Fully automatic automobile frame welding production line

Abstract

The present invention relates to the field of vehicle frame welding technology, and in particular discloses a fully automatic automobile frame welding production line, comprising a front section assembly welding system, a rear section assembly welding system and a frame assembly welding system, wherein the front section assembly welding system and the rear section assembly welding system are arranged in parallel and relative to each other, the frame assembly welding system is arranged downstream of the front section assembly welding system and the rear section assembly welding system, and a manual repair welding system is arranged between the front section assembly welding system, the rear section assembly welding system and the frame assembly welding system. The present invention automatically operates between various welding stations through the grasping of a transporting manipulator, and welds the front section assembly of the frame, the rear section assembly of the frame and the frame assembly through the welding manipulator, with a high degree of automation and high welding efficiency, small deformation of the product after welding, stable welding quality, guaranteed product qualification rate, reduced degree of human participation, saved production cost and labor cost, and eliminated safety hazards of manual operation.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle frame welding, and in particular to a fully automatic automobile frame welding production line. Background Art

[0002] The frame is a key load-bearing component of a vehicle and needs to withstand the impact of large dynamic and static loads. Therefore, high requirements are placed on the welding of the frame. Frame welding generally involves welding the various small components that make up the frame separately, and then welding the components and small components into the various components of the frame. Finally, the components are assembled into a complete frame assembly. Passenger cars, especially high-end passenger cars, have complex frame structures, with many parts making up the frame and large deviations in the parts. The use of a step-by-step combination welding method adds many auxiliary processes and fails to form an automated welding production line production model with streamlined operations. The welding efficiency is low, resulting in unstable welding quality and large deformation of the welded frame. In addition, the welding, transportation and other processes of the various components during the frame welding process are greatly affected by human factors, which further reduces welding efficiency and quality, increases production costs, and poses safety hazards to manual operations.

[0003] Therefore, it is necessary to propose a fully automatic automobile frame welding production line to overcome the defects of the prior art. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems in the prior art and provide a fully automatic automobile frame welding production line.

[0005] The technical solution of the present invention is:

[0006] A fully automatic automobile frame welding production line includes a front section assembly welding system, a rear section assembly welding system and a frame assembly welding system. The front section assembly welding system and the rear section assembly welding system are arranged in parallel with each other. The frame assembly welding system is arranged downstream of the front section assembly welding system and the rear section assembly welding system. A manual repair welding system is provided between the front section assembly welding system, the rear section assembly welding system and the frame assembly welding system.

[0007] Preferably, the front-end assembly welding system includes three front-end welding units arranged in sequence, a front-end unloading conveyor line is provided downstream of the front-end welding unit at the end of the process flow, a front-end handling robot is provided between two adjacent front-end welding units and between the front-end welding unit at the end of the process flow and the front-end unloading conveyor line, a front-end handling tool is provided at the free end of the front-end handling robot, and a front-end transfer table is provided on one side of the front-end handling robot;

[0008] The welding of the front section assembly of the frame is completed through the streamlined operation of three front section welding units. During the welding process, the front section handling robot grabs the assembly and moves it between two adjacent front section welding units. The front section handling tooling can achieve reliable and stable grasping of the front section assembly of the frame, and the front section transfer table realizes caching during the welding process.

[0009] Preferably, the rear-end assembly welding system includes three rear-end welding units arranged in sequence, a rear-end unloading conveyor line is provided downstream of the rear-end welding unit at the end of the process flow, a rear-end handling robot is provided between two adjacent rear-end welding units and between the rear-end welding unit at the end of the process flow and the rear-end unloading conveyor line, a rear-end handling tool is provided at the free end of the rear-end handling robot, and a rear-end transfer table is provided on one side of the rear-end handling robot;

[0010] The welding of the rear section assembly of the frame is completed through the streamlined operation of three rear section welding units. During the welding process, the rear section handling robot grabs the assembly and moves it between two adjacent rear section welding units. The rear section handling tooling can achieve reliable and stable grasping of the rear section assembly of the frame, and the rear section transfer table realizes caching during the welding process.

[0011] Preferably, the front-section welding unit includes a front-section positioner and a plurality of front-section welding manipulators, which are arranged on one side of the front-section positioner through a front-section welding frame, and the front-section positioner includes a front-section positioner base, a front-section turntable bearing and a front-section positioner beam, the fixed side of the front-section turntable bearing is connected to the front-section positioner base, the rotary side of the front-section turntable bearing is connected to the front-section positioner beam, both ends of the front-section positioner beam are symmetrically provided with front-section connecting beams, the end of the front-section connecting beam away from the front-section positioner beam is provided with a front-section rotary tooling, and a front-section positioning tooling bracket is detachably provided between the two front-section rotary toolings on the same side;

[0012] The front turntable bearing drives the front displacement beam to rotate on the front displacement base, switching between the loading and welding stations, so that loading and welding can be carried out simultaneously without interfering with each other, thereby improving work efficiency. The front rotary tooling drives the front positioning tooling bracket to rotate, and completes the welding of the front section assembly of the frame through cooperation with the welding manipulator, with a high degree of automation and good welding quality.

