CN116810374A - Assembly line and method for automatically assembling vehicle door and vehicle door hinge - Google Patents
Assembly line and method for automatically assembling vehicle door and vehicle door hinge Download PDFInfo
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- CN116810374A CN116810374A CN202310906412.0A CN202310906412A CN116810374A CN 116810374 A CN116810374 A CN 116810374A CN 202310906412 A CN202310906412 A CN 202310906412A CN 116810374 A CN116810374 A CN 116810374A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000000007 visual effect Effects 0.000 claims abstract description 16
- 238000012546 transfer Methods 0.000 claims abstract description 12
- 238000009434 installation Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 230000017105 transposition Effects 0.000 claims description 4
- 238000005192 partition Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000012545 processing Methods 0.000 description 7
- 238000003825 pressing Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The utility model relates to an assembly line and a method for automatically assembling a vehicle door and a vehicle door hinge; the automatic vehicle door tightening device comprises a vehicle door carrying gripper, a vehicle door and hinge automatic assembly fixture, a vehicle door middle transfer table, a vehicle door visual positioning gripper, an AGV (automatic guided vehicle) dragging white vehicle body positioning system, a vehicle door automatic tightening system and an electric control system; the automatic assembly fixture for the vehicle door and the hinge identifies the appointed positions reached by the vehicle door and the hinge through the proximity switch, signals are obtained through the electric control system, and a tightening gun arranged on the automatic assembly fixture for the vehicle door and the hinge automatically tightens screws to appointed moment values; the AGV drags the white car body positioning system to drag the white car body to reach the appointed position; the automatic screwing system robot of the car door performs screw tightening when reaching the position where the car door of the white car body needs to be screwed; the utility model realizes the purpose of automatically assembling the door hinge and the door, can install the hinge in the closed state of the door, and automatically screw the door, thereby greatly reducing the repeated work of workers, reducing the labor intensity and improving the production efficiency.
Description
Technical Field
The utility model belongs to the technical field of automobile assembly, and relates to an assembly line and a method for automatically assembling a vehicle door and a vehicle door hinge.
Background
The automobile industry welds dress assembly line door and passes through hinged joint to door and white automobile body, the assembly is accomplished and is required to guarantee the X to the side wall and the relative positional relationship of Z to the door, simultaneously need to guarantee Y to the flatness relation of side wall, because hinge installation accuracy and bolt moment requirement are higher, traditional form needs the manual work to install the hinge line on the door, install on the white automobile body again, it closes the door, utilize the clearance gauge to detect X, Y, Z whether three direction is qualified, unqualified reopen the door passes through loosening the screw, the adjustment position, tighten the screw again, close the door, detect again, repeat above steps, until clearance qualified position, the requirement is very high for installer, frequent elasticity screw, also have certain wearing and tearing to the product.
Patent document CN214518726U discloses an automatic assembly line for automobile door hinges, which comprises a processing front section and a processing rear section, wherein the assembly line comprises a processing front section and a processing rear section, the processing front section comprises a first station, a second station, a third station, a fourth station, a fifth station and a sixth station, the processing rear section comprises a seventh station, an eighth station and a ninth station, and each station of the processing front section is arranged on a carrier rotary conveying line; the utility model optimizes the traditional assembly flow of the door hinge, ensures that the beat matching of each procedure is more reasonable, effectively improves the productivity, only needs one operator for the whole production line, greatly reduces the enterprise cost, simultaneously is provided with a large number of detection devices, improves the assembly precision, ensures reliable quality, ensures that the data generated in the production process can be searched in a traceable way, has ingenious layout of the assembly line, reduces the occupied area to the greatest extent and reduces the manufacturing cost.
The above patent documents differ from the present utility model in that:
the mounting part forms are different: the search patent adopts a pin shaft hinge mode, and the utility model automatically installs the vehicle door and the vehicle door hinge;
the search patent belongs to a wire body form and does not have a vehicle door assembly function, and the utility model adopts an island layout form and has a vehicle door automatic assembly function
The above-mentioned search patent adopts annular conveying line to convey the part, the utility model adopts AGV to drag and carry the white car body form to realize the part to convey.
