Monolithic exhaust pipe storage and assembly system and method of assembly

Abstract

The present application relates to the technical field of vehicle exhaust pipe assembly, in particular to a whole exhaust pipe storage and assembly system and an assembly method. Through the optimization design of the whole exhaust pipe packaging container, under the requirement of the mechanical hand clamp clamping point, through the structure of the upper and lower two layers, more whole exhaust pipes can be placed in a single package, which reduces the logistics cost by one time, saves the logistics area on site, and improves the space utilization. Through the optimization design of the whole exhaust pipe, compared with the two people cooperation mode, one person can complete the exhaust pipe taking out from the container, vertical to horizontal adjustment and installation posture adjustment, which saves the labor cost and improves the manufacturing efficiency.

Description

Technical Field

[0001] This invention relates to the field of vehicle exhaust pipe assembly technology, specifically to an integrated exhaust pipe storage and assembly system and assembly method. Background Technology

[0002] As a crucial component of hybrid vehicles, the exhaust pipe has always been a key element controlled during the manufacturing process, directly impacting the overall vehicle quality. Exhaust pipes come in two types: integral and segmented. Integral exhaust pipes are long and heavy, and currently, the packaging containers for integral exhaust pipes have low loading rates, resulting in high logistics costs.

[0003] Currently, most integral exhaust pipes are packaged in single-layer containers with alternating front and rear packaging. This method has a high SNP (Standard Packaging Quantity) and solves the logistics cost problem. However, because of the alternating packaging method, the gripping points of adjacent workpieces are not fixed, making it impossible to implement robotic arm-assisted assembly. Furthermore, the length and weight of integral exhaust pipes make the design of the assembly gripping system difficult. Therefore, existing technologies typically employ a manual installation method assisted by two workers. The manual lifting method involves two workers manually moving the integral exhaust pipe. One worker connects the front end of the integral exhaust pipe to the engine, while the other worker uses hooks and claws to hang the rear end of the integral exhaust pipe on the vehicle body. After bolts are used to connect the front end of the integral exhaust pipe to the engine, the hook at the rear end of the integral exhaust pipe is then fixed to the vehicle body, and finally, the hooks and claws are removed. The existing manual lifting method is extremely inconvenient for integral exhaust pipes (which are long and heavy), resulting in heavy manual labor and low production efficiency. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an integrated exhaust pipe storage and assembly system and assembly method to address the shortcomings of the prior art. This system can reduce the logistics cost of integrated exhaust pipes, improve the space utilization of packaging containers, increase the assembly efficiency of exhaust pipes, and save labor costs.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] I. An integrated exhaust pipe storage and assembly system

[0007] This invention provides an integrated exhaust pipe storage and assembly system, including an integrated exhaust pipe packaging rack 1 and an exhaust pipe robotic gripper 2. The integrated exhaust pipe packaging rack 1 includes a material rack frame 3. The upper and lower layers of the material rack frame 3 are respectively provided with an upper support horizontal bar and a lower horizontal support bar adapted to the shape of the integrated exhaust pipe to be installed. The upper support horizontal bar and the lower horizontal support bar are arranged symmetrically in opposite directions, and the upper support horizontal bar can be flipped vertically upward. One end of the bottom of the material rack frame 3 is equipped with a bottom universal wheel 4, and the other end is equipped with a bottom directional wheel 5. The exhaust pipe manipulator gripper 2 includes a horizontally arranged mounting rod 26 and a gripper support rod 20. The gripper support rod 20 has multiple manipulator grippers vertically arranged on it, which are adapted to the gripping points of the integral exhaust pipe to be installed. The middle part of the gripper support rod 20 is connected to a flipping mechanism 24 located above the mounting rod 26 through a floating mechanism. The mounting rod 26 is mounted on the field robotic arm through the manipulator gripper mounting base 24. The tail end of the mounting rod 26 is provided with a button box 25. The manipulator grippers and the flipping mechanism 24 are both electrically connected to the button box 25.

