Automatic AGV trolley and use method thereof in vehicle assembly

Abstract

The invention relates to the technical field of automobile assembly production lines, in particular to an automatic AGV trolley which comprises a trolley head, a lifting turnover mechanism, an electric control module, a variable-pitch mechanism and a trolley tail, and the trolley head and the trolley tail pull the lifting turnover mechanism, the electric control module and the variable-pitch mechanism to move; the lifting turnover mechanism comprises a lifting platform I for lifting and a pair of turnover clamping arms, and the clamping arms are rotationally mounted on the lifting platform I so as to be opened and turned over outwards; a UPS (Uninterrupted Power Supply) and TPM management equipment are arranged in the electric control module; the distance changing mechanism comprises a front supporting table and a rear supporting table, and the front supporting table and the rear supporting table can longitudinally slide and translate front and back so as to change the distance between the front clamping shaft and the rear clamping shaft. By means of the automatic AGV, the pickup truck and the light truck can be assembled.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile assembly production lines, in particular to an automated AGV and a method for using the same in vehicle assembly. Background Art

[0002] Traditional assembly processes for commercial and passenger vehicle production lines typically utilize a purely mechanical mechanism consisting of drag chains, plate chains, and mechanical structural supports. Fixed chassis supports are typically used. When different models are put into production, supports are manually switched to meet the needs of each model. This traditional structure has the disadvantages of requiring a large number of different support types, hindering the flexible production of diverse vehicle types, hindering production efficiency, and increasing labor intensity.

[0003] At the same time, passenger cars and commercial vehicles are completely different products with different production processes. Through benchmarking investigations, it was found that there is currently no domestic OEM that produces commercial vehicles and passenger vehicles on mixed lines.

[0004] AGV, or automatic guided vehicle, can realize the requirements of automation, flexibility and punctuality in material handling operations, and constitute an automatic guided vehicle system (AGVS) together with automatic guidance systems, automatic loading and unloading systems, communication systems, safety systems and management systems. Summary of the Invention

[0005] In order to improve the process efficiency of automobile assembly, the present invention provides an automated AGV and its use method in vehicle assembly, applying highly automated AGV to the automobile assembly process, which is suitable for the assembly of various models. The specific technical solution is as follows: An automated AGV vehicle comprises a vehicle head, a lifting and flipping mechanism, an electric control module, a pitch-changing mechanism and a vehicle tail, wherein the vehicle head and the vehicle tail pull the lifting and flipping mechanism, the electric control module and the pitch-changing mechanism to move; The lifting and flipping mechanism includes a lifting platform I for lifting and a pair of flippable clamping arms, wherein the clamping arms are rotatably mounted on the lifting platform I to open and flip outward; The electric control module is equipped with a UPS power supply and TPM management equipment for the trolley; The pitch-changing mechanism comprises a front support platform and a rear support platform, and both the front support platform and the rear support platform can slide and translate longitudinally forward and backward to change the front and rear clamping wheelbases.

[0006] The above-mentioned automated AGV trolley, the rear support platform is configured as a pair of support arms that can be opened and closed laterally to change the clamping width.

[0007] The above-mentioned automated AGV trolley, the variable distance mechanism also includes a lifting platform II, and the front support platform and the rear support platform are respectively installed on the lifting platform II.

[0008] The above-mentioned automated AGV trolley has the front support platform driven by a variable pitch lead screw nut to achieve longitudinal translation, the rear support platform is driven by a reduction motor in conjunction with a linear bearing to achieve longitudinal translation, and the support arm of the rear support platform is driven by a variable width lead screw nut to achieve lateral opening and closing.

[0009] The above-mentioned automated AGV trolley, the lifting and flipping mechanism also includes a pair of flipping screw and nut parts installed on the lifting platform I, the screw in each flipping screw and nut part is arranged horizontally, and the nut is combined with the corresponding clamping arm through two sets of connecting rods to form a four-bar mechanism.

