Whole vehicle assembly method for practical training new energy model vehicles in universities and colleges

Abstract

The invention relates to the technical field of practical training teaching equipment manufacturing, in particular to a whole vehicle assembling method for practical training new energy model vehicles in universities and colleges. The complete vehicle assembly line for the practical training new energy model vehicles in the colleges and the institutions comprises a machining unit, a blank warehouse, a waste warehouse, a component warehouse, a wheel assembling unit, a chassis assembling unit, a vehicle body assembling unit, a vehicle door assembling unit, a packaging unit and a finished product delivery unit which are arranged in an I shape according to the process sequence. Thus, on one hand, mainstream equipment and tools of industrial standards are adopted by all the functional units, the industrial field environment is simulated, and a high-precision, high-reliability and high-safety intelligent manufacturing teaching and application platform capable of being in butt joint with enterprise-level production is constructed; and on the other hand, in consideration of meeting the field area of universities and colleges, reducing the purchase cost of the whole line and facilitating teaching and practical operation of students, the assembly units are relatively independent and associated, and the actual production condition can be simulated.

Description

Technical Field

[0001] The invention relates to the technical field of practical training teaching equipment manufacturing, in particular to a whole vehicle assembly method of a new energy model vehicle for practical training in colleges and universities. Background Art

[0002] New energy vehicles refer to vehicles that use unconventional automotive fuels as a power source and integrate advanced technologies in vehicle power control and drive to form advanced technical principles, new technologies, and new structures. In recent years, China's new energy vehicle industry has developed rapidly, not only occupying an important position in the domestic market, but also emerging on the international stage. With the development of the new energy vehicle industry, automobile manufacturers have an increasing demand for automation professionals. However, the current training of automation professionals lacks relevant new energy vehicle training equipment, resulting in students' weak actual operation level. After entering the factory, they still need a long period of training to be competent for the job.

[0003] In order to help students fully understand the operating principles of new energy vehicle assembly, improve their hands-on ability, and have a preliminary understanding of advanced manufacturing technologies such as intelligent manufacturing technology and digital twin technology, application programming, intelligent sensing, intelligent detection, machine learning, industrial Internet, and intelligent management and control, some vocational colleges have introduced new energy vehicle manufacturing as a teaching object in the mechanical major. New energy vehicle production lines are very different from traditional vehicle production lines. In addition to the need to produce various parts required for traditional vehicles, it is also necessary to produce core components of new energy vehicles such as battery management systems, electric motors, and electronic control systems. The design structure of the industrial new energy vehicle assembly line is complex, the purchase cost is high, and the site area is huge, which obviously exceeds the affordability of colleges and universities. Moreover, in the prior art, no relevant technical content on the practical training of new energy model vehicle assembly lines in colleges and universities has been retrieved. Therefore, technical personnel are urgently needed to solve the above problems Summary of the invention

[0004] Therefore, in view of the above-mentioned existing problems and defects, the designers of the present invention collected relevant information, conducted multiple evaluations and considerations, and continued to experiment and modify the method after many years of R&D experience in this industry, which ultimately led to the emergence of a whole vehicle assembly method for new energy model vehicles for practical training in colleges and universities.

[0005] In order to solve the above technical problems, the present invention relates to a method for assembling a whole vehicle of a new energy model car for practical training in colleges and universities, which is implemented by means of a whole vehicle assembly line for a new energy model car for practical training in colleges and universities, and the number of parts and assemblies is continuously increased and orderly combined with each other to form a whole vehicle of a new energy model car. The whole vehicle assembly line for a new energy model car for practical training in colleges and universities comprises a machining unit, a blank warehouse, a scrap warehouse, a component warehouse, a wheel assembly unit, a chassis assembly unit, a body assembly unit, a door assembly unit, a packaging unit and a finished product delivery unit, wherein the machining unit, the wheel assembly unit, the chassis assembly unit, the body assembly unit, the door assembly unit, the packaging unit and the finished product delivery unit are arranged in an I-type according to the process sequence.

[0006] The whole vehicle assembly method of the new energy model vehicle for practical training in colleges and universities includes the following steps:

[0007] S1. During the work of the machining unit, the trainees use the ERP and MES systems to place customized product orders. The machining transfer equipment takes the wheel hub blanks or engine blanks out of the blank warehouse in turn and transports them to the turning and milling compound center and the five-axis machining center for machining. At the same time, the stacker moves the load tray to the in-and-out platform. After the machining process is completed, the machining transfer equipment puts the finished wheel hub or engine into the automatic cleaning machine for cleaning and drying. Then, the finished wheel hub or engine is placed on the platform. The finished products are placed on the three-coordinate inspection table for dimensional accuracy inspection. The qualified finished wheel hubs or engine products are put back on the loading tray and transported to the component warehouse for standby with the assistance of the palletizer. The unqualified finished wheel hubs or engine products are sorted into the scrap warehouse. Then, the machining transfer equipment grabs the wheel hub blanks or engine blanks from the blank warehouse again, and undergoes machining, cleaning, and dimensional accuracy inspection in sequence, and transports the qualified finished wheel hubs or engine products to the component warehouse for standby.

[0008] S2. During the work stage of the wheel assembly unit, when the heavy-loaded pallet carrying the model car chassis enters the wheel assembly station, the left wheel assembly robot takes out the qualified finished wheel hub from the component library, and performs laser marking on it with the help of a marking machine to generate a personalized customized pattern on its surface, and performs pattern appearance inspection with the help of its terminal intelligent 2D vision system, and then presses the finished wheel hub with qualified pattern and the tire together to generate a wheel. Subsequently, the right wheel assembly robot picks up the wheel under the guidance of its terminal 3D vision system and continues to move to assemble it on the model car chassis; and the finished wheel hub with unqualified pattern is sorted into the scrap warehouse;

[0009] S3. During the chassis assembly unit work phase, when the load tray carrying the model car chassis enters the chassis assembly station, the composite transport machine picks up the finished engine, battery pack, seat and instrument panel from the component library and transports them to the chassis assembly station; then, the chassis assembly robots arranged on both sides of the chassis assembly station cooperate with each other and assemble the finished engine, battery pack, seat and instrument panel on the model car chassis in sequence under the guidance of the 3D vision system at the end;

[0010] S4. During the work stage of the body assembly unit, when the load tray carrying the chassis of the model car enters the body assembly station, the left-mounted body assembly robot takes the body from the component library and places it on the body assembly station, and replaces the end tools to perform welding, grinding, and spraying operations on the body respectively; then, the left-mounted body assembly robot assembles the body on the chassis of the model car under the guidance of its end global 3D vision system; then, the right-mounted body assembly robot assembles the front and rear windshields on the body in sequence under the guidance of its end global 3D vision system;

[0011] S5. During the work of the door assembly unit, when the load tray carrying the model car chassis enters the body assembly station, the door assembly robot, under the guidance of the 3D vision system at its end, transfers the door sample to the stamping machine and performs the pressing operation to form the finished door. Then, the door assembly robot moves again to pick up the finished door and assemble it on the body.