[0008] Preferably, the upper support transverse rods include upper support transverse rod 6, upper support transverse rod 7, and upper support transverse rod 8, which are respectively used to support the front, middle, and rear parts of the upper integrated exhaust pipe to be installed; the lower transverse support rods include lower transverse support rod 9, lower transverse support rod 10, and lower transverse support rod 11, which are respectively used to support the rear, middle, and front parts of the lower integrated exhaust pipe to be installed.

[0009] Preferably, the upper layer of the material rack frame 3 is provided with a tail end support rod 12 and a tail end support rod 14 at the positions corresponding to the tail end and lower end of the integrated exhaust pipe to be installed on the upper layer; the lower layer of the material rack frame 3 is provided with a tail end support rod 23 and a tail end support rod 25 at the positions corresponding to the tail end and lower end of the integrated exhaust pipe to be installed on the lower layer.

[0010] Preferably, the upper supporting transverse rod 6, the upper supporting transverse rod 7, and the upper supporting transverse rod 8 can all be rotated arbitrarily between the horizontal direction and the vertical upward direction; and the tail side support rod 12 and the tail side support rod 13 are each equipped with a supporting reinforcing rod 16.

[0011] Preferably, multiple EVA material limiting blocks are arranged in parallel on each of the upper supporting transverse rod 6, upper supporting transverse rod 7, upper supporting transverse rod 3, lower transverse support rod 9, lower transverse support rod 2, lower transverse support rod 3, tail side support rod 12, tail side support rod 2, tail lower support rod 14, and tail lower support rod 2, and the number of limiting blocks on each rod is adapted to the number of exhaust pipes of the integral exhaust pipe to be installed.

[0012] Preferably, the robotic gripper includes a first robotic gripper 17, a second robotic gripper 18, and a third robotic gripper 19, which are respectively adapted to the clamping points at the front, middle, and rear of the integral exhaust pipe to be installed, and the first robotic gripper 17, the second robotic gripper 18, and the third robotic gripper 19 are all driven by corresponding cylinders to clamp and release.

[0013] Preferably, the tilting mechanism includes a connecting block 21, one end of which is fixedly connected to the gripper support rod 20, and the other end is connected to the flipping mechanism 24 through a connecting block fixing bolt 22. The flipping mechanism 24 is used to drive the gripper support rod 20 to flip the manipulator gripper between the vertical and horizontal directions.

[0014] Preferably, a preset gap is left between the connecting block fixing bolt 22 and the fixing hole on the connecting block 21; when the flipping mechanism 24 drives the chuck support rod 20 to flip the robot chuck to the horizontal direction, the end of the integral exhaust pipe to be installed on the robot chuck away from the connecting block fixing bolt 22 can be adjusted up and down in the height direction based on the preset gap.

[0015] II. A method for assembling a vehicle exhaust pipe

[0016] Based on the same inventive concept, the present invention also provides a method for assembling a vehicle exhaust pipe, which, based on the integrated exhaust pipe storage and assembly system described above, specifically includes the following steps:

[0017] S1, alternately install the upper integrated exhaust pipe to be installed and the lower integrated exhaust pipe to be installed into the integrated exhaust pipe packaging rack;

[0018] S2, the exhaust pipe robotic gripper clamps the upper integrated exhaust pipe to be installed at the preset points and takes it out from the integrated exhaust pipe packaging rack;

[0019] S3, the rotating mechanism drives the integral exhaust pipe to be installed to rotate to the vehicle-mounted installation position;

[0020] S4, press the follow button in the button box to make the exhaust pipe robotic gripper and the integral exhaust pipe to be installed follow the vehicle to the installation position;

[0021] S5, the operator adjusts the height of the front end of the integral exhaust pipe to be installed through the tilting mechanism, and connects the front end of the integral exhaust pipe to be installed to the vehicle engine;

[0022] S6, the operator connects the rear end of the integral exhaust pipe to be installed to the vehicle body via a hook;

[0023] S7, Press the return button in the button box to reset the exhaust pipe robotic gripper;

[0024] S8, flip the upper support horizontal bar upward to a vertical position, and rotate the material rack frame 180° by cooperating with the universal wheels and directional wheels at the bottom of the frame;

[0025] S9, the exhaust pipe robotic gripper clamps the lower integrated exhaust pipe to be installed at the preset point and removes it from the integrated exhaust pipe packaging rack, and then repeats step S3.