[0013] Preferably, the rear-section welding unit includes a rear-section positioner and a plurality of rear-section welding manipulators, the plurality of rear-section welding manipulators are arranged on one side of the rear-section positioner through a rear-section welding frame, the rear-section positioner includes a rear-section positioner base, a rear-section turntable bearing and a rear-section positioner beam, the fixed side of the rear-section turntable bearing is connected to the rear-section positioner base, the rotary side of the rear-section turntable bearing is connected to the rear-section positioner beam, rear-section connecting beams are symmetrically arranged at both ends of the rear-section positioner beam, a rear-section rotary tooling is arranged at the end of the rear-section connecting beam away from the rear-section positioner beam, and a rear-section positioning tooling bracket is detachably arranged between the two rear-section rotary toolings on the same side;

[0014] The rear section turntable bearing drives the rear section displacement beam to rotate on the rear section displacement base, switching between the loading and welding stations, so that loading and welding can be carried out simultaneously without interfering with each other, thereby improving work efficiency. The rear section rotary tooling drives the rear section positioning tooling bracket to rotate, and completes the welding of the rear section assembly of the frame through cooperation with the welding manipulator, with a high degree of automation and good welding quality.

[0015] Preferably, the vehicle frame assembly welding system includes a first assembly welding unit, a second assembly welding unit, an automatic repair welding unit, a manual repair welding unit and a ground rail conveyor line, wherein the first assembly welding unit and the manual repair welding unit are sequentially arranged on one side of the ground rail conveyor line, and the second assembly welding unit and the automatic repair welding unit are sequentially arranged on the other side of the ground rail conveyor line, and a plurality of ground rail handling manipulators are arranged on the ground rail conveyor line, and the free ends of the ground rail handling manipulators are provided with assembly handling tooling;

[0016] The ground rail handling robot moves on the ground rail conveyor line, picks up the frame assembly and operates in sequence between the first assembly welding unit, the second assembly welding unit, the automatic repair welding unit and the manual repair welding unit, thereby completing the welding of the frame assembly, improving the efficiency of the frame assembly operation and the quality of welding. When grabbing, it is clamped and positioned through the assembly handling tooling, which ensures reliable clamping and high safety.

[0017] Preferably, the first assembly welding unit, the second assembly welding unit and the automatic repair welding unit have similar structures, and all include an assembly welding positioner and a plurality of assembly welding manipulators, the assembly welding positioner is provided with an assembly positioning tool, and the manual repair welding unit includes an assembly welding positioner and an assembly positioning tool provided on the assembly welding positioner;

[0018] The assembly positioning fixture positions and clamps the frame assembly on the assembly welding positioner, and the assembly welding positioner drives the frame assembly to rotate, making it convenient for assembly welding manipulators to weld or manual repair welding, improving welding efficiency and reducing labor intensity.

[0019] Preferably, the manual repair welding system includes a flexible track crane, a front-end repair welding positioner, a rear-end repair welding positioner and a blanking support frame, the front-end repair welding positioner is arranged at the end of the front-end blanking conveyor line, the rear-end repair welding positioner is arranged at the end of the rear-end blanking conveyor line, the blanking support frame is arranged at the entrance side of the frame assembly welding system, and the flexible track crane is arranged above the blanking support frame, the front-end repair welding positioner, the rear-end repair welding positioner and the ends of the front-end blanking conveyor line and the rear-end blanking conveyor line;

[0020] The front section assembly of the frame is hoisted onto the front section repair welding positioner by a flexible track crane, and repair welding is performed manually after positioning and clamping. The rear section assembly of the frame is hoisted onto the rear section repair welding positioner by a flexible track crane, and repair welding is performed manually after positioning and clamping. The front section assembly and the rear section assembly of the frame after repair welding are respectively hoisted onto the blanking support frame by flexible track cranes, waiting to be grabbed and entered into the next process.

[0021] Preferably, the front section welding frame is provided with a front section gun cleaner adapted to the front section welding manipulator, and the rear section welding frame is provided with a rear section gun cleaner adapted to the rear section welding manipulator;

[0022] Clean impurities in the welding gun and cut off longer welding wires to ensure welding quality.

[0023] Preferably, the fully automatic automobile frame welding production line further includes a profiling unit and a laser marking unit. The profiling unit is arranged on one side of the ground rail conveyor line and is configured to calibrate the frame assembly after welding. The laser marking unit is arranged in the front assembly welding system and is configured to perform laser marking on the frame crossbeam.