Patent document N109079491a discloses an assembly line for an automotive door trim panel and an assembly method thereof, comprising a frame, a bottom plate, a mold, a positioning device, a pressing device, a robot and a PLC servo motor module; the bottom plate is arranged at the middle lower part of the frame, the clamping fixture is arranged on the bottom plate in a sliding way, a door inner decoration plate cavity is formed in the clamping fixture, and the positioning device is arranged in the door inner decoration plate cavity; the pressing device is arranged on the bottom plate and is positioned at the rear side of the sliding direction of the clamping fixture; robots are distributed and fixed on two sides of the frame along the sliding direction of the clamping fixture; the compressing device and the robot are respectively connected with the PLC servo motor module. The positioning accuracy and the stability of the door trim panel in the assembly process are ensured through the design of the positioning device and the pressing device; through the design of the first position sensor, the occurrence of neglected loading, wrong loading and the like is effectively avoided; according to the assembly method, under the control of the PLC servo motor module, the production beat of the station is reduced, and the production efficiency is effectively improved.
The above patent documents differ from the present utility model in that:
the above-mentioned search patent assembly door interior trim part includes: the utility model relates to a vehicle door part and a vehicle door hinge, which are assembled by a frame, a bottom plate, a clamping fixture, a positioning device and a pressing device.
The above-mentioned search patent adopts the conveying belt to transport the part, the utility model adopts AGV to drag and carry the white car body form to realize the part and transport.
Patent document CN102730099B provides a vehicle body assembly line and a vehicle body assembly method, which can achieve low cost and space saving, and which can be reattached to a vehicle body after the door is detached from the vehicle body and parts are assembled to the door. The vehicle door (D) is detached from the vehicle body (W) ((D1, D2) is attached to a door holding part (4) which is sent out to the lateral outside from the base (2), and parts are assembled to the vehicle door (D) while the door holding part (4) is kept in a state of being sent out to the lateral outside from the base (2) and holding the vehicle door (D) and the conveying tray (1) is conveyed from the upstream to the downstream. Then, the door (D) of the assembled part is detached from the door holding part (4) and mounted to the vehicle body (W).
The above patent documents differ from the present utility model in that:
the traditional assembly mode adopted by the patent search is manual assembly, and the utility model adopts a mode of automatically assembling the vehicle door by a robot.
The wire body forms are different: the utility model adopts island type transmission mode.
The installation modes are different: the utility model adopts a robot assembly mode, and only needs to go up and down the parts manually, thereby having low labor intensity.
Disclosure of Invention
The utility model aims to solve the technical problems in the prior art and provides an assembly line and a method for automatically assembling a vehicle door and a vehicle door hinge.
The utility model discloses an assembly line and a method for automatically assembling a vehicle door and a vehicle door hinge. The assembly line includes: the automatic automobile door and hinge assembly device comprises an automobile door upper part table, an automobile door carrying gripper, an automobile door and hinge automatic assembly clamp, an automobile door middle transposition table, an automobile door visual positioning gripper, an AGV dragging and loading white automobile body positioning system, an automobile door automatic tightening system, a screw placing table, an air point quick inserting type AGV charging pile, a cable bridge, an electric control system and a safety fence.
Aiming at the defects of the prior art, the utility model provides the method for automatically assembling the vehicle door and the vehicle door hinge, wherein the vehicle door is rotated on the white vehicle body through the hinge and needs to be frequently opened and closed, so that the installation accuracy and the bolt strength need to be strictly ensured, the conventional installation mode is manual installation, the hinge is manually installed on the vehicle door through a manual wrench, then the vehicle door is manually installed on the white vehicle body, the bolt is manually fastened, in the installation process, the position of the vehicle door needs to be repeatedly adjusted, namely the door needs to be repeatedly opened and closed, the bolt is repeatedly loosened and fastened, the manual labor intensity is high, the operation requirement on workers is high, the passing consistency of a plurality of vehicles is difficult to be ensured only through a clearance gauge, and the fastening moment of the bolt cannot be mastered.