[0026] Compared with the prior art, the present invention has the following main advantages:

[0027] 1. This invention provides an integrated exhaust pipe storage and assembly system. Through optimized design of the integrated exhaust pipe packaging container, while meeting the requirements of the gripping points of the robotic arm, the upper and lower two-layer structure allows a single package to hold more integrated exhaust pipes, reducing logistics costs by half, while also saving on-site logistics area and improving space utilization.

[0028] 2. This invention optimizes the integrated exhaust pipe storage and assembly scheme, allowing one person to complete the removal of the exhaust pipe from the container, the vertical and horizontal adjustment, and the installation posture adjustment, compared to the traditional method of two people working together. This significantly saves labor costs and improves manufacturing efficiency.

[0029] 3. The present invention also provides a method for assembling a vehicle exhaust pipe, which is convenient to operate and easy to implement, and can effectively improve the assembly efficiency of the vehicle exhaust pipe. Attached Figure Description

[0030] Figure 1 This is an overall schematic diagram of the exhaust pipe storage and assembly system in an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the integrated exhaust pipe packaging rack in an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the exhaust pipe robotic gripper in an embodiment of the present invention;

[0033] Figure 4 This is a flowchart of a vehicle exhaust pipe assembly method in an embodiment of the present invention.

[0034] In the diagram: 1-Integrated exhaust pipe packaging rack; 2-Exhaust pipe robotic gripper; 3-Material rack frame; 4-Bottom universal caster; 5-Bottom directional caster; 6-Upper support transverse rod one; 7-Upper support transverse rod two; 8-Upper support transverse rod three; 9-Lower transverse support rod one; 10-Lower transverse support rod two; 11-Lower transverse support rod three; 12-Tail side support rod one; 13-Tail side support rod two; 14-Tail lower support rod one; 15-Tail lower support rod two; 16-Support reinforcing rod; 17-Robot gripper head one; 18-Robot gripper head two; 19-Robot gripper head three; 20-Grip support rod; 21-Connecting block; 22-Connecting block fixing bolt; 23-Robot gripper mounting base; 24-Flipping mechanism; 25-Button box; 26-Mounting rod. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0036] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0037] Because integrated exhaust pipes are relatively long, they often occupy a significant area along the edge when laid out along the line. Current packaging containers use alternating layers of integrated exhaust pipes, which solves the quantity requirement issue. However, since the gripping point of the robotic arm is fixed, the alternating arrangement of the integrated exhaust pipes does not meet this requirement, thus failing to satisfy the robotic arm's operational needs. Therefore, innovative designs are needed for packaging containers that satisfy both the quantity limitations (to save on logistics costs) and the need to save floor space (for compact layouts), while also ensuring consistent gripping points for the robotic arm.

[0038] Simultaneously, a robotic gripper needs to be designed. Under the operation of one worker, the robotic gripper clamps the integral exhaust pipe in the packaging container. Pressing the loading button of the robotic device causes the robotic gripper to lift the integral exhaust pipe and remove it from the container. A flipping mechanism needs to be designed. After pressing the operation button of the flipping mechanism, the removed exhaust pipe can be adjusted from a vertical position to a horizontal position for easy installation on the vehicle. Then, after pressing the follow button, the integral exhaust pipe follows the main line. The worker adjusts the installation posture of the exhaust pipe, maintains the installation posture, and continues until the installation is completed.

[0039] Example 1: This example provides an integrated exhaust pipe storage and assembly system, such as... Figures 1-3 As shown, it mainly includes an integrated exhaust pipe packaging rack 1 and an exhaust pipe robotic gripper 2.