[0012] S6. During the work of the packaging unit, when the load tray carrying the whole model car enters the packaging station, the left packaging robot, under the guidance of the 3D vision system at its end, grabs the packaging box and places it on the packaging operation platform, and opens the box cover; then, the left packaging robot continues to move to take the whole model car from the load tray, put it into the packaging box, and seal the box cover to form a semi-finished model car packaging; then, the right packaging robot picks up the semi-finished model car packaging, and transports it to the strapping machine and the labeling machine in sequence, completes the strapping and labeling operations accordingly, and the model car packaging finished product is formed; then, the visual inspection device takes a surface image of the model car packaging finished product and determines whether its appearance quality meets the acceptance criteria;

[0013] S7. During the work of the finished product delivery unit, the composite transport machinery is activated to transport the model car packaged finished product to the finished product delivery position, or the new energy model car conveyor line is activated to transport the model car packaged finished product to the finished product storage warehouse to complete the finished product delivery.

[0014] As a further improvement of the technical solution disclosed in the present invention, the component warehouse is a comprehensive warehouse, which is equipped with a palletizing partition for model car chassis, a palletizing partition for finished wheel hubs, a palletizing partition for finished engines, a palletizing partition for battery packs, a palletizing partition for seats, a palletizing partition for instrument panels, a palletizing partition for front and rear windshields, and a palletizing partition for door samples. The scrap warehouse is also a comprehensive warehouse, which is equipped with a palletizing partition for defective wheel hubs, a palletizing partition for defective engines, a palletizing partition for defective doors, and a palletizing partition for defective model car packaging.

[0015] As a further improvement of the technical solution disclosed in the present invention, the component warehouse and the scrap warehouse are arranged in the vacant area between the machining unit and the wheel assembly unit, and the two are placed adjacent to each other. The blank warehouse is arranged in the adjacent area of ​​the machining unit.

[0016] As a further improvement of the technical solution disclosed in the present invention, the composite transport machine includes a mobile robot and a loading and unloading robot. The loading and unloading robot is used to perform picking and dropping operations on materials. The mobile robot is used to carry the loading and unloading robot along a specified route and track.

[0017] As a further improvement of the technical solution disclosed in the present invention, the wheel assembly unit, the chassis assembly unit, the body assembly unit, the door assembly unit, and the packaging unit are all independently equipped with a robot flexible assembly system with a similar design structure.

[0018] As a further improvement of the technical solution disclosed in the present invention, taking the wheel assembly unit as an example, the robot flexible assembly system includes a wheel assembly robot, a tool quick change device, an execution tool and a storage tool. The storage tool is used to temporarily store a variety of execution tools with different functions, which are arranged in the vicinity of the wheel assembly robot. The tool quick change device consists of a main tray and a tool tray. The main tray is installed on the front arm of the wheel assembly robot, and the tool tray is matched and installed on each execution tool.

[0019] As a further improvement of the technical solution disclosed in the present invention, the shelving tool includes a base plate, a support unit, a support plate and a positioning unit. The support plate is arranged in parallel directly above the base plate and separated by a set distance. The support unit serves as a connection transition between the base plate and the support plate. The support plate is formed with a plurality of avoidance notches that facilitate the supporting execution tool. The positioning unit is used to match the execution tool, and under its auxiliary action, the plane freedom of the execution tool can be limited to zero.

[0020] As a further improvement of the technical solution disclosed in the present invention, the positioning unit includes a gripper connecting plate, a first cylindrical pin and a second cylindrical pin. The gripper connecting plate serves as a connection transition between the tool plate and the execution tool, the top wall serves as the assembly base of the tool plate, and the bottom wall serves as the assembly base of the execution tool. The first cylindrical pin and the second cylindrical pin are both inserted into the support plate in a vertical state and are spaced apart by a set distance. The first cylindrical pin and the second cylindrical pin cooperate to limit the plane freedom of the gripper connecting plate. The gripper connecting plate is composed of a plate body, a left gripper, a right gripper, a front gripper and a rear gripper. The left gripper, the right gripper, the front gripper and the rear gripper are all extended in four directions by the outer wall of the plate body. An oblong positioning hole that matches the first cylindrical pin is formed on the front gripper. A circular positioning hole that matches the second cylindrical pin is formed on the rear gripper.

[0021] As a further improvement of the technical solution disclosed in the present invention, the packaging unit includes a finished product conveyor line, a new energy model car whole vehicle conveyor line, a left-placed packaging robot, a right-placed packaging robot, a packaging box supply device, a packaging operation platform, a strapping machine and a labeling machine. The right-placed packaging robot is arranged behind the finished product conveyor line, and it has the functions of grabbing packaging boxes, grabbing new energy model car whole vehicles and packaging boxes. The new energy model car whole vehicle conveyor line, the packaging box supply device and the packaging operation platform are all covered by the motion range of the right-placed packaging robot. The left-placed packaging robot is arranged in front of the finished product conveyor line, and with its assistance, the semi-finished new energy model car whole vehicle packaging completed through the packaging operation platform is sequentially transferred to the strapping machine and the labeling machine to form the finished new energy model car whole vehicle packaging product, and then continues to flow to the finished product conveyor line.

[0022] As a further improvement of the technical solution disclosed in the present invention, the packaging box supply device includes a bearing platform, a packaging box storage box, a support bracket, a packaging box limiting unit and a packaging box pushing unit. The support bracket is detachable to achieve fixation with the bearing platform. The packaging box storage box is stacked and fixed on the support bracket. The packaging box storage box has an upper opening and a lower opening. The stacked packaging boxes are placed in the packaging box storage box through the upper opening, and continue to fall through the lower opening until they fall on the bearing platform. The packaging box pushing unit and the packaging box limiting unit are both installed on the bearing platform and are arranged directly behind and in front of the support bracket, respectively. The packaging box on the bottom layer goes out of the support bracket due to the pushing force from the packaging box pushing unit, and continues to translate until its relative position is determined under the action of the packaging box limiting unit.

[0023] As a further improvement of the technical solution disclosed in the present invention, the bearing platform is composed of a support frame and a bearing panel. The packaging box ejection unit includes a linear motion element, a sheet metal transmission member, an ejection plate and a guide assembly. The ejection plate is placed flat on the bearing panel, and with the assistance of the guide assembly, it performs displacement movement in a directional manner along the front and rear directions, so that the packaging box can be accurately pushed. The linear motion element uses the bottom wall of the bearing panel as the installation base, and it uses the sheet metal transmission member to transmit the driving force to the ejection plate. The bearing panel is provided with an avoidance notch for the sheet metal transmission member to freely perform translational movement.