[0010] The above-mentioned automated AGV vehicle has a walking system and a differential motor for driving in the front of the vehicle, and a laser obstacle avoidance mechanism is installed in front of the front of the vehicle; a charging plate, a brake switch and a magnetic navigation sensor are provided in the rear of the vehicle, and a touch screen and an observation window are provided on the side of the rear of the vehicle; the electronic control module is also provided with an array of heat dissipation holes, a fan, a switch for starting and stopping the vehicle, a charging port and an emergency stop button.

[0011] The present invention also provides a vehicle assembly method, which uses the above-mentioned automated AGV car to assemble pickup trucks and light trucks respectively.

[0012] Specifically, the pickup truck and light truck assembly method includes the following steps: S1) Frame assembly drop-off: The AGV automatically drives to the first station of the assembly line, receives vehicle information, controls the variable pitch mechanism to move the front and rear support platforms horizontally to meet the clamping wheelbase required for frame drop-off, and the lifting and flipping mechanism cooperates with the flipping mechanism to meet the support of the frame assembly; S2) Front and rear axle installation: The front axle is installed at the sixth station, and the rear axle is installed at the fourth station. The AGV receives vehicle information and controls the lifting and flipping mechanism to meet the required height requirements for the front and rear axle installation. S3) The frame assembly is flipped at the ninth station; the AGV receives vehicle information and controls the variable pitch mechanism to clamp the front and rear support platforms to meet the requirements of the chassis after flipping; the lifting and flipping mechanism flips to meet the requirements of the chassis support; S4) The engine is unloaded at the twelve workstations; the AGV receives vehicle information and controls the lifting height of the lifting and flipping mechanism to meet the engine unloading height requirements; S5) Cargo box unloading and loading is performed at the fourteenth workstation; the AGV receives vehicle information and controls the lifting height change of the lifting and flipping mechanism to meet the cargo box unloading and chassis connection height requirements; S6) Cab installation: Pickup trucks’ cabs are installed at station 16, while light trucks’ cabs are installed at stations 23 or 24. The AGV receives vehicle information and controls the lifting height of the lifting and flipping mechanism to meet the required height for cab installation and chassis connection. S7) Tire Assembly: Pickup and light truck tires are assembled at station 18, and tightened at station 19. Light truck spare tires are assembled at station 18, and pickup spare tires are assembled at station 20. The AGV receives vehicle information and controls the lifting height of the lifting and flipping mechanism to meet the tire installation and tightening height requirements. S8) Car doors are assembled at stations 34 and 35; the AGV receives vehicle information and controls the lifting height of the lifting and flipping mechanism to meet the door installation height requirements; S9) High workstation: Pickup trucks are equipped with six high workstations, from the 20th to the 25th, to complete the tightening of the cab, cargo box and frame fixing points, the connection of the pipelines and wiring harnesses at the bottom of the vehicle, and the assembly of various assembly guards. For pickup truck models, at the 25th workstation, the AGV trolley receives vehicle information and controls the variable distance mechanism to move the front and rear support platforms horizontally to meet the support and clamping of the whole vehicle. The lifting and flipping mechanism cooperates with the flipping to meet the support of the whole vehicle assembly; light truck models do not require high-position lifting and assembly, and continue to use AGV trolleys for assembly, thereby realizing flexible production of pickup trucks and light trucks on the same line.

[0013] S10) Complete vehicle off-line: A lifting platform is set up at the 30th station at the end of the chassis line to assist the AGV trolley in disengaging so that the complete vehicle can be off-line; after the AGV trolley carries the assembled complete vehicle to the right position, it gives a signal to the lifting platform, which automatically rises to support the tires of the complete vehicle. At this time, the AGV trolley and the complete vehicle detach and drive out of the assembly line, and then automatically drive to the first station of the assembly line along the return line to realize the cycle operation.