[0040] The integrated exhaust pipe packaging rack 1 includes a material rack frame 3. The upper and lower layers of the material rack frame 3 are respectively equipped with an upper support horizontal bar and a lower horizontal support bar that are adapted to the shape of the integrated exhaust pipe to be installed. The upper support horizontal bar and the lower horizontal support bar are arranged symmetrically in opposite directions, and the upper support horizontal bar can be flipped vertically upwards. One end of the bottom of the material rack frame 3 is equipped with a bottom universal wheel 4, and the other end is equipped with a bottom directional wheel 5. The exhaust pipe robotic gripper 2 includes a horizontally arranged mounting... The system includes a rod 26 and a clamp support rod 20. The clamp support rod 20 is vertically equipped with multiple robotic grippers adapted to the clamping points of the integral exhaust pipe to be installed. The middle part of the clamp support rod 20 is connected to a flipping mechanism 24 located above the mounting rod 26 via a floating mechanism. The mounting rod 26 is mounted on the field robotic arm via a robotic gripper mounting base 24. The tail end of the mounting rod 26 is equipped with a button box 25. Both the robotic grippers and the flipping mechanism 24 are electrically connected to the button box 25.

[0041] Furthermore, the upper support transverse rods include upper support transverse rod 6, upper support transverse rod 7, and upper support transverse rod 8, which are respectively used to support the front, middle, and rear parts of the upper integrated exhaust pipe to be installed; the lower transverse support rods include lower transverse support rod 9, lower transverse support rod 10, and lower transverse support rod 11, which are respectively used to support the rear, middle, and front parts of the lower integrated exhaust pipe to be installed.

[0042] Furthermore, the upper layer of the material rack frame 3 is provided with a tail end support rod 12 and a tail end support rod 14 at the positions corresponding to the tail end and lower end of the integrated exhaust pipe to be installed on the upper layer; the lower layer of the material rack frame 3 is provided with a tail end support rod 23 and a tail end support rod 25 at the positions corresponding to the tail end and lower end of the integrated exhaust pipe to be installed on the lower layer.

[0043] Furthermore, the upper supporting transverse rod 6, the upper supporting transverse rod 7, and the upper supporting transverse rod 8 can all be rotated arbitrarily between the horizontal direction and the vertical upward direction; and the tail side support rod 12 and the tail side support rod 13 are each equipped with a supporting reinforcing rod 16.

[0044] Furthermore, multiple EVA material limiting blocks are arranged in parallel on the upper supporting transverse rod 6, upper supporting transverse rod 7, upper supporting transverse rod 3, lower supporting transverse rod 9, lower transverse support rod 2, lower transverse support rod 3, tail side support rod 12, tail side support rod 2, tail lower support rod 14, and tail lower support rod 2 15, and the number of limiting blocks on each rod is adapted to the number of exhaust pipes of the integral exhaust pipe to be installed.

[0045] Furthermore, the robotic gripper includes robotic gripper 17, robotic gripper 28, and robotic gripper 39, which are respectively adapted to the clamping points at the front, middle, and rear of the integral exhaust pipe to be installed, and robotic gripper 17, robotic gripper 28, and robotic gripper 319 are all driven by corresponding cylinders to clamp and release.

[0046] Furthermore, the tilting mechanism includes a connecting block 21, one end of which is fixedly connected to the gripper support rod 20, and the other end is connected to the flipping mechanism 24 through a connecting block fixing bolt 22. The flipping mechanism 24 is used to drive the gripper support rod 20 to flip the manipulator gripper between the vertical and horizontal directions.

[0047] Furthermore, a preset gap is left between the connecting block fixing bolt 22 and the fixing hole on the connecting block 21; when the flipping mechanism 24 drives the chuck support rod 20 to flip the robot chuck to the horizontal direction, the end of the integral exhaust pipe to be installed on the robot chuck away from the connecting block fixing bolt 22 can be adjusted up and down in the height direction based on the preset gap.

[0048] Example 2: This example provides an integrated exhaust pipe storage and assembly system, which mainly consists of a double-layer integrated exhaust pipe packaging rack and an exhaust pipe robotic gripper.

[0049] The integrated exhaust pipe packaging rack mainly consists of a material rack frame, bottom universal wheels, bottom directional wheels, upper support horizontal rod one, upper support horizontal rod two, upper support horizontal rod three, lower horizontal support rod one, lower horizontal support rod two, lower horizontal support rod three, tail side support rod one, tail side support rod two, tail lower support rod one, tail lower support rod two, and support reinforcement rods.

