Rolling bed autonomous mobile robot car two-color body painting production system and method

Abstract

The present application relates to a kind of roll bed autonomous mobile robot car two-color car body painting production system and method, including modification line, roll bed autonomous mobile robot, waiting position roll bed autonomous mobile robot, rotary roll bed;Roll bed autonomous mobile robot replaces the line body of a section of modification line, waiting position roll bed autonomous mobile robot is arranged beside rotary roll bed, for completing make-up within one beat;The present application is docked by through car body two-color system and roll bed autonomous mobile robot scheduling system, constructs the novel painting car sequence adaptive control system based on the control of stagnation car and car sequence prediction control, the transfer of entire car body is completed by the flexible transport of roll bed autonomous mobile robot, combined with the collaborative work between multiple roll bed autonomous mobile robot equipment, replace original single car sequence scheduling mode, realize new intelligent two-color car sequence scheduling mode, production scheduling whole process intelligent, satisfy production plan while improving logistics efficiency, reduce logistics transfer cost.

Description

Technical Field

[0001] This invention belongs to the field of coating technology and relates to a two-color car body coating production system and method based on an autonomous mobile robot on a roller bed. Background Technology

[0002] The pursuit of quality and efficiency in automobile manufacturing is almost extreme, especially in the painting workshop, where efficiency and flexibility directly affect the survival prospects of the entire factory.

[0003] Currently, the automotive painting industry faces the following serious problems affecting production efficiency: 1) The production method of single-color and two-color vehicles is based on continuous conveying, which cannot cope with the decrease in orders for two-color vehicles, resulting in low utilization efficiency of the two-color vehicle production line; 2) The mechanized conveying mode is singular and cannot cope with emergency scheduling of special vehicles.

[0004] The traditional method is to establish a separate two-color sewing line and use a large number of rollers and transfer machines to meet the production needs of two-color sewing machines. Figure 4 As shown, when producing a single-color car, the process involves the following steps: topcoat drying → post-topcoat storage → finishing → initial and final inspection; when producing a two-color car, the process involves the following steps: topcoat drying → masking → color painting → finishing → initial and final inspection.

[0005] Therefore, if a factory needs to produce two-color cars, it needs to establish an independent color-matching line (including color-matching masking, color-matching spraying chamber, spraying robot and roller conveyor system) to produce two-color cars. Summary of the Invention

[0006] The purpose of this invention is to provide an automotive body painting production system and method based on a roller bed autonomous mobile robot, in order to solve the problems mentioned in the background art, such as the low production efficiency of the two-color car production line when the number of two-color car orders decreases, due to the establishment of an independent color matching line in the current two-color car production in traditional painting workshops.

[0007] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0008] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution:

[0009] This invention addresses the problems of separate production lines for single- and two-color car bodies by researching a co-line production method for two-color car body painting based on a roller bed autonomous mobile robot (hereinafter referred to as roller bed ARM). This method aims to solve the problems of low production efficiency and high operating and investment costs when using a dedicated line to paint the second color on a two-color car body in an automotive painting production line, especially when orders decrease.

[0010] A car body painting production method based on an autonomous mobile robot on a roller bed utilizes a topcoat line and a topcoat drying line for two-color secondary spraying, such as... Figure 5 As shown, when encountering a two-tone vehicle, the process involves the following steps: topcoat drying → masking → topcoat spraying → topcoat drying → finishing → initial inspection and final inspection.

[0011] A two-tone paint production system for automobiles using an autonomous mobile robot roller bed includes a finishing line 3, an autonomous mobile robot roller bed 4, an autonomous mobile robot roller bed 5, and a rotary roller bed 6.

[0012] The autonomous moving robot 4 replaces a section of the trimming line 3, and the waiting position autonomous moving robot 5 is set next to the rotating roller 6 to complete the replacement within one cycle.

[0013] Furthermore, the roller bed autonomous mobile robot 4 is used to carry the skid of the painted vehicle body and transport the vehicle body to a designated location. It includes a roller bed and an autonomous mobile robot body, which are assembled together. The roller bed power system and control system are connected inside the autonomous mobile robot body control system.