[0014] The beneficial effects of the present invention are as follows: the AGV trolley can realize clamping and supporting vehicle bodies of different models through automatic control and adjustment, combining information technology and automation technology, realizing the common assembly process of AGV assembly trolleys of various models, realizing automatic switching of support requirements of various models, reducing the number of AGV trolleys invested, pioneering the common assembly process of two different types of light trucks and pickup trucks, realizing the automatic operation of the production line, and greatly saving the investment cost of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the AGV structure from a top view of the present invention; Figure 2 This is a schematic diagram of the main structure of the AGV of the present invention; Figure 3 It is a schematic cross-sectional structural diagram of the AGV vehicle of the present invention; Figure 4 Schematic diagram of the lifting and flipping mechanism of the AGV trolley of the present invention; Figure 5 This is a schematic diagram of the internal structure of the lifting and flipping mechanism of the AGV trolley of the present invention; Figure 6Schematic diagram of the variable pitch mechanism of the AGV trolley of the present invention; Figure 7 This is a schematic diagram of the internal structure of the variable pitch mechanism of the AGV trolley of the present invention.

[0016] In the figure: 1 is the front of the vehicle, 2 is the lifting and flipping mechanism, 3 is the electronic control module, 4 is the pitch changing mechanism, 5 is the rear of the vehicle, 6 is the edge contact, 11 is the laser obstacle avoidance mechanism, 12 is the differential motor, 13 is the walking system, 21 is the base I, 22 is the lifting cylinder I, 23 is the lifting platform I, 24 is the clamping arm, 25 is the rotating shaft, 26 is the connecting rod, 27 is the flipping motor, 28 is the flipping screw nut, 31 is the UPS power supply, 32 is the TPM management device, 33 is the heat dissipation hole, 34 is the fan, 35 is the switch, 36 is the charging port, 37 is the emergency stop button, 41 is the base II, 42 is the lifting cylinder II, 43 is the lifting platform II, 44 is the rear support platform, 45 is the pitch changing screw nut, 46 is the front support platform, 47 is the width changing screw nut, 51 is the touch screen, 52 is the observation window, 53 is the charging plate, 54 is the brake switch, and 55 is the magnetic navigation sensor. DETAILED DESCRIPTION

[0017] The technical solution of the present invention is described in detail below with reference to the accompanying drawings.

[0018] The AGV of this embodiment is equipped with a safety system, a guidance system, a travel system, a control system, a power supply system, etc. The vehicle body includes a front end 1, a lifting and flipping mechanism 2, an electric control module 3, a pitch-changing mechanism 4, and a rear end 5. The front end 1 and rear end 5 pull the lifting and flipping mechanism 2, the electric control module 3, and the pitch-changing mechanism 4 to move.

[0019] The safety system is to install a laser obstacle avoidance mechanism 11 and a touch edge 6 in front of the vehicle head 1, and use a long-distance and wide-area laser sensor to ensure the safety of the vehicle body. The detection area suitable for the road conditions of the AGV vehicle's driving route can be freely defined.

[0020] The guidance system is located at parking space 5 and adopts AGV-specific on-board high-precision magnetic navigation sensor 5, combined with high-frequency RFID card reader positioning control, which provides reliable guidance and high instantaneous response sensitivity for guidance and correction.

[0021] The traveling system is provided in both the front end 1 and the rear end 5, and both use a high-power differential motor 12 to drive the sprocket differential motion.

[0022] The control system, centered around a PLC, controls the operation of each motor through programs and drivers. Equipped with a comprehensive human-machine interactive control touch screen 51, it fully realizes the universality and modularity of system control. Each functional module offers stable and reliable performance, clear and stable division of labor, and easy operation. Electrical components communicate and control via CANopen.

[0023] One approach to the power supply system involves installing a charging board 53 in parking space 5, utilizing non-mechanical contact for power and signal transmission. This approach operates similarly to a traditional transformer, utilizing magnetic field coupling for electrical energy-magnetic field-electrical energy conversion and transmission. Another approach involves switching to battery power via a UPS in areas without wireless power, ensuring continuous operation of the AGV. The overall power supply is wirelessly supplied by the charging board 53. After power is drawn, the UPS and TPM convert the voltage and current to power the electrical components and charge the battery. The electronic control module 3 houses a UPS 31 for powering the vehicle and a TPM management device 32. TPM, short for "Total Productive Maintenance," is a fully engaged production maintenance approach focused on "productive maintenance" and "total employee participation." By establishing a system-wide production maintenance program, equipment performance is optimized. The electronic control module 3 also features an array of cooling vents 33, a fan 34, a start / stop switch 35 for the vehicle, a charging port 36, and an emergency stop button 37.