[0024] The profiling unit inspects the frame assembly after welding and corrects any areas with excessive welding deformation to ensure post-weld tolerances. During the welding process of the front frame assembly, the laser marking unit laser-marks the frame crossbeams, and the marking content is traceable.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present invention automatically operates between various welding stations through the grasping of a transporting manipulator, and welds the front section assembly, the rear section assembly and the frame assembly through the welding manipulator. It has a high degree of automation and high welding efficiency. The deformation of the product after welding is small, the welding quality is stable, the qualified rate of the product is guaranteed, the degree of manual participation is reduced, the production cost and labor cost are saved, and the safety hazards of manual operation are eliminated. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the top view of the structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the top view of the structure of the present invention (without the frame assembly welding system);

[0029] Figure 3 This is a schematic diagram of the three-dimensional structure of the front-end welding unit of the present invention;

[0030] Figure 4 It is a schematic diagram of the three-dimensional structure of the front-stage positioner of the present invention;

[0031] Figure 5This is a schematic diagram of the three-dimensional structure of the rear welding unit of the present invention;

[0032] Figure 6 This is a schematic diagram of the three-dimensional structure of the rear positioner of the present invention;

[0033] Figure 7 It is a schematic diagram of the top view of the vehicle frame assembly welding system of the present invention;

[0034] Figure 8 This is a schematic diagram of the top view of the first assembly welding unit of the present invention.

[0035] Among them, 1. front section assembly welding system; 11. front section welding unit; 111. front section positioner; 1111. front section positioner base; 1112. front section turntable bearing; 1113. front section positioner beam; 1114. front section connecting beam; 1115. front section rotary fixture; 1116. front section positioning fixture bracket; 112. front section welding frame; 113. front section welding manipulator; 12. front section lower Material conveyor line; 13. Front section handling robot; 14. Front section handling tooling; 15. Front section transfer table; 16. Front section gun cleaner; 2. Rear section assembly welding system; 21. Rear section welding unit; 211. Rear section positioner; 2111. Rear section positioner base; 2112. Rear section turntable bearing; 2113. Rear section positioner beam; 2114. Rear section connecting beam; 2115. Rear section rotary tooling; 211 6. Rear section positioning fixture bracket; 212. Rear section welding frame; 213. Rear section welding robot; 22. Rear section unloading conveyor line; 23. Rear section handling robot; 24. Rear section handling tooling; 25. Rear section transfer table; 26. Rear section gun cleaner; 3. Frame assembly welding system; 31. First assembly welding unit; 311. Assembly welding positioner; 312. Assembly welding robot; 313. Assembly positioning tooling; 32. Second assembly welding unit; 33. Automatic repair welding unit; 34. Manual repair welding unit; 35. Ground rail conveyor line; 36. Ground rail handling robot; 37. Assembly handling tooling; 4. Manual repair welding system; 41. Flexible rail crane; 42. Front section repair welding positioner; 43. Rear section repair welding positioner; 44. Unloading support frame; 5. Proofing unit; 6. Laser marking unit. DETAILED DESCRIPTION

[0036] In order to make the technical means, technical features, invention objectives and technical effects achieved by the present invention easier to understand, the present invention is further described below with reference to specific illustrations.

[0037] like Figure 1As shown, a fully automatic automobile frame welding production line includes: a front section assembly welding system 1, a rear section assembly welding system 2 and a frame assembly welding system 3. The front section assembly welding system 1 is used to realize the welding of the front section assembly of the frame, and the rear section assembly welding system 2 is used to complete the welding of the rear section assembly of the frame. The front section assembly welding system 1 and the rear section assembly welding system 2 are arranged in parallel and opposite to each other, and the two adopt similar structures, so that the front section assembly of the frame and the rear section assembly of the frame can be welded synchronously, thereby improving welding efficiency. The welded frame The front section assembly and the rear section assembly of the frame are transferred to the frame assembly welding system 3, and the final welding is completed by the frame assembly welding system 3. The frame assembly welding system 3 is located downstream of the front section assembly welding system 1 and the rear section assembly welding system 2. A manual repair welding system 4 is also installed between the front section assembly welding system 1, the rear section assembly welding system 2 and the frame assembly welding system 3. The manual repair welding system 4 is used to manually repair the front section assembly and the rear section assembly of the frame to improve the welding quality and ensure the product qualification rate.

[0038] like Figure 2-Figure 4 As shown, since the front section assembly of the vehicle frame has many parts to be welded, the front section assembly welding system 1 includes three front section welding units 11, and the three front section welding units 11 are arranged in sequence in a straight line. According to the process flow, a power arm is installed on one side of the front section welding unit 11 at the front end to assist manual loading, and a front section unloading conveyor line 12 is arranged downstream of the front section welding unit 11 at the rear end to convey the welded front section assembly of the vehicle frame to the subsequent process. The front section unloading conveyor line 12 adopts a power chain conveyor line to realize the automatic conveyance of the front section assembly of the vehicle frame. A front section handling robot 13 is installed between two adjacent front section welding units 11, as well as between the front section welding unit 11 at the rear end of the process flow and the front section unloading conveyor line 12. The free end of the handling manipulator 13 is connected to a front-section handling tooling 14, which realizes the positioning and grabbing of the front-section assembly of the vehicle frame. The front-section handling manipulator 13 drives the semi-finished product of the front-section assembly of the vehicle frame to run between the three front-section welding units 11, and completes the welding of corresponding parts in sequence. The front-section handling manipulator 13 at the end of the process flow grabs the welded finished product of the front-section assembly of the vehicle frame and places it on the front-section unloading conveyor line 12, and transfers it to the manual repair welding system 4. A front-section transfer table 15 is provided on one side of the front-section handling manipulator 13. During the assembly line welding process of the front-section assembly of the vehicle frame, the front-section handling manipulator 13 can grab the semi-finished product of the front-section assembly of the vehicle frame and place it on the front-section transfer table 15 for buffering, so as to avoid wasting time due to waiting and improve welding efficiency.