[0024] In practical applications, the whole vehicle assembly method of the new energy model vehicle for practical training in colleges and universities disclosed in the present invention can achieve at least the following beneficial technical effects, specifically:

[0025] 1) The whole vehicle assembly line of new energy model vehicles for practical training in colleges and universities includes machining units, wheel assembly units, chassis assembly units, body assembly units, door assembly units, packaging units and finished product delivery units. It adopts mainstream equipment and tooling of industrial standards, simulates the industrialized on-site environment, takes new energy model vehicles as the simulated assembly object, and builds a high-precision, high-reliability and high-security intelligent manufacturing teaching and application platform that can be connected with enterprise-level production;

[0026] 2) Considering the need to meet the needs of colleges and universities and reduce the procurement cost of the entire line, and to facilitate teaching and student practice, the machining unit, wheel assembly unit, chassis assembly unit, body assembly unit, door assembly unit, packaging unit and finished product delivery unit are all modularly designed, and each assembly unit is relatively independent and interrelated, which can simulate the actual production situation, so that students can gradually learn, understand and master the production process and equipment operation principle of new energy vehicles;

[0027] 3) Considering the need to meet the needs of college site area and reduce the cost of purchasing the entire line, the functional units of the assembly line for new energy model vehicles used in college practical training are highly configurable and can be flexibly adjusted according to the models and specifications of new energy model vehicles to meet different course contents and teaching objectives;

[0028] 4) By participating in the practical training of new energy model vehicle assembly lines in colleges and universities, students can become familiar with the basic principles, technical characteristics and application methods of industrial new energy vehicle assembly lines through practical operations. Furthermore, thanks to the modular design understanding of each functional unit, students can also participate in the practical training of new energy model vehicle assembly lines to various links such as construction, debugging, operation and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a schematic diagram of the process flow of the whole vehicle assembly method of the new energy model vehicle for practical training in colleges and universities disclosed in the present invention.

[0031] Figure 2 It is a schematic diagram of the workshop layout of the whole vehicle assembly line of the new energy model vehicle for practical training in colleges and universities disclosed in the present invention.

[0032] Figure 3 The present invention discloses a schematic diagram of the workshop layout of a machining unit in a whole vehicle assembly line for practical training of new energy model vehicles for colleges and universities.

[0033] Figure 4 The present invention discloses a workshop layout diagram of a wheel assembly unit in a whole vehicle assembly line for practical training of new energy model vehicles for colleges and universities.

[0034] Figure 5 The present invention discloses a workshop layout diagram of a robot flexible assembly system in a whole vehicle assembly line for practical training of new energy model vehicles in colleges and universities.

[0035] Figure 6 It is a diagram of the actual application state of shelving tooling in the whole vehicle assembly line of the new energy model vehicle for practical training in colleges and universities disclosed by the present invention.

[0036] Figure 7 The invention discloses a three-dimensional schematic diagram of shelving tooling in a whole vehicle assembly line for practical training of new energy model vehicles in colleges and universities.

[0037] Figure 8 This is a structural schematic diagram of the positioning unit in the whole vehicle assembly line of the new energy model vehicle for practical training in colleges and universities disclosed in the present invention (the tool tray and the execution tool are both shown in the form of double-dotted lines)

[0038] Fig. 9 It is a three-dimensional schematic diagram of a hand gripper connection plate in a whole vehicle assembly line for practical training of new energy model vehicles in colleges and universities disclosed by the present invention.

[0039] Fig.10 The present invention discloses a schematic diagram of the workshop layout of a chassis assembly unit in a whole vehicle assembly line for practical training of new energy model vehicles in colleges and universities.

[0040] Fig.11The present invention discloses a schematic diagram of the workshop layout of a body assembly unit in a whole vehicle assembly line for practical training of new energy model vehicles in colleges and universities.

[0041] Fig.12 The present invention discloses a workshop layout diagram of a door assembly unit in a whole vehicle assembly line for practical training of new energy model vehicles for colleges and universities.

[0042] Fig.13 The present invention discloses a schematic diagram of the workshop layout of a packaging unit in a whole vehicle assembly line for practical training of new energy model vehicles in colleges and universities.

[0043] Fig.14 It is a three-dimensional schematic diagram of a packaging unit in a whole vehicle assembly line for practical training of new energy model vehicles for colleges and universities disclosed in the present invention.

[0044] Fig.15 The invention discloses a three-dimensional schematic diagram of a packaging box supply device in a whole vehicle assembly line for practical training of new energy model vehicles in colleges and universities.

[0045] Fig.16 yes Fig.15 Top view of the .

[0046] Fig.17 yes Fig.16 AA section view.

[0047] Fig.18 The invention discloses a stereoscopic schematic diagram of a packaging box ejection unit in a whole vehicle assembly line for practical training of new energy model vehicles in colleges and universities.

[0048] Fig.19 The present invention discloses a schematic diagram of the state of a support bracket, a packaging box limiting unit and a guide component after being assembled relative to a bearing platform in a whole vehicle assembly line for practical training of new energy model vehicles for colleges and universities.

[0049] Fig. 20 It is a three-dimensional schematic diagram of a visual inspection device in a whole vehicle assembly line for practical training of new energy model vehicles in colleges and universities disclosed by the present invention.

[0050] Fig.21 It is a schematic diagram of the workshop layout of the finished product delivery unit in the whole vehicle assembly line of the new energy model vehicle for practical training in colleges and universities disclosed in the present invention.

[0051] 1- machining unit; 11- machining transfer equipment; 12- turning and milling center; 13- five-axis machining center; 14- automatic cleaning machine; 15- visual inspection table; 16- three-coordinate inspection table; 2- blank warehouse; 3- scrap warehouse; 4- component warehouse; 5- wheel assembly unit; 51- left wheel assembly robot; 52- marking machine; 53- tire press machine; 54- right wheel assembly robot; 55- tool quick change device; 551- main tray; 552- tool tray; 56- execution tool; 57- shelving tool; 571- substrate; 572-support unit; 573-support plate; 5731-avoidance gap; 574-positioning unit; 5741-grip connecting plate; 57411-plate body; 57412-left gripper; 57413-right gripper; 57414-front gripper; 574141-long circular positioning hole; 57415-rear gripper; 574151-circular positioning hole; 5742-first cylindrical pin; 5743-second cylindrical pin; 6-chassis assembly unit; 61-composite transport machinery; 611-mobile robot; 612-loading and unloading robot ;62-left chassis assembly robot;63-right chassis assembly robot;7-body assembly unit;71-left body assembly robot;72-right body assembly robot;8-door assembly unit;81-door assembly robot;82-pressing machine;9-packaging unit;91-packaging finished product conveyor line;92-new energy model car whole vehicle conveyor line;93-left packaging robot;94-right packaging robot;95-packaging box supply device;951-carrying platform;9511-support frame;9512-carrying panel;9512 1-avoidance slot; 952-packaging box storage box; 953-supporting frame; 954-packaging box limiting unit; 955-packaging box ejecting unit; 9551-linear motion element; 9552-sheet metal transmission part; 9553-ejecting plate; 9554-guide assembly; 95541-left guide; 95542-right guide; 96-packaging operation platform; 97-belting machine; 98-labeling machine; 99-visual inspection device; 991-load-bearing frame; 992-high-speed CCD camera; 10-finished product delivery unit; 101-finished product warehouse. DETAILED DESCRIPTION

