is received from the second position sensor (350) and when it is determined that the skin is not at a predetermined position of the skin storage unit (300). [9] Skin application system according to any one of claims 6 to 8, wherein the skin storage unit (300) further comprises a movement cylinder (380) which is arranged facing the guide part (310), wherein the movement cylinder (380) is configured to move the guide part (310) along an upper surface of the storage unit (320) (S160). [10] Skin application system according to claim 9, wherein the control device (500) is configured to control the motion cylinder (380) upon receiving information about the presence or absence of the skin loaded into the guide part (310) from the first position sensor (340) and determining that the skin is not loaded into the guide part (310), such that the guide part (310) is positioned at a specified position. [11] Skin application system according to claim 2, wherein the control device (500) is configured to control a vacuum level of each of the vacuum pads (225) and / or a length of each of the spring plungers (224) according to the curvature value of the panel. [12] Skin application system according to claim 2, further comprising an image detector (250) configured to check the attachment status of the skin attached to the vacuum pads (225). [13] Vehicle skin attachment device comprising: a robot and the skin application system according to any one of claims 1 to 12 for attaching a skin to the vehicle. [14] Skin application control method for applying a skin to a vehicle, wherein the skin application control method comprises: Determine, by means of a control device (500), whether a skin storage unit (300) is in a normal state (S100), Determine, by means of the control unit (500), whether a skin adsorption unit (200) is in a normal state (S200), when the skin storage unit (300) is in a normal state, Application, by the control unit (500), of a sealing agent onto a holding device (S300) when the skin adsorption unit (200) is in its normal state, Applying, by means of the control device (500), a skin corresponding to a position of the applied sealant (S400), and Monitor, by means of the control unit (500), whether the skin is applied to the correct position of the sealant (S500). [15] Skin application control method according to claim 14, wherein determining whether the skin storage unit (300) is in its normal state (S100) comprises: Receiving, by the control unit (500), information about the presence or absence of skin in the skin storage unit (300) from a first position sensor (340) and determining, by the control unit (500), whether the skin is loaded into the skin storage unit (300) (S110), and Receiving, by the control unit (500), information about whether the skin is present at a predetermined position of the skin storage unit (300) from a second position sensor (350) when the skin is loaded into the skin storage unit (300), and determining, by the control unit (500), whether the skin is positioned at the predetermined position of the storage unit (300). [16] Skin application control method according to claim 14 or 15, wherein determining (S200) whether the skin adsorption unit (200) is in its normal state when the skin storage unit (300) is in its normal state comprises: Adsorption of the skin to the skin adsorption unit (200) (S210) and Receiving, by the control unit (500), a skin position from a skin detection sensor (226) when the skin is adsorbed on the skin adsorption unit (200), Determining, by the control unit (500), whether the skin is adsorbed at a predetermined position of the skin adsorption unit (200) (S220), Receiving, by the control unit (500), a vacuum level of a vacuum distributor (221) from a vacuum measuring sensor and Determining, by the control unit (500), whether the vacuum level is greater than or equal to a specified vacuum level. [17] Skin application control method according to claim 15, comprising determining whether the skin is positioned in the predetermined position of the storage unit (300): Moving, by the control unit (500), a plate upwards when the skin is outside the predetermined position of the storage unit (300), determining, by the control unit (500), whether the height of the plate is greater than or equal to a specified reference value after the plate has been moved upwards, and issuing a skin refill message (S150) if the height of the plate is greater than or equal to the specified reference value when determining whether the height of the plate is greater than or equal to the specified reference value. [18] Skin application control method according to any one of claims 14 to 17, wherein the application of the sealing agent to the holding device (S300) when the skin adsorption unit (200) is in its normal state comprises: Moving, by means of the control device (500), an application unit (400) to the holding device, and Applying the sealing agent according to a position specified in the control unit (500). [19] Skin application control method according to any one of claims 14 to 18, wherein the application of the skin comprises: Receiving, by the control unit (500), the position of the applied sealing agent from a camera sensor and moving, by the control unit (500), the skin adsorption unit (200) according to the position of the applied sealing agent, Receiving, by the control unit (500), the position of the applied sealing agent from the camera sensor and determining, by the control unit (500), whether the skin adsorption unit (200) is located above the applied sealing agent, Releasing (S420), by the control device (500), of the vacuum of the skin adsorption unit (200) when the skin adsorption unit (200) is located above the sealant, and attaching, by the control device (500), the skin to the applied sealant (S400), and Attaching the skin to the applied sealant (S400) by the control unit (500) and moving the skin adsorption unit (200) to its original position by the control unit (500). [20] Skin application control method according to claim 19, wherein receiving the position of the applied sealing agent from the camera sensor and determining, by the control device (500), whether the skin adsorption unit (200) is positioned over the applied sealing agent, comprises moving, by the control device (500), the skin adsorption unit (200) over the applied sealing agent if the skin adsorption unit (200) is not positioned over the applied sealing agent.

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