A flexible production line for four-door body-in-white assembly

Abstract

This invention provides a flexible production line for four-door body-in-white assemblies, comprising: a first turntable, a second turntable, a third turntable, a first welding robot, a second welding robot, a third welding robot, a first transfer robot, a pressing device, a second transfer robot, a material frame, an adhesive application mechanism, fixtures corresponding to different vehicle models, and an assembly mechanism. This invention can achieve automatic switching of fixtures and material frames, and can meet the needs of co-production of multiple vehicle models. It can simultaneously complete a series of processes such as spot welding, adhesive application, assembly, pressing, and dummy welding, possessing advantages such as high flexibility and intelligence, and can meet the demands of high-speed production.

Description

Technical Field

[0001] This invention relates to the field of vehicle manufacturing, and in particular to a flexible production line for a four-door body-in-white assembly. Background Technology

[0002] The four-door assembly is an important structure of the car body-in-white, including the inner door panel, outer door panel, door frame, door reinforcement, door anti-collision beam / bar, and other components. The processes used in its production include spot welding, carbon dioxide shielded welding, gluing, and edge wrapping.

[0003] In traditional four-door assembly automated production lines, when fixture switching is required, it is mostly done manually or via a sliding table. However, both methods involve a large equipment footprint, and manual switching requires re-verification of welding quality, resulting in significant time waste. Furthermore, using forklifts for picking up, placing, and transferring small parts bins for the four doors results in poor automation, intelligence, and flexibility. Additionally, due to limitations in the number of parts loaded and the welding process, the production line cycle time is often not very high, and the large number of workstations and welding equipment leads to substantial investment and floor space requirements. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible production line for four-door body-in-white assembly, which can realize automatic switching of fixtures and material frames, and can meet the needs of co-production of multiple models. At the same time, it can complete a series of processes such as spot welding, gluing, assembly, pressing and puppet welding. It has the advantages of high flexibility and high level of intelligence, and can meet the needs of high-speed production.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A flexible production line for a four-door body-in-white assembly is provided, comprising:

[0007] First turntable, second turntable, third turntable, first welding robot, second welding robot, third welding robot, first transfer robot, pressing equipment, second transfer robot, material frame, glue application mechanism, fixtures corresponding to different vehicle models, and assembly mechanism;

[0008] The material frame is used to store the workpieces to be processed;

[0009] The fixture is installed on the first turntable, and the workpiece to be processed is clamped and fixed by the fixture. The first welding robot is used to perform welding processing on the workpiece to be processed on the first turntable to obtain a first welding intermediate part.

[0010] The first turntable rotates the first welding intermediate part to a predetermined position;

[0011] The fixture is installed on the second turntable, the first welding intermediate part is clamped and fixed by the fixture, and the second welding robot is used to perform welding processing on the first welding intermediate part on the second turntable to obtain the second welding intermediate part.

[0012] The second turntable rotates the second welding intermediate part to a predetermined position;

[0013] The fixture is installed on the third turntable, the second welding intermediate part is clamped and fixed by the fixture, and the third welding robot is used to weld the second welding intermediate part on the third turntable to obtain the inner panel of the car door.

[0014] The third turntable rotates the inner door panel to a predetermined position, and the inner door panel is transported to the inner panel loading station and placed on the inner panel loading mechanism.

[0015] The first transfer robot is used to transfer the inner door panel to the welding station, then transfer the welded inner door panel to the glue application station, and apply glue to the inner door panel through the glue application mechanism.

[0016] The first transfer robot transfers the glued inner door panel and outer door panel to the assembly mechanism, and the assembly mechanism is used to assemble the glued inner door panel and outer door panel to obtain an assembly intermediate part;

[0017] The first transfer robot transfers the assembled intermediate component to the pressing device, which is used to press the assembled intermediate component.

[0018] Preferably, the flexible production line for the four-door body-in-white assembly further includes: a puppet welding fixture, which is used to perform puppet welding on the pressed workpiece.