[0050] The upper support transverse rods 1, 2, 3, 1, 2, and 3, as well as the lower transverse support rods 1, 2, and 3, are equipped with EVA (ethylene-vinyl acetate copolymer) limiting elements to support the front, middle, and rear sections of the exhaust pipe's circular section. The rear side support rods 1, 2, 1, and 2 are also equipped with EVA (ethylene-vinyl acetate copolymer) limiting elements to support the lower and side ends of the exhaust pipe's tail section, preventing it from tilting.

[0051] Furthermore, the integrated exhaust pipe packaging rack is designed with a two-layer structure, with a certain height difference between the two layers. This height difference provides sufficient space for the robotic arm to lift and remove the lower-layer integrated exhaust pipe. After placing the lower-layer exhaust pipes, the operator continues to place the upper-layer exhaust pipes symmetrically, with each layer aligned in the same direction. The exhaust pipes in the upper and lower layers are placed alternately end-to-end. When assembling the exhaust pipes into the vehicle, the upper-layer exhaust pipes are clamped first. After clamping all five upper-layer integrated exhaust pipes, the packaging container is rotated 180° by turning the casters underneath. At this point, the lower-layer exhaust pipes are aligned with the upper-layer exhaust pipes, thus meeting the requirement of consistent clamping points. Simultaneously, the movable upper support horizontal bar is raised, providing the necessary clearance for the lower-layer exhaust pipes to rise, allowing them to be removed. This packaging design meets the requirements for the number of individual packaging containers, satisfies the requirement for consistent clamping points, and saves floor space through its two-layer structure.

[0052] Furthermore, the exhaust pipe robotic gripper mainly consists of robotic gripper head one, robotic gripper head two, robotic gripper head three, gripper support rod, connecting block, connecting block fixing bolt, robotic gripper mounting base, flipping mechanism, and button box;

[0053] The robotic gripper consists of a cylinder and a contour gripper made of insulating paper. The cylinder drives the contour gripper to clamp and remove the corresponding exhaust pipe section. The gripper is fixed to a gripper support rod, which is connected to a flipping mechanism via a connecting block. The connecting block's fixing bolts have a certain clearance when engaging with the holes in the connecting block, allowing for a slight horizontal movement of the gripper support rod. The robotic gripper mounting base is used to connect to the robotic arm; the button box is used to operate various robotic movements.

[0054] Furthermore, the robotic gripper clamps the corresponding part of the exhaust pipe using a cylinder, and after loading and lifting, removes the exhaust pipe from the packaging container. Pressing the flip button switches the exhaust pipe from a vertical to a horizontal position. When clamping and installing an integral exhaust pipe, since the connection point between the exhaust pipe and the engine is far from the fixing bolt of this connecting block, a large adjustment height can be achieved during installation based on the lever principle; this mechanism is the tilting mechanism. The tilting mechanism is connected to the corresponding exhaust pipe robotic gripper via the connecting block. The extension and retraction of the tilting cylinder drives the gripper to switch from a vertical to a horizontal direction, thereby driving the exhaust pipe to switch from a vertical to a horizontal installation direction. After pressing the follow button of the exhaust pipe robotic gripper, the exhaust pipe robotic gripper remains in a follow state. The operator adjusts the installation posture of the exhaust pipe in the height direction using the tilting mechanism of the robotic gripper until the installation state is satisfied. At this point, the front end of the exhaust pipe is installed together with the engine, and finally, the hook at the rear end of the exhaust pipe is suspended onto the vehicle body, completing the exhaust pipe installation.

[0055] Furthermore, the tilting cylinder drives the robotic gripper to switch between vertical and horizontal orientations via a connecting block;

[0056] Furthermore, when the connection between the robotic gripper and the flipping part is fixed with bolts, there is a certain gap. When installed horizontally, the height can be adjusted to a certain extent. Based on the lever principle, the part away from the support point can be adjusted up and down in height, which facilitates its assembly and installation.