The utility model aims to provide a method for automatically assembling a vehicle door and a vehicle door hinge, which can realize the purpose of automatically assembling the vehicle door hinge and the vehicle door, and can be used for installing the hinge under the state that the vehicle door is closed so as to automatically screw, thereby greatly reducing repeated work of workers, reducing labor intensity and improving production efficiency.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
In order to solve the technical problems, the utility model is realized by adopting the following technical scheme:
an assembly line for automatically assembling a vehicle door and a vehicle door hinge comprises a vehicle door carrying gripper 2, a vehicle door and hinge automatic assembly clamp 3, a vehicle door middle transfer table 4, a vehicle door visual positioning gripper 5, an AGV (automatic guided vehicle) dragging white vehicle body positioning system 6, a vehicle door automatic tightening system 7 and an electric control system 12;
the door carrying gripper 2 is used for gripping a door and a hinge and is placed on the door and hinge automatic assembly fixture 3;
the automatic assembly fixture 3 for the vehicle door and the hinge recognizes the appointed position reached by the vehicle door and the hinge through the proximity switch, a signal is obtained through the electric control system 12, a tightening gun arranged on the automatic assembly fixture 3 for the vehicle door and the hinge automatically tightens a screw to an appointed moment value, and after tightening is finished, the electric control system 12 obtains the signal to inform a robot on the carrying handle 2 for the vehicle door to the automatic assembly fixture 3 for the vehicle door and the hinge, and the vehicle door and the hinge are taken away and placed on the transfer table 4 in the vehicle door;
the AGV drags the white car body to reach the appointed position through the self-walking AGV;
the door visual gripper 5 obtains signals of the electric control system 12, and removes the door and the hinge from the door transfer table 4 to reach the white car body installation position;
the automatic screwing system 7 robot of the automobile door sucks the screw by utilizing the screwing shaft of the automatic screwing system, and the screw is screwed when the automatic screwing system reaches the position of the automobile body-in-white automobile door, so that the purpose of automatically screwing the screw is realized.
Further, an assembly line for automatically assembling a door and a door hinge, characterized in that:
the automatic charging system also comprises an electro-pneumatic quick plug 9 and an AGV charging pile 10;
AGV fills electric pile 10 and AGV butt joint, charges, the gas electricity inserts 9 soon and dock electric signal and white automobile body anchor clamps, and the cylinder presss from both sides tightly white automobile body, and white automobile body reaches accurate position smoothly.
Further, a camera is installed on the door visual gripper 5 to shoot the white car body position, position deviation between the door and the white car body is calculated, and the deviation value is automatically converted into the offset of the robot and transmitted to the robot of the door visual gripper 5.
Further, the camera is used for photographing whether the calculated deviation value accords with the theoretical value or not, and accurate installation is guaranteed.
During the screw tightening to the body in white, the tightening shaft itself has a feed of 25mm in the screw feed direction.
Further, an assembly line for automatically assembling a vehicle door and a vehicle door hinge further comprises a vehicle door and a hinge upper part table 1; the door and hinge upper piece table 1 is used for placing a door and a door hinge, and the door carrying grip 2 grabs the door and the hinge from the door and hinge upper piece table 1.
Further, the assembly line for automatically assembling the vehicle door and the vehicle door hinge further comprises a screw placing table 8, wherein the screw placing table 8 is arranged beside the robot of the vehicle door automatic tightening system 7 and is used for storing screws.
Further, an assembly line for automatically assembling a door and a door hinge, further comprises a cable bridge 11; the cable bridge 11 is characterized in that cables, air pipes, signal wires and network wires are arranged in the wire slots and orderly separated through the partition plates, so that the cross is avoided, and various signals and electric media are conveyed to a required position.
Further, an assembly line for automatically assembling a door and a door hinge further includes a safety fence 13; the safety fence 13 comprises fence, emergency exit, rolling slats door, has manual operation region to be equipped with the scanner, in case the unexpected condition takes place, the robot can trigger the safety signal, stop operation, is equipped with the emergency exit on the emergency exit, starts the emergency exit when needing to overhaul, the whole stop of line body equipment.