[0052] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "left", "right", "up", "down", "front", "back", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0053] In the practical teaching of students, with the help of the practical training of new energy model car assembly lines in colleges and universities, the number of parts and assemblies is continuously increased and they are combined with each other in an orderly manner to become new energy model car complete vehicles.

[0054] The present invention will be further described in detail below with reference to specific embodiments. Figure 2 The schematic diagram of the workshop layout of the whole vehicle assembly line of the new energy model vehicle for practical training in colleges and universities disclosed in the present invention is shown. It can be seen that it is mainly composed of a machining unit 1, a blank warehouse 2, a scrap warehouse 3, a component warehouse 4, a wheel assembly unit 5, a chassis assembly unit 6, a body assembly unit 7, a door assembly unit 8, a packaging unit 9 and a finished product delivery unit 10. And the machining unit 1, the wheel assembly unit 5, the chassis assembly unit 6, the body assembly unit 7, the door assembly unit 8, the packaging unit 9 and the finished product delivery unit 10 are arranged in an I-type layout according to the process sequence. The component warehouse 4 and the scrap warehouse 3 are arranged in the vacant area between the machining unit 1 and the wheel assembly unit 5, and the two are placed adjacent to each other. The blank warehouse 2 is arranged in the adjacent area of ​​the machining unit 1. In this way, in the students' practical training teaching, the functional units are organically combined and follow the principle of centralized placement of related processes. The transportation distance of materials required for assembling new energy model cars is reduced as much as possible, which is conducive to reducing the intersection in the material flow process. More importantly, it is better adapted to the small-batch production needs in the practical training course design, and the training site is maximized.

[0055] Furthermore, by Figure 2 As shown in , it can also be clearly seen that component warehouse 4 is a comprehensive warehouse, which is equipped with model car chassis stacking partitions, wheel hub finished product stacking partitions, engine finished product stacking partitions, battery pack stacking partitions, seat stacking partitions, instrument panel stacking partitions, front and rear windshield stacking partitions, and door sample stacking partitions. Scrap warehouse 3 is also a comprehensive warehouse, which is equipped with wheel hub defective product stacking partitions, engine defective product stacking partitions, door defective product stacking partitions, and model car whole vehicle packaging defective product stacking partitions. In this way, on the one hand, reasonable area division effectively reduces the material transportation distance and time in the warehouse area, thereby ensuring its circulation efficiency; on the other hand, through area division, it is conducive to the refined management of materials, reducing inventory errors and losses, and reducing management costs.

[0056] like Figure 3As shown in the figure, the machining unit 1 is mainly composed of several parts such as machining transfer equipment 11, turning and milling compound center 12, five-axis machining center 13, automatic cleaning machine 14, visual inspection table 15 and three-coordinate inspection table 16. Among them, the five-axis machining center 13, the turning and milling compound center 12, the automatic cleaning machine 14, the visual inspection table 15 and the three-coordinate inspection table 16 are arranged in an I-type according to the process sequence, and the machining transfer equipment 11 is arranged on one side of the machining unit 1 to assist the flow of materials at each workstation.

[0057] Combined with Figure 4 , 10 , 11, 12, and 13, it can be clearly known that the wheel assembly unit 5, the chassis assembly unit 6, the body assembly unit 7, the door assembly unit 8, and the packaging unit 9 are all independently equipped with a robot flexible assembly system with a similar design structure.

[0058] In order to save space, this article only takes the wheel assembly unit 5 as an example for detailed description. Figure 4 As shown in , it is mainly composed of a left wheel assembly robot 51, a marking machine 52, a tire press 53, a right wheel assembly robot 54, a tool quick change device 55, an execution tool 56 and a storage fixture 57, among which the left wheel assembly robot 51, the right wheel assembly robot 54, the tool quick change device 55, the execution tool 56 and the storage fixture 57 together constitute a robot flexible assembly system. Whether it is the left wheel assembly robot 51 or the right wheel assembly robot 54, they are independently equipped with a storage fixture 57 and a tool quick change device 55. The storage fixture 57 is used to temporarily store a variety of execution tools 56 with different functions, and is arranged in the vicinity of the corresponding left wheel assembly robot 51 or the right wheel assembly robot 54. The tool quick change device 55 is composed of a main tray 551 and a tool tray 552. The main tray 551 is installed on the front arm of the left wheel assembly robot 51 or the right wheel assembly robot 54, and the tool tray 552 is matched and installed on each execution tool 56 (such as Figure 5 ).

[0059] like Fig.10 As shown in FIG. 6 , the chassis assembly unit 6 is equipped with a composite carrier 61, a left chassis assembly robot 62, and a right chassis assembly robot 63. The left chassis assembly robot 62 and the right chassis assembly robot 63 are both components of the robot flexible assembly system that is equipped therewith. Fig.11 As shown in FIG, the body assembly unit 7 is equipped with a left-mounted body assembly robot 71 and a right-mounted body assembly robot 72 (both of which belong to the robot flexible assembly system). Fig.12As shown in FIG, the door assembly unit 8 is equipped with two door assembly robots 81 and a punching machine. The two door assembly robots 81 are both components of the matching robot flexible assembly system. Fig.13 As shown in the figure, the packaging unit 9 is equipped with a finished product conveyor line 91, a new energy model vehicle conveyor line 92, a left packaging robot 93, a right packaging robot 94, a packaging box supply device 95, a packaging operation platform 96, a strapping machine 97, a labeling machine 98 and a visual inspection device 99. Among them, the left packaging robot 93 and the right packaging robot 94 are both components of the matching robot flexible assembly system. Fig. 20 As shown in the figure, the visual inspection device 99 is used to capture images of the finished packaging products of the new energy model vehicles in circulation, and it is mainly composed of a load-bearing frame 991 and a high-speed CCD camera 992. The load-bearing frame 991 is used to carry the high-speed CCD camera 992, and it is arranged adjacent to the finished packaging conveyor line 91. The high-speed CCD camera 992 takes real-time surface photos of the finished packaging products of the new energy model vehicles in circulation, and the high-speed CCD camera 992 has a built-in deep learning algorithm, which can quickly and accurately detect the surface OCR micro-defects of the finished packaging products of the new energy model vehicles.