[0014] Furthermore, the system also includes a server, intelligent scheduling software, and a line-to-line (PN) coupler;

[0015] The server is used for collecting and storing operational data of the autonomous mobile robot on the rolling mill, deploying intelligent scheduling software, and operating in parallel with the production network;

[0016] Intelligent scheduling software is used for monitoring, scheduling, issuing action commands, and planning the path of the autonomous mobile robot on the rolling mill.

[0017] Linear PN couplers are used for positioning, alarm, and information transmission between the roller bed control system and the roller bed autonomous mobile robot system.

[0018] Furthermore, the rotary roller bed 6 is located behind the inspection and polishing finishing station in the finishing line, and is used to transfer the two-tone vehicle body;

[0019] Two autonomous mobile robots are set up for the waiting position rolling bed.

[0020] Furthermore, the autonomous mobile robot 4 and the rotary roller bed 6 also include a signal transmission device for automatic docking between the autonomous mobile robot and the rotary roller bed.

[0021] Furthermore, the roller bed autonomous mobile robot 4 includes a dual drive system for the lateral movement of the roller bed autonomous mobile robot.

[0022] Furthermore, the system also includes an intelligent obstacle avoidance system for the autonomous mobile robot of the rolling bed, which uses real-time feedback of the position information of the autonomous mobile robot of the rolling bed to achieve mutual avoidance between the autonomous mobile robots of the rolling bed.

[0023] Furthermore, the system also includes the binding of vehicle body information and roller bed autonomous mobile robot information for precise production scheduling.

[0024] A method for producing two-tone paint for automobiles using an autonomous mobile robot on a roller bed includes the following steps:

[0025] Step 1: Painted vehicle bodies are temporarily stored in their designated locations in the automated warehouse. Production is then scheduled in a pull-based manner based on normal production orders. Single-color and two-color vehicles are produced according to demand and orders, with vehicle bodies produced from the automated warehouse sequentially passing through various workstations via the conveyor line.

[0026] Step 2: When a two-color car arrives at the position of the roller bed autonomous moving robot, the two-color car body needs to be moved out of the trim line. The two-color system of the car body notifies the roller bed autonomous moving robot scheduling system. The scheduling system sends the task to the roller bed autonomous moving robot through wireless signal. After receiving the task, the roller bed autonomous moving robot waits for all the skids to arrive on the roller bed autonomous moving robot before moving laterally out of the trim line.

[0027] Step 3: Once a safe distance is maintained, another autonomous mobile robot on the roller bed at the waiting position along the line quickly moves into the trim line position to fill the gap. During normal single-color bodywork, it is used as a conveyor line. At the same time, another autonomous mobile robot on the roller bed moves to the waiting position to wait.

[0028] Step 4: The autonomous moving robot on the roller bed with the car body removed from the trim line automatically transports the car body to the workstation below. According to the car model information, it goes to the rotary roller bed workstation and transfers the car body onto the rotary roller bed. During docking, the signal transmission device first interacts, and the roller bed motors move at the same time, moving the painted car body onto the rotary roller bed.

[0029] A method for producing two-tone car body paint using an autonomous mobile robot on a roller bed, further includes step five: an emergency change of production sequence, in which the autonomous mobile robot on the roller bed is used to transport the car from the finishing line to the rotary roller bed for docking.

[0030] Step Six: The repaired vehicle body is transported by a roller bed autonomous mobile robot.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] The two-color production method for automotive body painting connects the two-color body system with the roller bed autonomous mobile robot scheduling system to build a new adaptive control system for painting vehicle sequence based on the management of delayed vehicles and the prediction and control of vehicle sequence. The entire vehicle body transfer is completed through the flexible transportation of the roller bed autonomous mobile robot. Combined with the collaborative operation between multiple roller bed autonomous mobile robot devices, it replaces the original single vehicle sequence scheduling mode and realizes a new intelligent two-color vehicle sequence scheduling mode. The entire production scheduling process is intelligent, which not only meets the production plan, but also improves logistics efficiency and reduces logistics transfer costs. Attached Figure Description

[0033] The invention will now be further described with reference to the accompanying drawings:

[0034] Figure 1 This is a schematic diagram of the layout of a two-color production method for automobile body painting based on an autonomous mobile robot on a roller bed, according to the present invention.