[0024] The rear of the vehicle 5 is also equipped with an observation window 52 and a brake switch 54. The observation window 52 is used to observe the operating status of the drive, allowing for visual troubleshooting in the event of a fault. The brake switch 54 is used to activate the brakes in the event of an AGV failure. If power is lost, the motor will engage the brakes, causing the AGV to become locked. In this case, the brake switch 54 can be opened to release the brakes, allowing the AGV to be manually driven offline.

[0025] The lifting and flipping mechanism 2 comprises a lifting platform I 23, a pair of flippable clamping arms 24, and a pair of flipping screw and nut members 28. The flipping screw and nut members 28 are mounted on the lifting platform I 23. The screw in each flipping screw and nut member 28 is arranged horizontally, and the nut is connected to the corresponding clamping arm 24 via two sets of connecting rods 26 to form a four-bar mechanism. The clamping arms 42 are rotatably mounted on the lifting platform I 23 and can be opened and flipped outward by the flipping screw and nut members 28.

[0026] The variable pitch mechanism 4 includes a lifting platform II 43, a front support platform 46, and a rear support platform 44. The front support platform 46 and the rear support platform 44 are respectively mounted on the lifting platform II 43. The front support platform 46 and the rear support platform 44 can both slide and translate longitudinally forward and backward to change the clamping distance, that is, to clamp vehicles with different wheelbases. The longitudinal sliding of the rear support platform 44 is achieved by driving elements such as a motor and a reducer in conjunction with linear bearings, while the front support platform 46 is driven by the variable pitch screw nut 45 to achieve longitudinal sliding and translation. like Figure 6 and Figure 7 As shown, the rear support platform 44 is configured as a pair of support arms that can be opened and closed laterally to change the clamping width, and the support arms of the rear support platform 44 are driven by the variable width lead screw nut member 47 to achieve lateral opening and closing.

[0027] Applying the above-mentioned automated AGV to the assembly line of pickup trucks and light trucks includes the following steps: S1) Frame assembly placement: The AGV automatically drives to the first workstation of the assembly line, receives vehicle information from the HMES production management system, and controls the front support platform 46 and the rear support platform 44 of the variable pitch mechanism 4 to slide horizontally to meet the support and clamping requirements for frame placement; the lifting and flipping mechanism 2 cooperates to flip to meet the support requirements of the frame assembly.

[0028] S2) Front and rear axle installation: The front axle is installed at station 6, and the rear axle is installed at station 4. The AGV receives vehicle information from the HMES production management system and controls the lifting and flipping mechanism 2 to adjust the lifting height to meet the front and rear axle installation height requirements and meet ergonomic requirements.

[0029] S3) The frame assembly is flipped at the ninth station; the AGV receives vehicle information from the HMES production management system and controls the lifting and flipping mechanism 2 to adjust the lifting height to meet the chassis support clamping after flipping; the flipping mechanism automatically flips to meet the chassis support.

[0030] S4) The engine is unloaded at the twelve workstations; the AGV receives vehicle information from the HMES production management system and controls the lifting and flipping mechanism 2 to adjust the lifting height to meet the engine unloading height requirements and achieve ergonomic needs.

[0031] S5) The container is unloaded at the fourteenth workstation; the AGV receives vehicle information from the HMES production management system and controls the lifting and flipping mechanism 2 to adjust the lifting height to meet the container unloading and chassis connection height requirements and achieve ergonomic needs.

[0032] S6) Cab installation: The pickup truck cab is installed at station 16, and the light truck cab is installed at stations 23 and 24. The AGV receives vehicle information from the HMES production management system and controls the lifting and flipping mechanism 2 to adjust the lifting height to meet the height requirements for cab installation and chassis connection, achieving ergonomic requirements.