[0019] Preferably, the AGV transfer equipment includes: an AGV trolley, an AGV bracket, and an AGV guiding mechanism, wherein the AGV bracket is connected to the AGV trolley, and the AGV bracket is detachably connected to the material frame / clamp; the AGV trolley and the AGV guiding mechanism are slidably engaged, so that the AGV trolley drives the material frame / clamp to move along the extension direction of the AGV guiding mechanism.

[0020] Preferably, the flexible production line for the four-door body-in-white assembly further includes: an outer panel loading mechanism for placing the outer door panels, wherein the first transfer robot transfers the inner door panel that has been glued and the outer door panel from the outer panel loading mechanism to the assembly mechanism.

[0021] Preferably, the outer plate mounting mechanism includes:

[0022] The stand is connected to the base and is set at an angle relative to the horizontal plane;

[0023] The outer panel positioning pin is vertically connected to the frame and is used to mate with the holes on the outer panel of the door to fix the position of the outer panel of the door.

[0024] An outer panel limiting block, which is vertically connected to the frame, is used to limit the position of the upper and / or bottom and / or side of the outer panel of the vehicle door;

[0025] And an adhesive application guide mechanism, which is used to mark the position to be applied to the outer panel of the door to guide the manual / adhesive application equipment to complete the adhesive application at the position to be applied.

[0026] Preferably, the adhesive application guiding mechanism includes:

[0027] Tilting mechanism;

[0028] A pressure arm, which is connected to the tilting mechanism;

[0029] A connecting rod that connects to the pressure arm, and the connecting rod and the pressure arm intersect each other;

[0030] And an adhesive guide, which connects to the connecting rod / pressure arm and has an arc-shaped groove;

[0031] The flipping mechanism is used to drive the pressure arm to rotate toward the outer door panel, and apply pressure to the outer door panel through the pressure arm and / or connecting rod. The manual / adhesive application equipment completes the adhesive application along the arc-shaped groove to form an adhesive block.

[0032] Preferably, the inner plate component mechanism includes:

[0033] Inner panel turntable;

[0034] A drive unit, which is connected to the inner plate component turntable, is used to drive the inner plate component turntable to rotate horizontally.

[0035] A roller mounting base, which connects to the inner plate upper turntable;

[0036] A roller, which is rotatably mounted on a roller mounting base;

[0037] A slide table that contacts the roller and can move as the roller rolls;

[0038] The inner panel positioning pin, which is connected to the slide, is used to mate with the hole on the inner panel of the door to fix the position of the inner panel of the door.

[0039] A column, which connects to the slide table;

[0040] An inner panel limiting block, which connects the column and / or slide, is used to limit the position of the upper and / or lower and / or side of the inner panel of the door;

[0041] And a limiting mechanism, which is connected to the inner plate upper turntable, for limiting the position of the slide.

[0042] Preferably, the limiting mechanism includes:

[0043] A fixed limiting component is connected to the inner plate upper turntable and is located outside the slide table;

[0044] A movable limiting member is connected to the inner plate upper turntable, and its upper end extends upward from below the slide table to pass through the slide table;

[0045] A linear drive assembly, connected to the movable limiting member, is used to drive the movable limiting member to move linearly.

[0046] The linear movement of the movable limiting member drives the slide table to move on the roller until the slide table moves to a predetermined position. Then, the fixed limiting member and the movable limiting component clamp the slide table to limit its position.

[0047] Preferably, the flexible production line for the four-door body-in-white assembly further includes:

[0048] The gripper placement rack is used to store grippers corresponding to the inner and outer door panels of different car models. The first transfer robot transfers the inner and outer door panels of different car models by connecting to different grippers.

[0049] Preferably, the gripper placement rack includes:

[0050] Support column;

[0051] Support block, which connects to the support column;

[0052] A positioning block, which connects to the support block and is used to engage with a groove on the inner panel of the door to fix the position of the gripper;

[0053] The mounting platform is connected to the upper part of the support column;

[0054] And a dust cover, which is rotatably connected to the mounting platform, is used to close the quick-change disc of the gripper by rotating when the gripper is engaged with the positioning block.