[0060] Furthermore, by Figure 2 It can also be clearly seen from the figure that the wheel assembly unit 5, the chassis assembly unit 6, the body assembly unit 7, the door assembly unit 8, the packaging unit 9 and the finished product delivery unit 10 share the composite transport machine 61 to achieve efficient flow of materials between different processes. Fig.10 As shown in FIG. 6 , the composite transport machine 61 includes a mobile robot 611 and a loading and unloading robot 612. The loading and unloading robot 612 is used to perform picking and dropping operations on materials. The mobile robot 611 is used to carry the loading and unloading robot 612 along a specified route and track.

[0061] Figure 1 The process flow diagram of the whole vehicle assembly method of the new energy model vehicle for practical training in colleges and universities disclosed in the present invention is shown, and it can be seen that it includes the following steps:

[0062] S1. During the work of machining unit 1, the trainees use ERP and MES systems to place customized product orders. The machining transfer equipment 11 takes the wheel hub blank or engine blank out of the blank warehouse 2 in turn and transports it to the turning and milling compound center 12 and the five-axis machining center 13 for machining. At the same time, the stacker moves the load tray to the in-and-out platform. After the machining process is completed, the machining transfer equipment 11 puts the finished wheel hub or engine into the automatic cleaning machine 14 for cleaning and drying. Then, the finished wheel hub or engine is placed in the automatic cleaning machine 14. The finished products are placed on the three-coordinate inspection table 16 for dimensional accuracy inspection. The qualified wheel hub finished products or engine finished products are put back on the loading tray and transported to the component warehouse 4 for standby with the assistance of the palletizer; the unqualified wheel hub finished products or engine finished products are sorted into the scrap warehouse 3; then, the machining transfer device 11 grabs the wheel hub blank or engine blank from the blank warehouse 2 again, and undergoes machining, cleaning, and dimensional accuracy inspection in sequence, and transports the qualified wheel hub finished products or engine finished products to the component warehouse 4 for standby;

[0063] S2, in the working stage of the wheel assembly unit 5, when the heavy-loaded pallet carrying the model car chassis enters the wheel assembly station, the left wheel assembly robot 51 takes out the qualified finished wheel hub from the component library 4, and performs laser marking on it with the help of the marking machine 52 to generate a personalized customized pattern on its surface, and performs pattern appearance inspection with the help of its terminal intelligent 2D visual system, and then presses the finished wheel hub with qualified pattern and the tire together to generate a wheel, and then, the right wheel assembly robot 54 picks up the wheel under the guidance of its terminal 3D visual system, and continues to move to assemble it on the model car chassis; and the finished wheel hub with unqualified pattern is sorted into the scrap library 3;

[0064] S3, during the operation stage of the chassis assembly unit 6, when the load tray carrying the model car chassis enters the chassis assembly station, the composite transport machine 61 picks up the finished engine, battery pack, seat and instrument panel from the component library 4 and transports them to the chassis assembly station; then, the chassis assembly robots (the left chassis assembly robot 62 and the right chassis assembly robot 63) arranged on both sides of the chassis assembly station cooperate with each other and assemble the finished engine, battery pack, seat and instrument panel on the model car chassis in sequence under the guidance of the 3D vision system at the end;

[0065] S4, during the work stage of the body assembly unit 7, when the load tray carrying the chassis of the model car enters the body assembly station, the left body assembly robot 71 takes the body from the component library 4 and places it on the body assembly station, and replaces the end tool to perform welding, grinding and spraying operations on the body respectively; then, the left body assembly robot 71 assembles the body on the chassis of the model car under the guidance of its end global 3D vision system; then, the right body assembly robot 72 assembles the front and rear windshields on the body in sequence under the guidance of its end global 3D vision system;

[0066] S5, during the working stage of the door assembly unit 8, when the load tray carrying the model car chassis enters the body assembly station, the door assembly robots 81 located on both sides of the door assembly station transfer the door sample to the punching machine 82 under the guidance of the 3D vision system at the end thereof, and perform the pressing operation to form the finished door; then, one of the door assembly robots 81 moves again to pick up the finished door and assemble it on the body;

[0067] S6, during the working stage of the packaging unit 9, when the load tray carrying the whole model car enters the packaging station, the left packaging robot 93, under the guidance of the 3D vision system at its end, grabs the packaging box and places it on the packaging operation platform 96, and opens the box cover; then, the left packaging robot 93 continues to move to take the whole model car from the load tray, put it into the packaging box, and seal the box cover to form a semi-finished model car packaging; then, the right packaging robot 94 picks up the semi-finished model car packaging, and transports it to the strapping machine 97 and the labeling machine 98 in sequence, and completes the strapping and labeling operations accordingly, and the model car packaging finished product is formed; then, the visual inspection device 99 takes the surface image of the model car packaging finished product and determines whether its appearance quality meets the acceptance standard;

[0068] S7. During the work of the finished product delivery unit, the composite transport machinery 61 is activated again to transport the model car packaged finished product to the finished product delivery position, or the new energy model car conveyor line 92 is activated to transport the model car packaged finished product to the finished product storage warehouse to complete the finished product delivery.

[0069] In practical applications, the whole vehicle assembly method of the new energy model vehicle for practical training in colleges and universities disclosed in the present invention can achieve at least the following beneficial technical effects, specifically:

[0070] 1) The whole vehicle assembly line for new energy model vehicles for practical training in colleges and universities includes machining unit 1, wheel assembly unit 5, chassis assembly unit 6, body assembly unit 7, door assembly unit 8, packaging unit 9 and finished product delivery unit 10. It adopts mainstream equipment and tooling of industrial standards, simulates the industrialized on-site environment, takes new energy model vehicles as the simulated assembly object, and builds a high-precision, high-reliability and high-security intelligent manufacturing teaching and application platform that can be connected with enterprise-level production;

[0071] 2) Considering the need to meet the site area of ​​colleges and universities and reduce the procurement cost of the entire line, and for the convenience of teaching and students' practical operation, the machining unit 1, wheel assembly unit 5, chassis assembly unit 6, body assembly unit 7, door assembly unit 8, packaging unit 9 and finished product delivery unit 10 are all modularly designed, and each assembly unit is relatively independent and interrelated, which can simulate the actual production situation, so that students can gradually learn, understand and master the production process and equipment operation principle of new energy vehicles;

[0072] 3) Taking into account the need to meet the site area of ​​colleges and universities and reduce the procurement cost of the whole line, the functional units of the whole vehicle assembly line for practical training of new energy model vehicles in large colleges and universities are highly configurable and can be flexibly adjusted according to the models and specifications of new energy model vehicles to meet different course contents and teaching objectives.