A method of automatically assembling a vehicle door and a door hinge, comprising:
the door handling gripper 2 grabs the door and the hinge from the door and the hinge loading platform 1 and places the door and the hinge on the door and the hinge automatic assembly fixture 3, screws are installed on tightening gun sleeves on the door and the hinge automatic assembly fixture 3, the door and the hinge automatic assembly fixture 3 recognizes that the door and the hinge reach the designated positions through a proximity switch, signals are obtained through the electric control system 12, the tightening gun automatically tightens the screws to the designated moment values, and after the tightening is completed, the electric control system 12 obtains signals to inform a robot on the door handling gripper 2 to the door and the hinge automatic assembly fixture 3 to take away the door and the hinge and place the door and the hinge on the transposition platform 4 in the door;
the AGV drags the white car body to reach the appointed position through self-walking AGV drags the white car body, drag and carry the white car body clamp and accurately drop to the positioning clamp, AGV fills electric pile 10 and charges with AGV, the gas electricity inserts 9 soon and docks electric signal and white car body clamp, the cylinder clamps the white car body, the white car body reaches the accurate position, the car door vision gripper 5 obtains the signal of electric control system 12, pick up car door from the car door transpose table 4, reach the area near the white car body mounting position, shoot white car body position through the camera installed on car door vision gripper 5, recalculate the position deviation between car door and the white car body, transfer the deviation value into the robot of the offset of robot for car door vision gripper 5 automatically, this robot reaches the appointed position according to the position after calculating once;
the automatic screwing system 7 robot of the automobile door sucks the screw by utilizing the screwing shaft of the automatic screwing system, and the screw is screwed when the automatic screwing system reaches the position where the automobile door of the white automobile body needs to be screwed, so that the purpose of automatically screwing the screw is realized.
Further, in the assembly line for automatically assembling the vehicle door and the vehicle door hinge, in the process of screwing the screw into the white vehicle body, the screw-tightening shaft has 25mm feeding amount in the screw feeding direction, and a robot is not required to offset through a program to adapt to the feeding of the screw;
the vehicle door visual gripper 5 leaves the white vehicle body, the white vehicle body positioning clamp is opened, the gas-electric quick plug 9 is opened, the AGV lifts the clamp to leave the station, and the whole automatic assembly process is realized.
Compared with the prior art, the utility model has the beneficial effects that:
according to the utility model, the door hinge is automatically mounted on the door through the tool fixture, the consistency is ensured by the fixture, the torque wrench is integrated on the fixture, the torque is ensured to be consistent, the operation is simplified by only manually mounting and dismounting the door, the door is assembled on the white automobile body, the door can be accurately placed at the relative position of the white automobile body through the robot with the visual gripper positioning system, no manual intervention is required, the torque is controllable and the quality is controllable by automatically screwing the bolts through screwing the robot, and the utility model adopts an automatic assembly scheme, so that the defects in the prior art are overcome, the manual labor intensity is greatly reduced, and the product assembly quality is improved.
Drawings
The utility model is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic plan view of an assembly line for automatically assembling a door and door hinge according to the present utility model;
FIG. 2 is a schematic diagram of the AGV fixture positioning system;
FIG. 3 is a schematic view of a screw assembly of a door and hinge;
FIG. 4 is a schematic view of the assembly of the tightening shaft tightening the door screw;
in the figure:
1. a door and a hinge mounting table;
2. a door carrying gripper;
3. the door and the hinge are automatically assembled with the clamp;
4. a transfer table in the vehicle door;
5. a vehicle door visual positioning gripper;
6. AGV drags and carries white automobile body positioning system;
7. an automatic tightening system for the vehicle door;
8. a screw placement table;
9. quick inserting of gas points;
10. AGV charging pile'
11. A cable bridge;
12. an electrical control system;
13. and (5) a safety fence.
Detailed Description
In order to make the objects, technical solutions and advantages of the present utility model become more apparent, the technical solutions in the embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings in the embodiments of the present utility model. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the utility model. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. Embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.
In the description of the present utility model, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present utility model.