[0039] The front-end welding unit 11 includes a front-end positioner 111 and a front-end welding manipulator 113. The number of the front-end welding manipulators 113 is multiple. Specifically, there are three front-end welding manipulators 113. The three front-end welding manipulators 113 are distributed in a herringbone shape and are all connected to the front-end welding frame 112. The front-end welding frame 112 is installed on one side of the front-end positioner 111. A front-end gun cleaner 16 adapted to the front-end welding manipulator 113 is installed in the front-end welding frame 112 for cleaning impurities in the welding gun and cutting off longer welding wires to ensure welding quality.

[0040] The front section positioner 111 includes a front section positioner base 1111, a front section turntable bearing 1112 and a front section positioner beam 1113. The front section turntable bearing 1112 is an application of the existing technology, including a fixed side, a rotary side and a driving member connected to the rotary side. The fixed side of the front section turntable bearing 1112 is fixedly connected to the front section positioner base 1111, and the rotary side of the front section turntable bearing 1112 is connected to the front section positioner beam 1113. The front section turntable bearing 1112 is driven to rotate on the rotating side, thereby driving the front section displacement beam 1113 to rotate, switching between the loading position and the welding position, so that loading and welding can be carried out simultaneously without interfering with each other, thereby improving work efficiency. Two front section connecting beams 1114 are connected to both ends of the front section displacement beam 1113, and the two front section connecting beams 1114 are vertically and symmetrically connected to the front section displacement beam 1113. Two working positions, namely position A and position B, are formed on both sides of the front section displacement beam 1113. Each front section connecting beam 1114 is installed with a front section rotary tooling 1115 at the end away from the front section displacement beam 1113. A front section positioning tooling bracket 1116 is detachably connected between the two front section rotary toolings 1115 on the same side. The front section positioning tooling brackets 1116 at positions A and B are different, and are used for loading and positioning of components of the front section assembly of the vehicle frame at different stages, so that the front section assembly of the vehicle frame can be gradually welded from components to semi-finished products and then to finished products. Corresponding positioning tooling is installed on each front section positioning tooling bracket 1116, and the front section rotary tooling 1115 drives the front section positioning tooling bracket 1116 to rotate, and cooperates with the corresponding front section welding robot 113 to complete the corresponding welding work, and finally the front section assembly of the vehicle frame is welded into a finished product, with a high degree of automation, good welding quality and low human participation.

[0041] like Figure 1 and Figure 2As shown, the laser marking unit 6 is integrated into the front section assembly welding system 1. Specifically, the laser marking unit 6 is installed near the front section transfer table 15 located in the middle position. During the welding process of the front section assembly of the frame, when the front section assembly of the frame is placed on the front section transfer table 15 at that location, the laser marking unit 6 is started to perform laser marking on the front beam of the frame. The engraved content can be uploaded and traceable, which is convenient for subsequent search or extraction of relevant information.

[0042] like Figure 2 、 Figure 5 and Figure 6 As shown, the rear section assembly welding system 2 adopts a structure similar to the front section assembly welding system 1. As shown in the figure, the rear section assembly welding system 2 includes three rear section welding units 21, and the three rear section welding units 21 are arranged in sequence in a straight line. According to the process flow, a power arm is installed on one side of the front end rear section welding unit 21 to assist manual loading, and a rear section unloading conveyor line 22 is arranged downstream of the rear end rear section welding unit 21 to convey the welded rear section assembly of the frame to the subsequent process. The rear section unloading conveyor line 22 adopts a power chain conveyor line to realize the automatic conveyance of the rear section assembly of the frame. Rear section handling machinery is installed between two adjacent rear section welding units 21, as well as between the rear section welding unit 21 at the end of the process flow and the rear section unloading conveyor line 22. The rear section handling manipulator 23 has a rear section handling fixture 24 connected to its free end, which realizes the positioning and grabbing of the rear section assembly of the frame. The rear section handling manipulator 23 drives the semi-finished product of the rear section assembly of the frame to run between the three rear section welding units 21, and completes the welding of the corresponding parts in sequence. The rear section handling manipulator 23 at the end of the process flow grabs the welded finished product of the rear section assembly of the frame and places it on the rear section unloading conveyor line 22, and transfers it to the manual repair welding system 4. A rear section transfer table 25 is provided on one side of the rear section handling manipulator 23. During the assembly line welding process of the rear section assembly of the frame, the rear section handling manipulator 23 can grab the semi-finished product of the rear section assembly of the frame and place it on the rear section transfer table 25 for buffering, so as to avoid wasting time due to waiting and improve welding efficiency.