[0073] Here, it is also necessary to explain that by participating in the practical training of new energy model car assembly lines in colleges and universities, students can become familiar with the basic principles, technical characteristics and application methods of industrial new energy vehicle assembly lines through practical operations. Furthermore, thanks to the modular design understanding of each functional unit, students can also participate in the practical training of new energy model car assembly lines to various links such as construction, debugging, operation and maintenance.

[0074] Taking the wheel assembly unit 5 as an example, in actual implementation, the main plate 551 and the tool plate 552 attached to the tool quick-change device 55 are difficult to lock in one go, and even need to be locked repeatedly multiple times. Each time the industrial robots (including the left-mounted wheel assembly robot 51 and the right-mounted wheel assembly robot 54) need to be realigned, which is time-consuming. The reason is that the execution tool 56 lacks effective positioning measures. When performing a quick-change operation, the execution tool 56 is prone to position changes or posture tilts due to the contact force from the main plate 551. In view of this, as a further optimization of the design structure of the above-mentioned wheel assembly unit 5, such as Figure 6 , 7As shown in the figure, the shelving tool 57 is mainly composed of a base plate 571, a support unit 572, a support plate 573 and a positioning unit 574. The support plate 573 is arranged in parallel just above the base plate 571 and is separated by a set distance. The support unit 572 serves as a connection transition between the base plate 571 and the support plate 573. The support plate 573 is formed with a plurality of avoidance notches 5731 that are conducive to supporting the execution tool. The positioning unit 574 is used to match the execution tool 56, and with its auxiliary action, the plane degree of freedom of the execution tool 56 can be limited to zero. By adopting the above-mentioned technical solution, various execution tools 56 with different functions are temporarily placed on the placing tooling 57, and are effectively positioned with the help of the positioning unit 574. In this way, during the quick-change operation of the execution tool 56, even if it is affected by external force, the translational movement freedom along the left and right directions, the translational movement freedom along the front and back directions, and the rotational movement freedom along the height direction of the execution tool 56 are all restricted to zero, ensuring that the main disk 551 and the tool disk 552 are locked at one time, and the execution tool can be firmly connected to the forearms of the left-mounted wheel assembly robot 51 and the right-mounted wheel assembly robot 54 without repeated operations. The total time consumed for quick-change execution of the execution tool 56 can be effectively shortened.

[0075] Here, it should also be emphasized that, unlike the traditional suspension method, in the technical solution disclosed in this embodiment, a variety of execution tools 56 with different functions are placed on the placement tool 57 in a supporting posture, and the operation of placing the execution tool 56 is more time-saving and labor-saving. After the placement, the execution tool 56 has good posture stability and can effectively avoid the occurrence of accidental collisions, which is conducive to the forearms of the left-mounted wheel assembly robot 51 and the right-mounted wheel assembly robot 54 to approach the quick-change work position more smoothly.

[0076] Furthermore, combined with Figure 5 , 6 , 7, and 8 clearly show that the positioning unit 574 is mainly composed of several parts, such as the gripper connecting plate 5741, the first cylindrical pin 5742, and the second cylindrical pin 5743. Among them, the gripper connecting plate 5741 serves as a connection transition between the tool plate 552 and the execution tool 56, the top wall serves as the assembly base of the tool plate 552, and the bottom wall serves as the assembly base of the execution tool 56. The first cylindrical pin 5742 and the second cylindrical pin 5743 are both vertically inserted on the supporting plate 573 and are spaced a set distance apart. The first cylindrical pin 5742 and the second cylindrical pin 5743 cooperate to limit the planar freedom of the gripper connecting plate 5741. As shown in FIG. Fig. 9As shown in the figure, the gripper connecting plate 5741 is composed of a plate body 57411, a left gripper 57412, a right gripper 57413, a front gripper 57414 and a rear gripper 57415. The left gripper 57412, the right gripper 57413, the front gripper 57414 and the rear gripper 57415 are formed by the outer wall of the plate body 57411 extending in four directions. An oblong positioning hole 574141 matching the first cylindrical pin 5742 is formed on the front gripper 57414. A circular positioning hole 574151 matching the second cylindrical pin 5743 is formed on the rear gripper 57415. In practical applications, the first cylindrical pin 5742 and the second cylindrical pin 5743 cooperate to limit the planar freedom of the gripper connecting plate 5741, thereby ensuring the positioning accuracy and avoiding the occurrence of over-positioning.

[0077] like Fig.14 As shown in the figure, the right-placed packaging robot 94 is arranged behind the finished product packaging conveyor line 91, and it has the functions of grabbing the packaging box, grabbing the whole new energy model car, and sealing the packaging box. The whole new energy model car conveyor line 92, the packaging box supply device 95, and the packaging operation platform 96 are all covered by the motion range of the right-placed packaging robot 94. The left-placed packaging robot 93 is arranged in front of the finished product packaging conveyor line 91, and with its assistance, the semi-finished new energy model car packaging completed through the packaging operation platform 96 is sequentially transferred to the strapping machine 97 and the labeling machine 98 to form the finished new energy model car packaging, and then continue to flow to the finished product packaging conveyor line 91. Through the combination of on-site observation and actual operation, students can fully grasp the overall operating principle of the whole new energy model car packaging line, and it is beneficial for them to understand the specific operation mode of industrial robots, strapping machines, labeling machines and other equipment. Furthermore, through reasonable layout and planning of the finished packaging product conveyor line 91, the new energy model vehicle conveyor line 92, the left packaging robot 93, the right packaging robot 94, the packaging box supply device 95, the packaging operation platform 96, the strapping machine 97, and the labeling machine 98, the circulation path of the new energy vehicle model and the circulation path of the packaging box are optimized, and the total length of the movement trajectory of the left packaging robot 93 and the right packaging robot 94 in the single-piece packaging operation process is shortened.

[0078] like Fig.15As shown in the figure, the packaging box supply device 95 is mainly composed of a bearing platform 951, a packaging box storage box 952, a support frame 953, a packaging box limiting unit 954 and a packaging box pushing unit 955. The support frame 953 is detachable to achieve fixation with the bearing platform 951. The packaging box storage box 952 is accumulated and fixed on the support frame 953. The packaging box storage box 952 has an upper opening and a lower opening at the same time. The multi-layer stacked packaging boxes are placed in the packaging box storage box 952 through the upper opening, and continue to fall through the lower opening until they fall on the bearing platform 951. The packaging box pushing unit 955 and the packaging box limiting unit 954 are both installed on the bearing platform 951, and are arranged directly behind and directly in front of the support frame 953 respectively. The packaging box at the bottom layer moves out of the support frame 953 due to the push force from the packaging box push unit 955, and continues to move horizontally until its relative position is determined by the packaging box limit unit 954. Fig.19 As shown in , the carrying platform 951 is composed of a support frame 9511 and a carrying panel 9512. By adopting the above technical solution, on the one hand, under the premise that the packaging box storage box 952 stores packaging boxes, each time the packaging box pushing unit 955 performs a pushing action, a single packaging box is removed from the packaging box storage box 952, and accurately stops with the assistance of the packaging box limiting unit 954, which is conducive to the left packaging robot 93 and the right packaging robot 94 to smoothly and quickly perform the grasping operation on it; on the other hand, the traditional belt conveyor supplying packaging box method is abandoned, and the packaging boxes are accumulated in batches in the packaging box storage box 952. In addition, the packaging box supply device 95 is designed to be small in size, which is conducive to saving the floor space of the workshop.