[0057] Example 3: Based on the same inventive concept, this example also provides a vehicle exhaust pipe assembly method, based on the integrated exhaust pipe storage and assembly system described above, such as... Figure 4 As shown, the specific steps include the following:

[0058] S1, alternately install the upper integrated exhaust pipe to be installed and the lower integrated exhaust pipe to be installed into the integrated exhaust pipe packaging rack;

[0059] S2, the exhaust pipe robotic gripper clamps the upper integrated exhaust pipe to be installed at the preset points and takes it out from the integrated exhaust pipe packaging rack;

[0060] S3, the rotating mechanism drives the integral exhaust pipe to be installed to rotate to the vehicle-mounted installation position;

[0061] S4, press the follow button in the button box to make the exhaust pipe robotic gripper and the integral exhaust pipe to be installed follow the vehicle to the installation position;

[0062] S5, the operator adjusts the height of the front end of the integral exhaust pipe to be installed through the tilting mechanism, and connects the front end of the integral exhaust pipe to be installed to the vehicle engine;

[0063] S6, the operator connects the rear end of the integral exhaust pipe to be installed to the vehicle body via a hook;

[0064] S7, Press the return button in the button box to reset the exhaust pipe robotic gripper;

[0065] S8, flip the upper support horizontal bar upward to a vertical position, and rotate the material rack frame 180° by cooperating with the universal wheels and directional wheels at the bottom of the frame;

[0066] S9, the exhaust pipe robotic gripper clamps the lower integrated exhaust pipe to be installed at the preset point and removes it from the integrated exhaust pipe packaging rack, and then repeats step S3.

[0067] Example 4: Based on the same inventive concept, this example also provides a vehicle with a manual / automatic transmission, wherein the exhaust pipe of the vehicle is installed using the assembly method described above.

[0068] Furthermore, all parts of this application that are not described in detail are the same as or implemented using existing technology.

[0069] In summary:

[0070] 1. This invention provides an integrated exhaust pipe storage and assembly system. Through optimized design of the integrated exhaust pipe packaging container, while meeting the requirements of the gripping points of the robotic arm, the upper and lower two-layer structure allows a single package to hold more integrated exhaust pipes, reducing logistics costs by half, while also saving on-site logistics area and improving space utilization.

[0071] 2. This invention optimizes the integrated exhaust pipe storage and assembly scheme, allowing one person to complete the removal of the exhaust pipe from the container, the vertical and horizontal adjustment, and the installation posture adjustment, compared to the traditional method of two people working together. This significantly saves labor costs and improves manufacturing efficiency.

[0072] 3. The present invention also provides a method for assembling a vehicle exhaust pipe, which is convenient to operate and easy to implement, and can effectively improve the assembly efficiency of the vehicle exhaust pipe.

[0073] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An integrated exhaust pipe storage and assembly system, characterized in that, The device includes an integrated exhaust pipe packaging rack and an exhaust pipe robotic gripper. The integrated exhaust pipe packaging rack includes a material rack frame. The upper and lower layers of the material rack frame are respectively provided with an upper support horizontal bar and a lower horizontal support bar adapted to the shape of the integrated exhaust pipe to be installed. The upper support horizontal bar and the lower horizontal support bar are arranged symmetrically in opposite directions, and the upper support horizontal bar can be flipped vertically upward. One end of the bottom of the material rack frame is equipped with a bottom universal wheel, and the other end is equipped with a bottom directional wheel. The exhaust pipe robotic gripper includes a horizontally arranged mounting rod and a gripper support rod. The gripper support rod is vertically provided with multiple robotic grippers adapted to the gripping points of the integrated exhaust pipe to be installed. The middle part of the gripper support rod is connected to a flipping mechanism located above the mounting rod through a floating mechanism. The mounting rod is mounted on a field robotic arm through a robotic gripper mounting seat below. The end of the mounting rod is provided with a button box. The robotic grippers and the flipping mechanism are both electrically connected to the button box. The tilting mechanism includes a connecting block. One end of the connecting block is fixedly connected to the gripper support rod, and the other end is connected to the flipping mechanism through a connecting block fixing bolt. The flipping mechanism is used to drive the gripper support rod to flip the manipulator gripper between the vertical and horizontal directions. A preset gap is left between the fixing bolt of the connecting block and the fixing hole on the connecting block; when the flipping mechanism drives the chuck support rod to flip the robot chuck to the horizontal direction, the end of the integral exhaust pipe to be installed on the robot chuck away from the fixing bolt of the connecting block can be adjusted up and down in the height direction based on the preset gap.