[0043] The rear section welding unit 21 includes a rear section positioner 211 and a rear section welding manipulator 213. There are multiple rear section welding manipulators 213. Specifically, there are three rear section welding manipulators 213. The three rear section welding manipulators 213 are arranged in a herringbone shape and are all connected to the rear section welding frame 212. The rear section welding frame 212 is installed on one side of the rear section positioner 211. A rear section gun cleaner 26 adapted to the rear section welding manipulator 213 is installed in the rear section welding frame 212 for cleaning impurities in the welding gun and cutting off longer welding wires to ensure welding quality.

[0044] The rear section positioner 211 includes a rear section positioner base 2111, a rear section turntable bearing 2112 and a rear section positioner beam 2113. The rear section turntable bearing 2112 is an application of the existing technology, including a fixed side, a rotary side and a driving member connected to the rotary side. The fixed side of the rear section turntable bearing 2112 is fixedly connected to the rear section positioner base 2111, and the rotary side of the rear section turntable bearing 2112 is connected to the rear section positioner beam 2113. The rotary side of the rear section turntable bearing 2112 is driven to rotate, thereby driving the rear section displacement beam 2113 to rotate, switching between the loading position and the welding position, so that loading and welding can be carried out simultaneously without interfering with each other, thereby improving work efficiency. Two rear section connecting beams 2114 are connected to both ends of the rear section displacement beam 2113, and the two rear section connecting beams 2114 are vertically and symmetrically connected to the rear section displacement beam 2113. Two working positions, namely position A and position B, are formed on both sides of the rear section displacement beam 2113. Each rear section connecting beam 2114 is installed with a rear section rotary tooling 2115 at the end away from the rear section displacement beam 2113. A rear section positioning tooling bracket 2116 is detachably connected between the two rear section rotary toolings 2115 on the same side. The rear section positioning tooling brackets 2116 at positions A and B are different, and are used for loading and positioning of components of the rear section assembly of the vehicle frame at different stages, so that the rear section assembly of the vehicle frame can be gradually welded from components to semi-finished products and then to finished products. Corresponding positioning tooling is installed on each rear section positioning tooling bracket 2116, and the rear section rotary tooling 2115 drives the rear section positioning tooling bracket 2116 to rotate, and cooperates with the corresponding rear section welding robot 213 to complete the corresponding welding work, and finally the finished product of the rear section assembly of the vehicle frame is welded together, with a high degree of automation, good welding quality and low human participation.

[0045] like Figure 2 As shown, the manual repair welding system 4 includes a flexible track crane 41, a front-segment repair welding positioner 42, a rear-segment repair welding positioner 43 and a blanking support frame 44. The front-segment repair welding positioner 42 corresponds to the end of the front-segment blanking conveyor line 12, and the rear-segment repair welding positioner 43 corresponds to the end of the rear-segment blanking conveyor line 22. The blanking support frame 44 is located on the entrance side of the frame assembly welding system 3 and is used to place the front-segment frame assembly and the rear-segment frame assembly. The flexible track crane 41 is arranged above the blanking support frame 44, the front-segment repair welding positioner 42, and the rear-segment repair welding positioner 43, and can take into account the end of the front-segment blanking conveyor line 12 and the end of the rear-segment blanking conveyor line 22.

[0046] The front section assembly of the frame is hoisted onto the front section repair welding positioner 42 by the flexible track crane 41, and repair welding is performed manually after positioning and clamping. During repair welding, the front section assembly of the frame is driven to rotate by the front section repair welding positioner 42, which is convenient for manual search for parts with missing welds or poor welding, thereby improving work efficiency and reducing labor intensity. Similarly, the rear section assembly of the frame is hoisted onto the rear section repair welding positioner 43 by the flexible track crane 41, and repair welding is performed manually after positioning and clamping. During repair welding, the front section assembly of the frame is driven to rotate by the front section repair welding positioner 42, which is convenient for manual search for parts with missing welds or poor welding, thereby improving work efficiency and reducing labor intensity. The front section assembly of the frame and the rear section assembly of the frame after repair welding are respectively hoisted onto the blanking support frame 44 by the flexible track crane 41, waiting to be captured and entered into the next process.