[0035] Figure 2 This is a schematic diagram of the process flow for a two-color production method for automotive body painting based on an autonomous mobile robot on a roller bed, according to the present invention.

[0036] Figure 3 This is a schematic diagram of the autonomous mobile robot route for a two-color automotive body painting method based on a roller bed autonomous mobile robot, according to the present invention.

[0037] Figure 4 A schematic diagram illustrating the traditional method for meeting the production requirements of two-tone vehicles;

[0038] Figure 5 This diagram illustrates a car body painting production method based on an autonomous mobile robot on a roller bed, demonstrating a two-color secondary spraying process using a topcoat line and a topcoat drying line.

[0039] In the picture:

[0040] 1. Stacker crane; 2. Vertical warehouse; 3. Finishing line; 4. Autonomous mobile robot for roller beds;

[0041] 5. Waiting position roller bed autonomous moving robot; 6. Rotary roller bed; 7. Point repair room. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this invention. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this invention, and should not be construed as limiting the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. The embodiments of this invention will be described in detail below with reference to the accompanying drawings.

[0043] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0044] The present invention will now be described in detail with reference to the accompanying drawings:

[0045] See Figure 1 The present invention provides a technical solution: a two-color production method for automobile body painting based on a roller bed autonomous mobile robot, comprising: a vertical warehouse 2, a stacker crane 1, and a skid for storing painted car bodies;

[0046] The painting workshop roller conveyor finishing line includes finishing line 3, spot repair room 7, inspection and polishing finishing line, underbody adhesive spraying room, final inspection film application line, and rework line;

[0047] The roller bed autonomous mobile robot is used in the painting workshop to carry the skid of the painting vehicle body and transport the vehicle body to the designated location. It includes the autonomous mobile robot body and the roller bed. The roller bed and the autonomous mobile robot body are assembled together. The roller bed power system and control system are connected to the autonomous mobile robot body control system.

[0048] The two-tone body system includes a server, intelligent scheduling software, and line PN coupler;

[0049] Intelligent scheduling software is an existing technology that assigns tasks and specifies walking paths for the autonomous mobile robots on the rolling mills under its jurisdiction.

[0050] The rotary roller bed 6 is located behind the inspection and polishing station in the roller conveyor finishing line of the painting workshop, and is used to transfer the two-tone vehicle body.

[0051] The autonomous mobile robot for the roller bed and the line roller bed also include a signal transmission device for automatic docking between the autonomous mobile robot for the roller bed and the line roller bed.

[0052] The structure of the signal transmission device, which is connected to the autonomous mobile robot 4 and the rotary roller 6, is existing technology.

[0053] The autonomous mobile robot has a laser emission source on its side, and a laser receiving baffle is installed in front of the rotating roller bed 6. When the robot docks with the roller bed, the robot emits a laser. After the laser receiving baffle of the roller bed receives the laser, it is considered that the two sides are accurately docked, and the robot or the body on the roller bed is allowed to be transported.

[0054] Signal transmission devices are existing technologies for enabling the docking of autonomous mobile robot 4 and rotary rolling bed 6.

[0055] The roller bed autonomous mobile robot 4 includes a dual drive system for the lateral movement of the roller bed autonomous mobile robot.

[0056] The dual-drive system is an existing technology. The dual-drive system is to install drive devices at both the front and rear of the rolling bed robot. The front and rear drive units are controlled by the body scheduling system to control the walking motors and achieve synchronous start-stop and steering.