[0079] like Figure 16-19 As shown in , the packaging box ejection unit 955 is mainly composed of several parts such as a linear motion element 9551, a sheet metal transmission member 9552, an ejection plate 9553 and a guide assembly 9554. The ejection plate 9553 is placed flat on the bearing panel 9512, and with the assistance of the guide assembly 9554, it performs displacement movement in a directional manner along the front and rear directions, so that the packaging box can be accurately pushed. The linear motion element 9551 uses the bottom wall of the bearing panel 9512 as the installation base, and it uses the sheet metal transmission member 9552 to transmit the driving force to the ejection plate 9553. The bearing panel 9512 is provided with an avoidance notch 95121 for the sheet metal transmission member 9552 to freely perform translational movement. In actual application, the packaging boxes are accumulated in batches in the packaging box storage box 952. When packaging boxes need to be supplied to the outside, the linear motion element 9551 is started to drive the push-up plate 9553 to perform a displacement movement toward the bottommost packaging box. The bottommost packaging box goes out of the support frame 953 due to the push-up force and stops precisely with the assistance of the packaging box limit unit 954.

[0080] Also by the attached Fig.19 It can also be clearly known that the guide assembly 9554 is composed of a left guide member 95541 and a right guide member 95542 detachably fixed on the bearing panel 9512. The left guide member 95541 and the right guide member 95542 are both made of self-lubricating engineering plastics. The left and right side walls of the push-up plate 9553 are in contact with the left guide member 95541 and the right guide member 95542 respectively. In actual application, the cooperative guidance of the left guide member 95541 and the right guide member 95542 allows the push-up plate 9553 to perform translational motion in a directional manner due to the thrust. In addition, the left guide member 95541 and the right guide member 95542 both have good self-lubricating properties, and no obvious friction heat is generated during the friction movement, and it is beneficial to reduce the translational resistance of the push-up plate 9553.

[0081] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for assembling a whole vehicle of a new energy model car for practical training in colleges and universities, which is implemented by means of a whole vehicle assembly line for a new energy model car for practical training in colleges and universities, and the number of parts and assemblies is continuously increased and orderly combined with each other to form a whole vehicle of a new energy model car; the whole vehicle assembly line for a new energy model car for practical training in colleges and universities comprises a machining unit, a blank warehouse, a scrap warehouse, a component warehouse, a wheel assembly unit, a chassis assembly unit, a body assembly unit, a door assembly unit, a packaging unit and a finished product delivery unit; in, The machining unit, the wheel assembly unit, the chassis assembly unit, the body assembly unit, the door assembly unit, the packaging unit, and the finished product delivery unit are arranged in an I-type according to the process sequence; The method for assembling a whole vehicle of a new energy model vehicle for practical training in colleges and universities comprises the following steps: S1. During the work stage of the machining unit, the trainees use the ERP and MES systems to place customized product orders. The machining transfer equipment takes out the wheel hub blanks or engine blanks from the blank warehouse in turn and transports them to the turning and milling compound center and the five-axis machining center for machining. At the same time, the palletizer transports the load tray to the in-and-out platform. After the machining process is completed, the machining transfer equipment puts the finished wheel hub or engine into the automatic cleaning machine for cleaning and drying, and then places the finished wheel hub or engine into the automatic cleaning machine. The dimensional accuracy test is carried out on the three-coordinate inspection table, and the qualified wheel hub finished products or engine finished products are put back on the loading tray, and with the assistance of the palletizer, they are transported to the component warehouse for standby; and the unqualified wheel hub finished products or engine finished products are sorted into the scrap warehouse; then, the machining transfer equipment grabs the wheel hub blank or engine blank from the blank warehouse again, and undergoes machining, cleaning, and dimensional accuracy test in sequence, and transports the qualified wheel hub finished products or engine finished products to the component warehouse for standby; S2. During the work stage of the wheel assembly unit, when the heavy-loaded pallet carrying the model car chassis enters the wheel assembly station, the left wheel assembly robot takes out the qualified finished wheel hub from the component library, and performs laser marking on it with the help of a marking machine to generate a personalized customized pattern on its surface, and performs pattern appearance inspection with the help of its terminal intelligent 2D vision system, and then presses the finished wheel hub with qualified pattern and the tire together to generate a wheel, and then, the right wheel assembly robot picks up the wheel under the guidance of its terminal 3D vision system, and continues to move to assemble it on the model car chassis; and the finished wheel hub with unqualified pattern is sorted into the scrap library; S3. During the operation phase of the chassis assembly unit, when the load tray carrying the model car chassis enters the chassis assembly station, the composite transport machine picks up the finished engine, battery pack, seat and instrument panel from the component library and transports them to the chassis assembly station; then, the chassis assembly robots arranged on both sides of the chassis assembly station cooperate with each other and assemble the finished engine, battery pack, seat and instrument panel on the model car chassis in sequence under the guidance of the 3D vision system at the end thereof; S4, during the work stage of the body assembly unit, when the load tray carrying the chassis of the model car enters the body assembly station, the left-mounted body assembly robot takes the body from the component library and places it on the body assembly station, and replaces the end tool to perform welding, grinding and spraying operations on the body respectively; then, the left-mounted body assembly robot assembles the body on the chassis of the model car under the guidance of its end global 3D vision system; then, the right-mounted body assembly robot assembles the front and rear windshields on the body in sequence under the guidance of its end global 3D vision system; S5. During the work stage of the door assembly unit, when the load tray carrying the model car chassis enters the body assembly station, the door assembly robot, under the guidance of the 3D vision system at its end, transfers the door sample to the punching machine and performs a pressing operation to form a finished door; then, the door assembly robot moves again to pick up the finished door and assemble it on the body; S6. During the work of the packaging unit, when the load tray carrying the whole model car enters the packaging station, the left packaging robot, under the guidance of the 3D vision system at its end, grabs the packaging box and places it on the packaging operation platform, and opens the box cover; then, the left packaging robot continues to move to take the whole model car from the load tray, put it into the packaging box, and seal the box cover to form a semi-finished model car packaging; then, the right packaging robot picks up the semi-finished model car packaging, and transports it to the strapping machine and the labeling machine in sequence, completes the strapping and labeling operations accordingly, and the model car packaging finished product is formed; then, the visual inspection device takes a surface image of the model car packaging finished product and determines whether its appearance quality meets the acceptance criteria; S7. During the work of the finished product delivery unit, the composite transport machinery is operated to transport the model car packaged finished product to the finished product delivery position, or the new energy model car conveyor line is operated to transport the model car packaged finished product to the finished product storage warehouse to complete the finished product delivery.