[0047] like Figure 1 、 Figure 7 and Figure 8 As shown, the frame assembly welding system 3 includes a first assembly welding unit 31, a second assembly welding unit 32, an automatic repair welding unit 33, a manual repair welding unit 34 and a ground rail conveyor line 35. The first assembly welding unit 31 and the manual repair welding unit 34 are sequentially arranged and installed on one side of the ground rail conveyor line 35, and the second assembly welding unit 32 and the automatic repair welding unit 33 are sequentially arranged and installed on the other side of the ground rail conveyor line 35. A plurality of ground rail handling manipulators 36 are installed on the ground rail conveyor line 35, and an assembly handling tool 37 is installed at the free end of the ground rail handling manipulator 36 for positioning and clamping the frame assembly. Specifically, there are two ground rail handling manipulators 36, and the two ground rail handling manipulators 36 are independent of each other. One of the ground rail handling manipulators 36 grabs the frame front section assembly and the frame rear section assembly on the blanking support frame 44 and places them on the first assembly welding unit. On the element 31, the first assembly welding unit 31 completes the welding assembly of the middle section of the right longitudinal beam, the middle section of the left longitudinal beam, and the welding of the middle ear bracket with the front section assembly and the rear section assembly of the frame. Another ground rail handling robot 36 transports the semi-finished frame assembly welded by the first assembly welding unit 31 to the second assembly welding unit 32, and completes the welding between multiple left frame mounting brackets and multiple right frame mounting brackets on the semi-finished frame assembly, thereby forming a finished frame assembly. The finished frame assembly is transported by the ground rail handling robot 36 in turn between the automatic repair welding unit 33 and the manual repair welding unit 34 for operation. After the repair welding is completed, the material is grabbed and transported to the subsequent process. Through the movement and mutual cooperation of the two ground rail handling robots 36 on the ground rail conveyor line 35, the loading, operation and unloading of the frame assembly are completed, thereby realizing automated operation and improving operation efficiency and welding quality.

[0048] The first assembly welding unit 31, the second assembly welding unit 32 and the automatic repair welding unit 33 adopt similar structures, and all include an assembly welding positioner 311 and a plurality of assembly welding manipulators 312. The assembly welding positioner 311 is equipped with an assembly positioning tool 313 for positioning and clamping, which has high positioning accuracy and reliable clamping to ensure the quality of welding. The difference is that the number of assembly welding manipulators 312 on the first assembly welding unit 31 and the second assembly welding unit 32 are two respectively, and the two assembly welding manipulators 312 are installed symmetrically. The number of assembly welding manipulators 312 on the automatic repair welding unit 33 is three, and the three assembly welding manipulators 312 are distributed in a herringbone shape to achieve full coverage and improve repair welding efficiency. The manual repair welding unit 34 includes an assembly welding positioner 311 and an assembly positioning tool 313 installed on the assembly welding positioner 311. The assembly positioning tool 313 completes the positioning and clamping of the frame assembly. The assembly welding positioner 311 drives the frame assembly to rotate, facilitating welding by the assembly welding manipulator 312 or manual repair welding, thereby improving welding efficiency and reducing labor intensity.

[0049] A shaping unit 5 is installed on one side of the ground rail conveyor line 35. The shaping unit 5 is configured to calibrate the frame assembly after welding. The frame assembly after manual repair welding by the manual repair welding unit 34 is grabbed by the ground rail transport robot 36 and placed on the shaping unit 5. After positioning and clamping, the frame assembly is inspected to determine the location of the poor welding, and the parts with excessive welding deformation are corrected by special tooling fixtures. The post-weld tolerance of the processed frame assembly meets the process requirements.

[0050] The working principle of the present invention is:

[0051] 1. Frame front section assembly welding process: The three front section welding units 11 sequentially complete the welding of frame front section welding assembly 1 / 2, frame front section welding assembly 3 / 4, and frame front section welding assembly 5 / 6;

[0052] On the first front section welding unit, the components of the front section welding assembly of the frame are manually placed on the A position of the front section positioner 111 using a power arm, assembled into the front section welding assembly of the frame, and positioned and clamped. The front section positioner 111 rotates horizontally 180 degrees and sends the front section welding assembly of the frame to the welding position. After checking that it is in place, the front section welding robot 113 welds the front section welding assembly of the frame.

[0053] After welding is completed, the front-section positioner 111 rotates horizontally 180 degrees, and the front-section transporting manipulator 13 transports the welded front-section welding assembly 1 of the frame from position A to the front-section transfer table 15. The vacant position A continues to assemble and load the front-section welding assembly of the frame, and positions and clamps it. The front-section positioner 111 rotates horizontally 180 degrees, and position A rotates to the welding position. The front-section welding robot welds the front-section welding assembly 1 of the frame. At this time, position B is in the loading position. The front-section transporting manipulator 13 grabs the welded front-section welding assembly 1 of the frame on the front-section transfer table 15 and places it on position B. The operator completes the assembly and loading of the two parts of the front-section welding assembly of the frame, and completes the positioning and clamping.

[0054] After the actions on both sides of position A and position B are completed, the front section positioner 111 rotates horizontally 180 degrees. At this time, the front section transport robot 13 places the frame front section welding assembly 1 welded at position A onto the front section transfer table 15. The operator at the vacant position A continues to complete the assembly of the frame front section welding assembly 1, and the welding robot welds the frame front section welding assembly 2 at position B of the positioner.