The utility model is described in detail below with reference to the attached drawing figures:
referring to fig. 1, 2, 3 and 4, the present utility model is an assembly line and an assembly method for automatically assembling a door and a door hinge, the assembly line body comprising: the automatic automobile door and hinge assembly device comprises an automobile door upper part table 1, an automobile door carrying gripper 2, an automobile door and hinge automatic assembly clamp 3, an automobile door middle transfer table 4, an automobile door visual positioning gripper 5, an AGV dragging white automobile body positioning system 6, an automobile door automatic tightening system 7, a screw placing table 8, an air point quick plug 9, an AGV charging pile 10, a cable bridge 11, an electric control system 12 and a safety fence 13.
The main functions of the door and hinge loading platform 1 are that a door hinge and a door are manually loaded onto the door and door loading platform respectively, the door and door hinge are respectively grabbed by the door carrying grippers 2 to the door and hinge loading platform 1, the door and door hinge automatic assembly clamps 3 are placed, a roller shutter door button is manually shot, screws are mounted on tightening gun sleeves above the door and hinge automatic assembly clamps 3 and leave, the clamps recognize that the door and the hinge reach a designated position through a proximity switch, signals are obtained through the electric control system 12, the tightening gun automatically tightens the screws to a designated moment value, and after tightening, the electric control system 12 obtains signals to inform the door and hinge carrying grippers to the door and hinge automatic assembly clamps 3 to take away the door and place the door to the door middle transposition platform 4.
AGV drags and carries white automobile body positioning system 6 drags and carries white automobile body through self walking AGV and reaches the assigned position, AGV itself possesses the raising and lowering function, the AGV drops, drag and carry white automobile body anchor clamps and accurately fall to the positioning fixture, AGV fills electric pile 10 and the butt joint of AGV, charge, at this moment, the gas electricity inserts 9 soon and begins work, dock electric signal and white automobile body anchor clamps, the cylinder presss from both sides the white automobile body, the white automobile body reaches the exact position smoothly, door vision gripper 5 obtains electric control system 12's signal, transpose platform 4 takes away the inner panel in the door, reach the near (5 mm) region of white automobile body mounted position through the robot procedure, shoot white automobile body position through 9 cameras that install on door vision gripper 5, recalculate the position deviation between door and the white automobile body, transfer the offset of robot for door vision gripper 5 with offset after the offset automatic conversion of offset, this robot reaches the assigned position according to the position once, utilize the camera to shoot again and calculate the offset that this moment and accord with the theoretical value, ensure accurate target in place.
The automatic car door tightening system 7 is characterized in that a robot absorbs screws from a screw placing table 8 by using a tightening shaft with the robot, the screws are tightened at positions where the car door of the white car body needs to be screwed, the purpose of automatic screw tightening is achieved, the screw tightening shaft has 25mm of feeding quantity in the screw feeding direction in the process of screwing the screws to the white car body, and the robot does not need to offset through a program to adapt to the feeding of the screws.
The vehicle door visual gripper 5 leaves the white vehicle body, the white vehicle body positioning clamp is opened, the gas-electric quick plug 9 is opened, the AGV lifts the clamp to leave the station, and the whole automatic assembly process is realized.
The electrical control system 12 is composed of a BS cabinet body, an SV, a robot control cabinet, a vision control cabinet and other control systems, wherein the SV cabinet is a power supply cabinet for supplying power to each power supply equipment, the BS cabinet body is a PLC control cabinet body for carrying out sequential transmission on signals of each station, the ordered operation of the wire bodies is ensured, the cable bridge 11 is formed by arranging cables, air pipes, signal wires and network wires in the wire slots, orderly separating the cable bridge through the partition plates, avoiding crossing, and conveying each signal and electrical medium to a required position. The safety fence 13 comprises fence, emergency exit, rolling slats door, has manual operation region to be equipped with the scanner, in case the unexpected condition takes place, the robot can trigger the safety signal, stop operation, plays the purpose of guarantee personnel operation safety, is equipped with the emergency exit on the emergency exit, sets up the program into the PLC system, starts the emergency exit when needing to overhaul, the whole stop of line body equipment.
The utility model realizes the purpose of automatically assembling the door hinge and the door, can install the hinge in the closed state of the door, and automatically screw the door, thereby greatly reducing the repeated work of workers, reducing the labor intensity and improving the production efficiency. Can be widely applied in the whole industry.