2. According to the method for assembling a whole vehicle of a new energy model vehicle for practical training in colleges and universities according to claim 1, Features The component warehouse is a comprehensive warehouse, which is equipped with model car chassis stacking partitions, wheel hub finished product stacking partitions, engine finished product stacking partitions, battery pack stacking partitions, seat stacking partitions, instrument panel stacking partitions, front and rear windshield stacking partitions and door sample stacking partitions; the scrap warehouse is also a comprehensive warehouse, which is equipped with wheel hub defective product stacking partitions, engine defective product stacking partitions, door defective product stacking partitions and model car whole vehicle packaging defective product stacking partitions.

3. According to claim 2, the whole vehicle assembly method of the new energy model vehicle for practical training in colleges and universities, Features The component warehouse and the scrap warehouse are arranged in the vacant area between the machining unit and the wheel assembly unit, and the two are placed adjacent to each other; and the blank warehouse is arranged in the adjacent area of ​​the machining unit.

4. According to the method for assembling a whole vehicle of a new energy model vehicle for practical training in colleges and universities as described in claim 1, Features The composite transport machinery includes a mobile robot and a loading and unloading robot; wherein the loading and unloading robot is used to perform picking and dropping operations on materials; and the mobile robot is used to carry the loading and unloading robot along a designated route and track.

5. The whole vehicle assembly method of the new energy model vehicle for practical training in colleges and universities according to any one of claims 1 to 4, Features The wheel assembly unit, the chassis assembly unit, the body assembly unit, the door assembly unit, and the packaging unit are all independently equipped with a robot flexible assembly system with a similar design structure.

6. According to claim 5, the whole vehicle assembly method of the new energy model vehicle for practical training in colleges and universities, Features Taking the wheel assembly unit as an example, the robot flexible assembly system includes the wheel assembly robot, a tool quick change device, an execution tool and a storage tool; the storage tool is used to temporarily place the execution tools with different functions, and is arranged in the vicinity of the wheel assembly robot; the tool quick change device consists of a main tray and a tool tray; the main tray is installed on the front arm of the wheel assembly robot, and the tool tray is matched and installed on each of the execution tools.

7. The whole vehicle assembly method of the new energy model vehicle for practical training in colleges and universities according to claim 6, Features The shelving tooling includes a base plate, a supporting unit, a support plate and a positioning unit; the support plate is arranged in parallel directly above the base plate and is separated by a set distance; the supporting unit serves as a connecting transition between the base plate and the support plate; a plurality of avoidance notches are formed on the support plate to facilitate the support of the execution tool; the positioning unit is used to match the execution tool, and with its auxiliary action, the planar degree of freedom of the execution tool can be limited to zero.

8. The whole vehicle assembly method of new energy model vehicle for practical training in colleges and universities according to claim 7, Features , the positioning unit includes a gripper connecting plate, a first cylindrical pin and a second cylindrical pin; the gripper connecting plate serves as a connection transition between the tool plate and the execution tool, the top wall serves as an assembly base for the tool plate, and the bottom wall serves as an assembly base for the execution tool; the first cylindrical pin and the second cylindrical pin are both vertically inserted into the support plate and are spaced a set distance apart; the first cylindrical pin and the second cylindrical pin cooperate to limit the plane freedom of the gripper connecting plate; the gripper connecting plate is composed of a plate body, a left gripper, a right gripper, a front gripper and a rear gripper; the left gripper, the right gripper, the front gripper and the rear gripper are all extended in four directions by the outer wall of the plate body; an oblong positioning hole matching the first cylindrical pin is formed on the front gripper; a circular positioning hole matching the second cylindrical pin is formed on the rear gripper.

9. The whole vehicle assembly method of a new energy model vehicle for practical training in colleges and universities according to any one of claims 1 to 4, Features The packaging unit includes a finished product conveyor line, a new energy model car whole vehicle conveyor line, a left-placed packaging robot, a right-placed packaging robot, a packaging box supply device, a packaging operation platform, a belting machine and a labeling machine; the right-placed packaging robot is arranged behind the finished product conveyor line, and has the functions of packaging box grabbing, new energy model car whole vehicle grabbing and packaging box sealing; the new energy model car whole vehicle conveyor line, the packaging box supply device and the packaging operation platform are all covered by the motion range of the right-placed packaging robot; the left-placed packaging robot is arranged in front of the finished product conveyor line, and with its assistance, the new energy model car whole vehicle packaging semi-finished product completed through the packaging operation platform is sequentially transferred to the belting machine and the labeling machine to form a new energy model car whole vehicle packaging product, and then continues to flow to the finished product conveyor line.

10. The whole vehicle assembly method of new energy model vehicle for practical training in colleges and universities according to claim 9, Features The packaging box supply device includes a carrying platform, a packaging box storage box, a supporting frame, a packaging box limiting unit and a packaging box pushing unit; the supporting frame is detachable to achieve fixation with the carrying platform; the packaging box storage box is stacked and fixed on the supporting frame; the packaging box storage box has both an upper opening and a lower opening; multiple stacked packaging boxes are placed in the packaging box storage box through the upper opening, and continue to fall through the lower opening until they fall on the carrying platform; the packaging box pushing unit and the packaging box limiting unit both use the carrying platform as the installation basis, and are respectively arranged directly behind and directly in front of the supporting frame; the packaging box of the bottom layer goes out of the supporting frame due to the pushing force from the packaging box pushing unit, and continues to translate until its relative position is determined under the action of the packaging box limiting unit.

11. The whole vehicle assembly method of the new energy model vehicle for practical training in colleges and universities according to claim 10, Features The bearing platform is composed of a support frame and a bearing panel; the packaging box ejection unit includes a linear motion element, a sheet metal transmission part, a ejection plate and a guide assembly; the ejection plate is placed flat on the bearing panel, and with the assistance of the guide assembly, it performs displacement movement in a directional manner along the front and rear directions, so that the packaging box can be pushed accurately; the linear motion element uses the bottom wall of the bearing panel as an installation base, and it uses the sheet metal transmission part to transmit the driving force to the ejection plate; the bearing panel is provided with an avoidance slot for the sheet metal transmission part to freely perform translational movement.

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