2. The integrated exhaust pipe storage and assembly system according to claim 1, characterized in that, The upper support transverse rods include upper support transverse rod one, upper support transverse rod two, and upper support transverse rod three, which are used to support the front, middle, and rear parts of the upper integrated exhaust pipe to be installed, respectively; the lower transverse support rods include lower transverse support rod one, lower transverse support rod two, and lower transverse support rod three, which are used to support the rear, middle, and front parts of the lower integrated exhaust pipe to be installed, respectively.

3. The integrated exhaust pipe storage and assembly system according to claim 2, characterized in that, The upper layer of the material rack frame is provided with a tail end support rod 1 and a tail end support rod 1 at the position corresponding to the tail end and lower end of the integrated exhaust pipe to be installed on the upper layer; the lower layer of the material rack frame is provided with a tail end support rod 2 and a tail end support rod 2 at the position corresponding to the tail end and lower end of the integrated exhaust pipe to be installed on the lower layer.

4. The integrated exhaust pipe storage and assembly system according to claim 3, characterized in that, The upper support transverse rod one, upper support transverse rod two, and upper support transverse rod three can all be rotated arbitrarily between the horizontal direction and the vertical upward direction; support reinforcement rods are installed on the tail side support rod one and tail side support rod two.

5. The integrated exhaust pipe storage and assembly system according to claim 3, characterized in that, Multiple EVA material limiting blocks are arranged parallel to each of the upper supporting horizontal rod 1, upper supporting horizontal rod 2, upper supporting horizontal rod 3, lower horizontal support rod 1, lower horizontal support rod 2, lower horizontal support rod 3, tail side support rod 1, tail side support rod 2, tail lower support rod 1, and tail lower support rod 2, and the number of upper limit blocks on each rod is adapted to the number of exhaust pipes of the integral exhaust pipe to be installed.

6. The integrated exhaust pipe storage and assembly system according to claim 1, characterized in that, The robotic gripper includes robotic gripper one, robotic gripper two, and robotic gripper three, which are respectively adapted to the clamping points at the front, middle, and rear of the integral exhaust pipe to be installed, and robotic gripper one, robotic gripper two, and robotic gripper three are all driven by corresponding cylinders to clamp and release.

7. A method for assembling a vehicle exhaust pipe, based on the integrated exhaust pipe storage and assembly system according to any one of claims 1 to 6, characterized in that, Includes the following steps: The upper and lower integrated exhaust pipes to be installed are alternately installed into the integrated exhaust pipe packaging rack; The exhaust pipe robotic gripper clamps the upper integrated exhaust pipe to be installed at preset points and removes it from the integrated exhaust pipe packaging rack; The flipping mechanism drives the integral exhaust pipe to be installed to flip to the vehicle-mounted installation position. Press the follow button in the button box to make the exhaust pipe robotic gripper and the integral exhaust pipe to be installed follow the vehicle to the installation position; The operator adjusts the height of the front end of the integral exhaust pipe to be installed using the tilting mechanism, and connects the front end of the integral exhaust pipe to be installed to the vehicle engine; The operator connects the rear end of the integral exhaust pipe to be installed to the vehicle body using a hook; Press the return button inside the button box to reset the exhaust pipe robotic gripper. Flip the upper support horizontal bar upward to a vertical position, and rotate the material rack frame 180° by cooperating with the universal wheels and directional wheels at the bottom of the frame; The exhaust pipe robotic gripper clamps the lower layer of integral exhaust pipe to be installed according to the preset points and takes it out from the integral exhaust pipe packaging rack, and then repeats the subsequent exhaust pipe flipping and installation steps.

8. A vehicle with both manual and automatic transmissions, characterized in that: The vehicle's exhaust pipe is installed using the assembly method described in claim 7.

Images