The foregoing is merely illustrative of specific embodiments of the present utility model, and the scope of the utility model is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present utility model will be apparent to those skilled in the art within the scope of the present utility model. And all that is not described in detail in this specification is well known to those skilled in the art.
Claims (10)
1. An assembly line for automatically assembling a vehicle door and a vehicle door hinge, which is characterized in that: the automatic automobile door tightening device comprises an automobile door carrying gripper (2), an automobile door and hinge automatic assembly fixture (3), an automobile door middle transfer table (4), an automobile door visual positioning gripper (5), an AGV dragging white automobile body positioning system (6), an automobile door automatic tightening system (7) and an electric control system (12);
the vehicle door carrying grippers (2) are used for grabbing vehicle doors and hinges and are placed on the vehicle door and hinge automatic assembly clamps (3);
the automatic assembly fixture (3) for the vehicle door and the hinge identifies the appointed position reached by the vehicle door and the hinge through the proximity switch, signals are obtained through the electric control system (12), a tightening gun arranged on the automatic assembly fixture (3) for the vehicle door and the hinge automatically tightens a screw to an appointed moment value, and after tightening is finished, the electric control system (12) obtains signals to inform a robot on the carrying gripper (2) for the vehicle door to the automatic assembly fixture (3) for the vehicle door and the hinge, and the robot is taken away from the vehicle door and the hinge and placed on the transposition table (4) in the vehicle door;
the AGV drags the white car body positioning system (6) to drag the white car body to a designated position through the self-walking AGV;
the vehicle door visual gripper (5) obtains signals of the electric control system (12), and removes the vehicle door and the hinge from the vehicle door transfer table (4) to reach the white vehicle body installation position;
the automatic screwing system (7) of the automobile door is characterized in that the robot sucks the screw by using a screwing shaft with the robot, and the screw is screwed when the robot reaches the position of the automobile body-in-white automobile door, so that the purpose of automatically screwing the screw is realized.
2. An assembly line for automatically assembling a vehicle door and a vehicle door hinge as claimed in claim 1, wherein:
the automatic charging device also comprises an electro-pneumatic quick plug (9) and an AGV charging pile (10);
AGV fills electric pile (10) and AGV butt joint, charges, the gas electricity inserts (9) soon with electric signal and white automobile body anchor clamps butt joint, and the cylinder presss from both sides tightly white automobile body, and white automobile body reaches accurate position smoothly.
3. An assembly line for automatically assembling a vehicle door and a vehicle door hinge as claimed in claim 2, wherein:
the vehicle door visual gripper (5) is provided with a camera to shoot the position of the white vehicle body, calculate the position deviation between the vehicle door and the white vehicle body, and automatically convert the deviation value into the offset of the robot to be transmitted to the robot of the vehicle door visual gripper (5).
4. An assembly line for automatically assembling a vehicle door and a door hinge as claimed in claim 3, wherein:
the camera is used for photographing whether the calculated deviation value accords with the theoretical value or not, and accurate installation in place is ensured.
During the screw tightening to the body in white, the tightening shaft itself has a feed of 25mm in the screw feed direction.
5. An assembly line for automatically assembling a vehicle door and a vehicle door hinge as claimed in claim 4, wherein:
the device also comprises a vehicle door and a hinge upper part table (1); the door and hinge upper piece table (1) is used for placing a door and a door hinge, and the door carrying gripper (2) is used for grabbing the door and the hinge from the door and hinge upper piece table (1).
6. An assembly line for automatically assembling a vehicle door and a vehicle door hinge as claimed in claim 5, wherein:
the automatic car door tightening system further comprises a screw placing table (8), wherein the screw placing table 8 is arranged beside a car door automatic tightening system (7) robot and is used for storing screws.
7. An assembly line for automatically assembling a vehicle door and a vehicle door hinge as claimed in claim 6, wherein:
also comprises a cable bridge (11); the cable bridge (11) is characterized in that cables, air pipes, signal wires and network wires are arranged in the wire slots and orderly separated through the partition plates, so that the cross is avoided, and all signals and electric media are conveyed to a required position.