[0057] Next to a section of the roller conveyor finishing line in the workshop, where an autonomous mobile robot replaces the roller, another autonomous mobile robot needs to wait nearby to complete the replacement within one cycle.

[0058] In the painting workshop's roller conveyor finishing line, a section of the roller bed is replaced by an autonomous moving robot, used to transfer car bodies that require two colors out of the line.

[0059] The two-tone vehicle body system also includes an intelligent obstacle avoidance system for the autonomous mobile robots on the rolling mills. This system utilizes real-time feedback on the robots' position to enable them to avoid each other. The two-tone system also includes binding information between the vehicle body and the autonomous mobile robot information for precise production scheduling.

[0060] Intelligent obstacle avoidance system is an existing technology. Intelligent obstacle avoidance system includes obstacle avoidance between the autonomous mobile robot and objects in the surrounding environment when the robot is moving, and mutual obstacle avoidance between autonomous mobile robots.

[0061] The binding of vehicle body information and roller bed autonomous mobile robot information is achieved by the intelligent scheduling system of the roller bed autonomous mobile robot interacting with production information, determining the vehicle body information based on the production information, and thus realizing information binding.

[0062] Its working principle: See Figure 2 , Figure 3 A two-color production method for automotive body painting based on an autonomous mobile robot on a roller bed includes the following steps:

[0063] Step 1: Painted vehicle bodies are temporarily stored in their designated locations in the automated warehouse. Production is then scheduled in a pull-based manner based on normal production orders. Single-color and two-color vehicles are produced according to demand and orders, with vehicle bodies produced from the automated warehouse sequentially passing through various workstations via the conveyor line.

[0064] Step 2: When a two-color car arrives at the position of the roller bed autonomous moving robot, the two-color car body needs to be moved out of the trim line. The two-color system of the car body notifies the roller bed autonomous moving robot scheduling system. The scheduling system sends the task to the roller bed autonomous moving robot through wireless signal. After receiving the task, the roller bed autonomous moving robot waits for all the skids to arrive on the roller bed autonomous moving robot before moving laterally out of the trim line.

[0065] Step 3: Once a safe distance is maintained, another autonomous mobile robot on the roller bed at the waiting position along the line quickly moves into the trim line position to fill the gap. During normal single-color bodywork, it is used as a conveyor line. At the same time, another autonomous mobile robot on the roller bed moves to the waiting position to wait.

[0066] Step 4: The autonomous moving robot on the roller bed with the car body removed from the trim line automatically transports the car body to the workstation below. According to the car model information, it goes to the rotary roller bed workstation and transfers the car body onto the rotary roller bed. During docking, the signal transmission device first interacts, and the roller bed motors move at the same time, moving the painted car body onto the rotary roller bed.

[0067] Step 5: For production tasks involving emergency changes in the machine sequence, the autonomous mobile robot on the roller bed can be used to transport the goods from the finishing line to the rotary roller bed for docking.

[0068] Step Six: The vehicle body to be repaired can be transported by a roller bed autonomous mobile robot carrying the vehicle body on its back;

[0069] The problem solved by this invention is that the production of two-tone painted vehicles has been changed from separate production lines with single-color painted vehicles to mixed production lines with single-color painted vehicles, which has the following advantages over separate production lines:

[0070] Investment cost: Based on the 15JPH two-color car design, the investment cost of the two-color spraying line and the two-color drying line is estimated at 60 million yuan. The mixed production of two-color cars can effectively reduce the investment cost, and it is expected to save 2 / 3, or 40 million yuan.

[0071] Efficiency Improvement: Based on the 15JPH two-color car design, when the daily hourly order for two-color cars is less than 5 units, mixed-line production reduces the number of operators for two-color finishing by 6 people per year compared to separate-line production.

[0072] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention, and within the spirit and principles of the present invention, should be included within the scope of protection of the present invention. Furthermore, all content not described in detail in this specification is prior art known to those skilled in the art.