[0055] Technical effects of the present invention:

[0056] In this application, the flexible production line for the four-door body-in-white assembly uses AGV transfer equipment to complete the automatic rotation of workpieces and fixtures. It can realize the automatic switching of fixtures and material frames, greatly reduce the layout area of ​​the production line, and meet the needs of co-production of multiple models. At the same time, it can complete a series of processes such as spot welding, gluing, assembly, pressing and puppet welding. It has the advantages of high flexibility and high level of intelligence, and can meet the needs of high-speed production. Attached Figure Description

[0057] Figure 1 This is a top view of the flexible production line for the four-door body-in-white assembly in this invention;

[0058] Figure 2 This is an overall structural diagram of the AGV transfer device in this invention;

[0059] Figure 3 This is an overall structural diagram of the inner door panel and outer door panel in this invention;

[0060] Figure 4a This is an overall structural diagram of the outer door panel mounting mechanism when the outer door panel is not pressed by the pressure arm in this invention;

[0061] Figure 4b This is an overall structural diagram of the outer door panel assembly mechanism when the outer door panel is pressed by the pressure arm in this invention;

[0062] Figure 5a This is an overall structural diagram of the inner plate component mechanism in this invention;

[0063] Figure 5b This is a top view of the inner plate component mechanism in this invention;

[0064] Figure 6 This is an overall structural diagram of the gripper placement frame when the dust cover closes the quick-change disc of the gripper in this invention;

[0065] Figure 7 This is an overall structural diagram of the gripper placement frame when the dust cover does not cover the quick-change disc of the gripper in this invention. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0067] Example 1:

[0068] like Figure 1-3 As shown, the present invention provides a flexible production line for a four-door body-in-white assembly, comprising:

[0069] First turntable P1, second turntable P2, third turntable P3, first welding robot R01, second welding robot R02, third welding robot R03, first transfer robot R04, pressing equipment 100, second transfer robot R05, puppet welding fixture 200, AGV transfer equipment 300, material frame 400, glue application mechanism R06, fixtures 600 corresponding to different vehicle models, and assembly mechanism;

[0070] There may be multiple AGV transfer devices 300 and material frames 400; the material frames 400 are used to store workpieces to be processed, and the workpieces to be processed are used to produce the inner door panel B2.

[0071] The AGV transfer device 300 is used to transport the material frame 400 containing the workpiece to be processed and the fixture 600 to the first welding work station 010. The fixture 600 is installed on the first turntable P1. The workpiece to be processed in the material frame 400 is clamped and fixed by the fixture 600 and rotates under the drive of the first turntable P1. The first welding robot R01 is used to perform welding processing on the workpiece to be processed on the first turntable P1 to obtain the first welding intermediate part.

[0072] The first turntable P1 rotates the first welding intermediate to a predetermined position, and the first welding intermediate is stored in the material frame 400;

[0073] The AGV transfer device 300 is used to transport the material frame 400 containing the first welding intermediate part and the fixture 600 to the second welding work station 020. The fixture 600 is installed on the second turntable P2. The first welding intermediate part in the material frame 400 is clamped and fixed by the fixture 600 and rotates under the drive of the second turntable P2. The second welding robot R02 is used to weld the first welding intermediate part on the second turntable P2 to obtain the second welding intermediate part. There can be multiple second welding robots R02, such as two, to weld different positions of the first welding intermediate part respectively.

[0074] The second turntable P2 rotates the second welding intermediate to a predetermined position, and the second welding intermediate is stored in the material frame 400;

[0075] The AGV transfer device 300 is used to transport the material frame 400 containing the second welding intermediate part and the fixture 600 to the third welding work station 030. The fixture 600 is installed on the third turntable P3. The second welding intermediate part in the material frame 400 is clamped and fixed by the fixture 600 and rotates under the drive of the third turntable P3. The third welding robot R03 is used to weld the second welding intermediate part on the third turntable P3 to obtain the inner door panel B2. Similarly, there can be multiple third welding robots R03, such as two, to weld different positions of the second welding intermediate part respectively. The fixtures 600 on the first turntable P1, the second turntable P2, and the third turntable P3 can be the same or different.