[0055] After the actions on both sides are completed, the front section positioner 111 rotates horizontally 180 degrees, and the front section transport manipulator 13 transports the welded front section welding assembly 2 of the frame to the front section positioner 111 of the second front section welding unit 11, and then transports the welded front section welding assembly 1 of the frame on the front section transfer table 15 to position B. The operator completes the assembly and positioning of the front section welding assembly 2 of the frame, and at the same time, the welding position welds the front section welding assembly 1 of the frame. After that, the front section positioner 111 rotates horizontally 180 degrees and enters the next cycle.

[0056] Similarly, the second front section welding unit 11 completes the welding of the front section welding assembly 3 / 4 of the frame, and transfers the front section welding assembly 4 to the third front section welding unit 11. The third front section welding unit 11 completes the welding of the front section welding assembly 5 / 6 of the frame, and the front section welding assembly 6 is transferred to the front section unloading conveyor line 12 and conveyed to the front section repair welding positioner 42;

[0057] The operator uses the flexible track crane 41 to lift the front section welding assembly of the frame onto the front section repair welding positioner 42, completes the positioning and clamping, and manually repairs the missing or poorly welded parts to obtain the finished front section assembly of the frame, and then lifts it by the flexible track crane 41 and places it on the blanking support frame 44.

[0058] 2. Frame rear section assembly welding process: The frame rear section assembly welding process is similar to the frame front section assembly welding process. Its work flow can refer to the frame front section assembly welding process and will not be repeated here.

[0059] 3. Frame assembly welding process: The first assembly welding unit 31 completes the welding of frame assembly 1, and the second assembly welding unit 32 completes the welding of frame assembly 2;

[0060] The ground rail handling robot 36 transports the front and rear frame assemblies to the assembly welding positioner 311 of the first assembly welding unit 31. The operator completes the splicing of the right longitudinal beam middle section welding assembly, the left longitudinal beam middle section welding assembly, and the middle ear bracket to form the frame assembly 1, and positions and clamps them. The assembly welding robots 312, which are arranged symmetrically on the left and right sides, weld the frame assembly 1 simultaneously. After welding is completed, the ground rail handling robot 36 transports the frame assembly 1 to the assembly welding positioner 311 of the second assembly welding unit 32.

[0061] The operator assembles the parts and welding components of multiple left and right mounting brackets of the vehicle body onto the welded frame assembly 1 to form the frame assembly 2 and completes the positioning and clamping. The assembly welding manipulators 312 arranged symmetrically on both sides weld the frame assembly 2 simultaneously. After welding is completed, the ground rail transport manipulator 36 transports the frame assembly 2 to the assembly welding positioner 311 of the automatic repair welding unit 33;

[0062] The assembly welding robots arranged in a triangular shape on the automatic repair welding unit 33 repair the frame assembly 2. After the repair is completed, the ground rail transport manipulator 36 transports the frame assembly 2 to the manual repair welding unit 34.

[0063] The operator manually repairs the missing or poorly welded parts of the frame assembly to complete the welding of the entire frame assembly.

[0064] 4. Assembly calibration station:

[0065] The defective welding positions of the frame assembly are determined by testing on the profiling unit 5, and the positions with excessive welding deformation are corrected by the fixture to ensure the tolerance requirements after welding.

[0066] 5. Laser marking station:

[0067] During the welding process of the front section of the frame assembly, the laser marking unit 6 performs laser marking on the front beam of the frame. The engraved content can be uploaded to the industrial computer or PLC of the line body to facilitate the subsequent extraction of relevant information. After the marking is completed, the frame assembly is transported to the next process.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. That is, any equivalent changes and modifications made according to the content of the patent application of the present invention should fall within the technical scope of the present invention.