Claims

1. A roller-bed autonomous mobile robot automotive two-tone body painting production system, characterized in that: The modification line (3), the rolling bed autonomous mobile robot (4), the waiting position rolling bed autonomous mobile robot (5), and the rotating rolling bed (6) are included. The rolling bed autonomous mobile robot (4) replaces a section of the modification line (3), and the waiting position rolling bed autonomous mobile robot (5) is arranged beside the rotating rolling bed (6) to complete the position compensation within one beat. The rolling bed autonomous mobile robot (4) is used to carry the skid of the painted vehicle body to the designated position, and includes a rolling bed and an autonomous mobile robot body. The vehicle body painting production system further includes a server, intelligent scheduling software, and a line body pn coupler. The server is used for rolling bed autonomous mobile robot operation data collection and storage, intelligent scheduling software deployment, and network operation with the production network. The intelligent scheduling software is used for rolling bed autonomous mobile robot operation monitoring, scheduling, and action instruction issuing, as well as robot path planning. The line body pn coupler is used for rolling bed control system and rolling bed autonomous mobile robot system occupancy, alarm, and conveying information interaction. The rotating rolling bed (6) is arranged at the rear side of the inspection and polishing modification station in the modification line. Two waiting position rolling bed autonomous mobile robots (5) are arranged. The rolling bed autonomous mobile robot (4) includes a double drive system for transverse movement of the rolling bed autonomous mobile robot.

2. The rolling bed autonomous mobile robot automobile two-color vehicle body painting production system according to claim 1, characterized in that: The rolling bed autonomous mobile robot (4) and the rotating rolling bed (6) further include a signal transmission device for automatic docking between the rolling bed autonomous mobile robot and the rotating rolling bed.

3. The rolling bed autonomous mobile robot automobile two-color vehicle body painting production system according to claim 1, characterized in that: The vehicle body painting production system further includes an intelligent avoidance system of the rolling bed autonomous mobile robot, which realizes mutual avoidance between the rolling bed autonomous mobile robots by using real-time feedback of the rolling bed autonomous mobile robot position information.

4. The rolling bed autonomous mobile robot automobile two-color vehicle body painting production system according to claim 1, characterized in that: The vehicle body painting production system further includes binding content of automobile body information and rolling bed autonomous mobile robot information for precise scheduling of production.

5. The production method of the autonomous mobile robot car two-color body painting production system according to claim 2, characterized in that, The steps include: Step one: The painted vehicle body is temporarily stored in the storage position in the vertical warehouse, and the normal production order pull production is pulled, and the single-color vehicle and the two-color vehicle are painted according to the demand and the order, and the vehicle bodies pulled out of the vertical warehouse pass through each station in turn through the conveying line; Step two: when there is a two-color vehicle, the two-color vehicle body needs to be moved out of the modification line when reaching the rolling bed autonomous mobile robot position, the vehicle body painting production system notifies the rolling bed autonomous mobile robot scheduling system, the scheduling system issues the task to the rolling bed autonomous mobile robot through wireless signals, the rolling bed autonomous mobile robot receives the task, and waits for the skid to reach the rolling bed autonomous mobile robot, and then the rolling bed autonomous mobile robot moves out of the modification line. Step three: the other roll bed autonomous mobile robot in the waiting position of the line quickly drives into the modification line position to fill the position, and is used as a conveying line when the single-color vehicle body is normal, while the other roll bed autonomous mobile robot is in the waiting position; Step four: the roll bed autonomous mobile robot carrying the vehicle body moves out of the modification line and automatically transports to the underlying work station, and according to the vehicle model information, moves to the rotating roll bed work station and transfers the vehicle body to the rotating roll bed, and when the two are docked, the signal transmission device is used for interaction, and the roll bed motor is simultaneously actuated, so that the coated vehicle body is moved to the rotating roll bed; Step five: the production task of emergency change of vehicle sequence is transported by using the roll bed autonomous mobile robot, and is transported from the modification line to the rotating roll bed for docking; Step six: the vehicle body for spot repair is transported by using the roll bed autonomous mobile robot.

Images