[0076] The third turntable P3 rotates the inner door panel B2 to a predetermined position, and the inner door panel B2 is placed on the conveying mechanism 500 and conveyed by the conveying mechanism 500 to the inner panel loading station 040, and then placed on the inner panel loading mechanism 700 by a robot or other device; in this embodiment, the conveying structure 500 includes a belt conveying mechanism.

[0077] The first transfer robot R04 is used to transfer the inner door panel B2 on the inner panel assembly mechanism 700 to the welding station 050, and to perform welding on the inner door panel B2 by the first transfer robot R04 or other welding equipment. Then, the first transfer robot R04 transfers the welded inner door panel B2 to the glue application station 060, and applies glue (such as shock-absorbing glue) to the inner door panel B2 by the glue application mechanism R06.

[0078] The first transfer robot R04 transfers the glued inner door panel B2 and the outer door panel B1 to the assembly mechanism, and the assembly mechanism is used to assemble the glued inner door panel B2 and the outer door panel B1 to obtain an assembly intermediate part.

[0079] The first transfer robot R04 transfers the assembled intermediate part to the pressing device 100, which is used to press the assembled intermediate part.

[0080] The second transfer robot R05 is used to transfer the pressed workpiece to the puppet welding fixture 200;

[0081] The puppet welding fixture 200 is used to perform puppet welding on the pressed workpiece to obtain the four-door assembly of the body-in-white.

[0082] Specifically, such as Figure 2 As shown, the AGV transfer device 300 includes: an AGV trolley 301, an AGV support 303, and an AGV guiding mechanism 302. The AGV support 303 is connected to the AGV trolley 301, and the AGV support 303 is detachably connected to the material frame 400 / clamp 600. The AGV trolley 301 slides with the AGV guiding mechanism 302 through components such as sliders, so that the AGV trolley 301 drives the material frame 400 / clamp 600 to move along the extension direction of the AGV guiding mechanism 302.

[0083] The first turntable P1, the second turntable P2, and the third turntable P3 have the same structure, each including: a turntable body 1 and a rotation drive mechanism (not shown) connected to the turntable body 1; wherein, the turntable body 1 has four working positions T1, T2, T3, and T4 arranged circumferentially, with working positions T1 and T3 arranged opposite each other, and working positions T2 and T4 arranged opposite each other, and each working position is used to install a set of clamps 600, and the clamps 600 on working positions T1 and T3 correspond to one vehicle model, and the clamps 600 on working positions T2 and T4 correspond to another vehicle model;

[0084] The rotation drive mechanism includes structures such as a rotary motor, which is used to drive the turntable body 1 to rotate the work position, so that the first welding robot R01 can perform welding processing on the workpieces to be processed held by different fixtures 600.

[0085] Furthermore, in this embodiment, one or more of the first welding robot R01, the second welding robot R02, and the third welding robot R03 are spot welding robots, and the welding process they perform is spot welding.

[0086] Therefore, the flexible production line for the four-door body assembly in this embodiment uses AGV transfer equipment to automatically rotate the workpiece and fixture, so as to solve the problems of the existing four-door production line where the fixture and material frame cannot be automatically switched and the production line layout is large. It can meet the needs of co-production of multiple models, and can complete a series of processes such as spot welding, gluing, assembly, pressing and puppet welding. It has the advantages of high flexibility and intelligence, can meet high-speed production and small footprint.

[0087] Example 2:

[0088] The only difference between this embodiment and Embodiment 1 is that, Figures 4a-4b As shown, the flexible production line for the four-door assembly of the body-in-white also includes: an outer panel loading mechanism 800, which is used to place the outer door panel B1. The first transfer robot R04 transfers the inner door panel B2, which has been coated with glue, and the outer door panel B1 from the outer panel loading mechanism 800 to the assembly mechanism.

[0089] Specifically, the outer panel mounting mechanism 800 includes:

[0090] The base 801 has several base rollers 806 connected to its bottom, so that the outer plate mounting mechanism 800 can be moved as a whole by means of the base rollers 806.