8. An assembly line for automatically assembling a vehicle door and a vehicle door hinge as claimed in claim 7, wherein:
also comprises a safety fence (13); the safety fence (13) consists of a fence, a safety door and a rolling door, wherein a scanner is arranged in a manual operation area, and once an accident occurs, the robot can trigger a safety signal to stop running, the safety door is provided with a safety door lock, the safety door is started when maintenance is needed, and line body equipment is completely stopped.
9. A method of automatically assembling a vehicle door and a door hinge, comprising:
the vehicle door handling gripper (2) grabs a vehicle door and a hinge from a vehicle door and hinge loading platform (1), places the vehicle door and the hinge on an automatic vehicle door and hinge assembling clamp (3), installs screws on a tightening gun sleeve on the automatic vehicle door and hinge assembling clamp (3), recognizes that the vehicle door and the hinge reach a specified position through a proximity switch, obtains signals through an electric control system (12), automatically tightens the screws to a specified moment value through the tightening gun, and after tightening, the electric control system (12) obtains signals to inform a robot on the vehicle door handling gripper (2) to the automatic vehicle door and hinge assembling clamp (3), removes the vehicle door and the hinge and places the vehicle door and the hinge on a vehicle door middle transfer platform (4);
an AGV drags and carries a white car body positioning system (6) to reach a designated position by self-walking AGV, drags and carries a white car body clamp to accurately fall onto the positioning clamp, an AGV charging pile (10) is in butt joint with the AGV to charge, an electro-pneumatic quick plug (9) is used for butting an electric signal with the white car body clamp, an air cylinder clamps the white car body, the white car body reaches an accurate position, a car door vision gripper (5) obtains a signal of an electric control system (12), a car door is taken away from a car door middle transfer table (4) to reach a region near the installation position of the white car body, a camera arranged on the car door vision gripper (5) is used for shooting the white car body position, the position deviation between the car door and the white car body is recalculated, the deviation value is automatically converted into the offset of the robot, and the offset value is transmitted to the robot of the car door vision gripper (5) according to the calculated position, and the robot reaches the designated position once;
the automatic screwing system (7) of the automobile door is characterized in that the robot absorbs screws by using a screwing shaft of the robot, and screws are screwed when the robot reaches the position of the automobile body-in-white automobile door, wherein the position is required to screw, so that the purpose of automatically screwing the screws is achieved.
10. A method of automatically assembling a vehicle door and door hinge as in claim 9, wherein:
in the process of screwing the screw into the white automobile body, the screw-tightening shaft has a feeding amount of 25mm in the screw feeding direction, and a robot is not required to offset through a program to adapt to the feeding of the screw;
the car door visual gripper (5) leaves the white car body, the white car body positioning clamp is opened, the gas-electricity quick plug (9) is opened, the AGV lifts the clamp to leave the station, and the whole automatic assembly process is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310906412.0A CN116810374A (en) | 2023-07-24 | 2023-07-24 | Assembly line and method for automatically assembling vehicle door and vehicle door hinge |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310906412.0A CN116810374A (en) | 2023-07-24 | 2023-07-24 | Assembly line and method for automatically assembling vehicle door and vehicle door hinge |
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| CN116810374A true CN116810374A (en) | 2023-09-29 |
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| CN202310906412.0A Pending CN116810374A (en) | 2023-07-24 | 2023-07-24 | Assembly line and method for automatically assembling vehicle door and vehicle door hinge |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119328456A (en) * | 2024-12-06 | 2025-01-21 | 南京凯微机电科技有限公司 | Automatic installation device for door hinge |
| CN119750158A (en) * | 2025-03-07 | 2025-04-04 | 上海申众捷科技有限公司 | An automatic detection and identification device based on a work island production line |
-
2023
- 2023-07-24 CN CN202310906412.0A patent/CN116810374A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119328456A (en) * | 2024-12-06 | 2025-01-21 | 南京凯微机电科技有限公司 | Automatic installation device for door hinge |
| CN119328456B (en) * | 2024-12-06 | 2025-12-05 | 南京凯微机电科技有限公司 | An automatic door hinge installation device |
| CN119750158A (en) * | 2025-03-07 | 2025-04-04 | 上海申众捷科技有限公司 | An automatic detection and identification device based on a work island production line |
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