[0033] S7) Tire Assembly: Pickup and light truck tires are assembled at station 18, and tightened at station 19. Light truck spare tires are assembled at station 18, and pickup spare tires are assembled at station 20. The AGV receives vehicle information from the HMES production management system and controls the lifting and flipping mechanism 2 to adjust the lifting height to meet the tire installation and tightening height requirements, realizing ergonomic needs.

[0034] S8) Car doors are assembled at stations 34 and 35; the AGV receives vehicle information from the HMES production management system and controls the lifting and flipping mechanism 2 to adjust the lifting height to meet the door installation height requirements and achieve ergonomic needs.

[0035] S9) High Station: Pickup trucks are equipped with six high stations, from 20 to 25, for securing the cab, cargo box, and frame, connecting the piping and wiring harnesses underneath the vehicle, and assembling the various assembly guards. At station 25, for pickup trucks, the AGV receives vehicle information from the HMES production management system and controls the variable distance mechanism 4 and the lifting and tilting mechanism 2 to support and clamp the entire vehicle. Light trucks, which do not require high-station lifting and assembly, continue to utilize the AGV for assembly. The lifting and tilting mechanism 2 adjusts the lift height to accommodate the installation requirements of different components, enabling flexible, co-located production of pickup and light trucks.

[0036] S10) Complete Vehicle Offline: A lifting platform is installed at the 30th station at the end of the chassis line to assist the AGV in disengaging and facilitating the vehicle's off-line. Once the AGV, carrying the assembled vehicle, arrives at the location, it signals the lifting platform, which automatically raises to support the vehicle's tires. The AGV then disengages the vehicle, exits the assembly line, and automatically returns to the first station along the return line, completing the cycle.

Claims

1. An automated AGV vehicle, characterized in that: The vehicle comprises a front end (1), a lifting and flipping mechanism (2), an electric control module (3), a pitch-changing mechanism (4) and a rear end (5), wherein the front end (1) and the rear end (5) pull the lifting and flipping mechanism (2), the electric control module (3) and the pitch-changing mechanism (4) to move; The lifting and flipping mechanism (2) comprises a lifting platform I (23) for lifting and a pair of flippable clamping arms (24), wherein the clamping arms (42) are rotatably mounted on the lifting platform I (23) to open and flip outwards; The electric control module (3) is provided with a UPS power supply (31) for supplying power to the vehicle and a TPM management device (32); The pitch-changing mechanism (4) comprises a front support platform (46) and a rear support platform (44), and both the front support platform (46) and the rear support platform (44) can slide and translate longitudinally forward and backward to change the front and rear clamping wheelbases.

2. The automated AGV vehicle according to claim 1, characterized in that: The rear support platform (44) is configured as a pair of support arms that can be opened and closed laterally to change the clamping width.

3. The automated AGV according to any one of claims 1 to 2, characterized in that: The pitch-changing mechanism (4) further comprises a lifting platform II (43), and the front support platform (46) and the rear support platform (44) are respectively mounted on the lifting platform II (43).

4. The automated AGV vehicle according to claim 2, characterized in that: The front support platform (46) is driven by a variable pitch lead screw nut member (45) to achieve longitudinal translation, the rear support platform (44) is driven by a reduction motor in cooperation with a linear bearing to achieve longitudinal translation, and the support arm of the rear support platform (44) is driven by a variable width lead screw nut member (47) to achieve lateral opening and closing.

5. The automated AGV vehicle according to claim 1, characterized in that: The lifting and flipping mechanism (2) further comprises a pair of flipping lead screw nut members (28) mounted on the lifting platform I (23), wherein the lead screw in each flipping lead screw nut member (28) is arranged transversely, and the nut is combined with the corresponding clamping arm (24) through two sets of connecting rods (26) to form a four-bar mechanism.