[0091] The stand 802 is connected to the base 801 and is inclined relative to the horizontal plane;

[0092] The outer panel positioning pin 803 is vertically connected to the frame 802 and is used to engage with the hole on the outer panel B1 of the door to fix the position of the outer panel B1 of the door; in this embodiment, there may be multiple outer panel positioning pins 803.

[0093] The outer panel limiting block 804 is vertically connected to the platform 802 and is used to limit the position of the upper part and / or the bottom and / or the side of the outer panel B1 of the door. In this embodiment, there can be multiple outer panel limiting blocks 804, which can simultaneously limit the position of the upper part, the bottom and the two sides of the outer panel B1 of the door.

[0094] And an adhesive application guide mechanism 805, which is used to mark the position to be applied to the outer panel B1 of the door so as to guide the manual / adhesive application equipment to complete the adhesive application at the position to be applied.

[0095] Specifically, the adhesive application guiding mechanism 805 includes:

[0096] A flipping mechanism 8051 is connected to the base 801; in this embodiment, the flipping mechanism 8051 includes a rotation drive device such as a motor.

[0097] Pressure arm 8052, which is connected to the flipping mechanism 8051;

[0098] The connecting rod 8053 is detachably connected to the pressure arm 8052 by means of screws / bolts and other components, and the connecting rod 8053 and the pressure arm 8052 intersect each other;

[0099] And an adhesive guide 8054, which connects the connecting rod 8053 / pressure arm 8052 and has an arc-shaped groove 8055;

[0100] The flipping mechanism 8051 is used to drive the pressure arm 8052 to rotate toward the outer door panel B1, and apply pressure to the outer door panel B1 through the pressure arm 8052 and / or the connecting rod 8053. The area within the projection of the arc-shaped groove 8055 on the outer door panel B1 is the position to be glued. The manual / glueing equipment completes the glue application at the position to be glued to form a glue block 8056. For example, in this embodiment, the manual / glueing equipment can complete the glue application along the arc-shaped groove 8055.

[0101] In this embodiment, there can be multiple pressure arms 8052, connecting rods 8053, and adhesive application guides 8054. The same adhesive application guide 8054 can have multiple arc-shaped slots 8055, and one connecting rod 8053 can connect several adhesive application guides 8054.

[0102] Therefore, the outer door panel B1 can be stored through the outer panel mounting mechanism 800, and the manual / gluing equipment can be guided through the arc-shaped slot 8055 to quickly complete the gluing process, thereby improving the gluing efficiency.

[0103] Example 3:

[0104] The only difference between this embodiment and embodiment 1 or 2 is that, Figure 5a As shown, the inner plate mounting mechanism 700 includes:

[0105] Inner panel component turntable 701;

[0106] A drive unit 702 is connected to the inner plate mounting turntable 701 and is used to drive the inner plate mounting turntable 701 to rotate horizontally; in this embodiment, the drive unit 702 includes a motor.

[0107] Roller mounting base 703, which is connected to the inner plate upper turntable 701, and there are several of them. In this embodiment, the roller mounting base 703 is generally L-shaped.

[0108] Roller 704 is rotatably mounted on roller mounting base 703;

[0109] The slide table 705 is in contact with the roller 704 and can move as the roller 704 rolls.

[0110] The inner panel positioning pin 706 is connected to the slide table 705 and is used to engage with the hole on the inner panel B2 of the door to fix the position of the inner panel B2 of the door; in this embodiment, there may be multiple inner panel positioning pins 706.

[0111] A column 707 is connected to the slide table 705; there may be several columns 707.

[0112] The inner panel limiting block 708 is connected to the column 707 and / or the slide table 706 and is used to limit the position of the upper part and / or the bottom and / or the side of the inner panel B2 of the door. In this embodiment, there can be multiple inner panel limiting blocks 708, which can simultaneously limit the position of the upper part, the bottom and the two sides of the inner panel B2 of the door.