Claims

1. A fully automatic automobile frame welding production line, characterized by: The invention comprises a front section assembly welding system (1), a rear section assembly welding system (2) and a frame assembly welding system (3), wherein the front section assembly welding system (1) and the rear section assembly welding system (2) are arranged in parallel and opposite to each other, the frame assembly welding system (3) is arranged downstream of the front section assembly welding system (1) and the rear section assembly welding system (2), and a manual repair welding system (4) is arranged between the front section assembly welding system (1), the rear section assembly welding system (2) and the frame assembly welding system (3); The front section assembly welding system (1) comprises three front section welding units (11) arranged in sequence, a front section blanking conveyor line (12) is provided downstream of the front section welding unit (11) at the end of the process flow, a front section transporting manipulator (13) is provided between two adjacent front section welding units (11) and between the front section welding unit (11) at the end of the process flow and the front section blanking conveyor line (12), a free end of the front section transporting manipulator (13) is provided with a front section transporting tool (14), and a front section transfer table (15) is provided on one side of the front section transporting manipulator (13); The rear section assembly welding system (2) comprises three rear section welding units (21) arranged in sequence, a rear section blanking conveyor line (22) is provided downstream of the rear section welding unit (21) at the end of the process flow, a rear section transporting manipulator (23) is provided between two adjacent rear section welding units (21) and between the rear section welding unit (21) at the end of the process flow and the rear section blanking conveyor line (22), a rear section transporting tool (24) is provided at the free end of the rear section transporting manipulator (23), and a rear section transfer table (25) is provided on one side of the rear section transporting manipulator (23); The frame assembly welding system (3) comprises a first assembly welding unit (31), a second assembly welding unit (32), an automatic repair welding unit (33), a manual repair welding unit (34) and a ground rail conveying line (35); the first assembly welding unit (31) and the manual repair welding unit (34) are sequentially arranged on one side of the ground rail conveying line (35); the second assembly welding unit (32) and the automatic repair welding unit (33) are sequentially arranged on the other side of the ground rail conveying line (35); a plurality of ground rail transport manipulators (36) are arranged on the ground rail conveying line (35); and the free ends of the ground rail transport manipulators (36) are provided with assembly transport tooling (37); The manual repair welding system (4) comprises a flexible track crane (41), a front-section repair welding positioner (42), a rear-section repair welding positioner (43) and a blanking support frame (44); the front-section repair welding positioner (42) is arranged at the end of the front-section blanking conveyor line (12); the rear-section repair welding positioner (43) is arranged at the end of the rear-section blanking conveyor line (22); the blanking support frame (44) is arranged at the entrance side of the vehicle frame assembly welding system (3); the flexible track crane (41) is arranged above the blanking support frame (44), the front-section repair welding positioner (42), the rear-section repair welding positioner (43) and the ends of the front-section blanking conveyor line (12) and the rear-section blanking conveyor line (22).

2. The fully automatic automobile frame welding production line according to claim 1 is characterized in that: The front section welding unit (11) comprises a front section positioner (111) and a plurality of front section welding manipulators (113). The plurality of front section welding manipulators (113) are arranged on one side of the front section positioner (111) through a front section welding frame (112). The front section positioner (111) comprises a front section positioner base (1111), a front section turntable bearing (1112) and a front section positioner beam (1113). The fixed side of the front section turntable bearing (1112) is connected to the front section positioner. The front section turntable bearing (1112) is mounted on a positioning base (1111), and the rotating side of the front section turntable bearing (1112) is connected to the front section displacement beam (1113). Both ends of the front section displacement beam (1113) are symmetrically provided with front section connecting beams (1114). The end of the front section connecting beam (1114) away from the front section displacement beam (1113) is provided with a front section rotary tool (1115). A front section positioning tool bracket (1116) is detachably provided between the two front section rotary toolings (1115) on the same side.

3. The fully automatic automobile frame welding production line according to claim 2 is characterized in that: The rear section welding unit (21) comprises a rear section positioner (211) and a plurality of rear section welding manipulators (213). The plurality of rear section welding manipulators (213) are arranged on one side of the rear section positioner (211) through a rear section welding frame (212). The rear section positioner (211) comprises a rear section positioner base (2111), a rear section turntable bearing (2112) and a rear section positioner beam (2113). The fixed side of the rear section turntable bearing (2112) is connected to the rear section positioner. The rear section turntable bearing (2112) is mounted on a base (2111), and the rotary side of the rear section turntable bearing (2112) is connected to the rear section displacement beam (2113). Rear section connecting beams (2114) are symmetrically arranged at both ends of the rear section displacement beam (2113). A rear section rotary tooling (2115) is arranged at the end of the rear section connecting beam (2114) away from the rear section displacement beam (2113). A rear section positioning tooling bracket (2116) is detachably arranged between the two rear section rotary toolings (2115) on the same side.

4. The fully automatic automobile frame welding production line according to claim 1 is characterized in that: The first assembly welding unit (31), the second assembly welding unit (32) and the automatic repair welding unit (33) all comprise an assembly welding positioner (311) and a plurality of assembly welding manipulators (312); the assembly welding positioner (311) is provided with an assembly positioning tool (313); and the manual repair welding unit (34) comprises an assembly welding positioner (311) and an assembly positioning tool (313) provided on the assembly welding positioner (311).

5. The fully automatic automobile frame welding production line according to claim 3 is characterized in that: The front section welding frame (112) is provided with a front section gun cleaner (16) adapted to the front section welding manipulator (113), and the rear section welding frame (212) is provided with a rear section gun cleaner (26) adapted to the rear section welding manipulator (213).

6. The fully automatic automobile frame welding production line according to claim 1 is characterized in that: The invention also includes a shape correction unit (5) and a laser marking unit (6), wherein the shape correction unit (5) is arranged on one side of the ground rail conveyor line (35) and is configured to correct the frame assembly after welding; and the laser marking unit (6) is arranged in the front section assembly welding system (1) and is configured to perform laser marking processing on the frame crossbeam.

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