6. The automated AGV vehicle according to claim 1, characterized in that: The front of the vehicle (1) is provided with a travel system (13) and a differential motor (12) for driving, and a laser obstacle avoidance mechanism (11) is installed in front of the front of the vehicle (1); a charging plate (53), a brake switch (54) and a magnetic navigation sensor (55) are provided in the rear of the vehicle (5), and a touch screen (51) and an observation window (52) are provided on the side of the rear of the vehicle (5); and the electric control module (3) is also provided with an array of heat dissipation holes (33), a fan (34), a switch for starting and stopping the vehicle (35), a charging port (36) and an emergency stop button (37).

7. A vehicle assembly method, characterized in that: The automated AGV cart described in any one of claims 1 to 6 is used to assemble pickup trucks and light trucks respectively.

8. The vehicle assembly method according to claim 7, characterized in that: The pickup truck and light truck assembly method comprises the following steps: S1) Frame assembly installation: The AGV automatically drives to the first workstation of the assembly line, receives vehicle information, controls the variable distance mechanism (4) to make the front support platform (46) and the rear support platform (44) translate to meet the clamping wheelbase required for frame installation, and the lifting and flipping mechanism (2) cooperates with the flipping to meet the support of the frame assembly; S2) Installation of the front and rear axles: The front axle is installed at the sixth station, and the rear axle is installed at the fourth station; the AGV receives vehicle information and controls the lifting and flipping mechanism (2) to rise and fall to meet the height requirements for the installation of the front and rear axles; S3) The frame assembly is flipped at the ninth workstation; the AGV receives vehicle information and controls the variable distance mechanism (4) to enable its front support platform (46) and rear support platform (44) to meet the clamping requirements of the frame chassis after flipping; the lifting and flipping mechanism (2) (2) flips to meet the support requirements of the chassis; S4) The engine is unloaded at the twelve workstations; the AGV receives the vehicle information and controls the lifting and flipping mechanism (2) to change the lifting height to meet the engine unloading height requirement; S5) Loading the cargo box at the fourteenth station; the AGV receives the vehicle information and controls the lifting height of the lifting and flipping mechanism (2) to meet the height requirements for loading the cargo box and connecting the chassis; S6) Loading the cab: the cab of a pickup truck is loaded at the sixteenth station, and the cab of a light truck is loaded at the twenty-third and twenty-fourth stations; the AGV receives the vehicle information and controls the lifting height of the lifting and flipping mechanism (2) to meet the height requirements for loading the cab and connecting the chassis; S7) Tire assembly: The tires of pickup trucks and light trucks are assembled at station 18 and tightened at station 19; the spare tires of light trucks are assembled at station 18, and the spare tires of pickup trucks are assembled at station 20; the AGV receives vehicle information and controls the lifting height of the lifting and flipping mechanism (2) to meet the requirements of tire installation and tightening height; S8) Car door assembly is performed at the thirty-fourth and thirty-fifth workstations; the AGV receives vehicle information and controls the lifting height of the lifting and flipping mechanism (2) to meet the door installation height requirement; S9) High workstation: Pickup trucks are equipped with six high workstations, from 20 to 25, to complete the tightening of the cab, cargo box and frame fixing points, the connection of the pipelines and wiring harnesses at the bottom of the vehicle, and the assembly of various assembly guards. For pickup trucks, at workstation 25, the AGV receives vehicle information and controls the variable distance mechanism (4) to make its front support platform (46) and rear support platform (44) move horizontally to meet the support and clamping of the whole vehicle, and the lifting and flipping mechanism (2) cooperates with the flipping to meet the support of the whole vehicle assembly; light truck models do not require high-position lifting and assembly, and continue to use AGV trolleys for assembly, thereby realizing flexible production of pickup trucks and light trucks on the same line. S10) Complete vehicle off-line: A lifting platform is set at the 30th station at the end of the chassis line to assist the AGV trolley in disengaging so that the complete vehicle can be off-line; after the AGV trolley carries the assembled complete vehicle in place, it gives a signal to the lifting platform, which automatically rises to support the tires of the complete vehicle. At this time, the AGV trolley and the complete vehicle detach from the assembly line and automatically drive to the first station of the assembly line to achieve a cyclic operation.

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