[0113] And a limiting mechanism, which is connected to the inner plate upper turntable 701, for limiting the position of the slide table 705;

[0114] The position and quantity of the column 707, inner panel limiting block 708, and inner panel positioning pin 706 connecting the slide table 705 can be adjusted according to the door inner panel B2 of different car models to meet the production needs of different car models.

[0115] Specifically, such as Figure 5b As shown, the limiting mechanism includes:

[0116] A fixed limiting member 709 is connected to the inner plate upper turntable 701 and is located outside the slide table 705;

[0117] A movable limiting member 710 is connected to the inner plate upper turntable 701, and its upper end extends from the lower part of the slide table 705 to pass through the slide table 705.

[0118] Linear drive assembly 711, connected to the movable limit member 710, is used to drive the movable limit member 710 to move linearly (e.g., along a path). Figure 5b (The direction indicated by the middle arrow is linear movement); In this embodiment, the linear drive component 711 includes cylinders, etc.

[0119] The linear movement of the movable limiting member 710 drives the slide table 705 to move on the roller 704 (the roller 704 rotates at the same time) until the slide table 705 moves to the predetermined position. Then, the fixed limiting member 709 and the movable limiting member 710 clamp the slide table 705 to limit the position of the slide table 705.

[0120] In this embodiment, the movable limiting member 710 and the fixed limiting member 709 are both block structures, and there are multiple of them. Each movable limiting member 710 is arranged opposite to a fixed limiting member 709.

[0121] In use, the slide table 705, column 707, inner plate limiting block 708, and inner plate positioning pin 706 are first moved above the roller 704 by a robot or other equipment, and the slide table 705 is placed on the roller 704. Then, the slide table 705 is pushed / pulled to achieve directional movement of the slide table 705. Then, the linear drive component 711 drives the moving limiting component 710 to move linearly until the slide table 705 moves to the predetermined position. Finally, the slide table 705 is clamped by the fixed limiting component 709 and the moving limiting component 710.

[0122] Example 4:

[0123] The only difference between this embodiment and Embodiments 1 or 2 is that the flexible production line for the four-door body-in-white assembly further includes a gripper placement rack 900, which is used to store grippers B3 corresponding to the inner door panels B2 and outer door panels B1 of different vehicle models. The first transfer robot R04 transfers the inner door panels B2 and outer door panels B1 of different vehicle models by connecting to different grippers B3.

[0124] Specifically, the gripper placement rack 900 includes:

[0125] Support column 901;

[0126] Support block 902, which is connected to support column 901;

[0127] The positioning block 903 is connected to the support block 902 and is used to cooperate with the groove on the inner panel B2 of the door to fix the position of the grab hand B3. In this embodiment, the positioning block 903 can be a wedge-shaped block structure.

[0128] Mounting platform 904, which is connected to the upper part of the support column 901;

[0129] And a dust cover 905, which is rotatably connected to the mounting platform 904, is used to close the quick-change disc of the gripper B3 by rotating when the gripper B3 is engaged with the positioning block 903, so as to prevent dust, foreign objects, etc. from entering the quick-change disc and affecting the subsequent connection between the gripper B3 and the first transfer robot R04.

[0130] In this embodiment, there can be multiple support blocks 902 and dust covers 905, such as two, so that two grippers B3 can be placed on the same gripper placement frame 900 at the same time. At the same time, each support block 902 is connected to several (such as two) positioning blocks 903 to cooperate with different positions of the grippers B3.

[0131] In summary, the flexible production line for the four-door body-in-white assembly in this application uses AGV transfer equipment to automatically rotate the workpieces and fixtures, thus solving the problems of existing four-door production lines where fixtures and material frames cannot be automatically switched and the production line layout requires a large area. It can meet the needs of co-production of multiple vehicle models and can complete a series of processes such as spot welding, gluing, assembly, pressing, and puppet welding. It has the advantages of high flexibility, high level of intelligence, high-speed production, and small footprint.

[0132] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible production line for a four-door body-in-white assembly, characterized in that, include: First turntable, second turntable, third turntable, first welding robot, second welding robot, third welding robot, first transfer robot, pressing equipment, second transfer robot, material frame, glue application mechanism, fixtures corresponding to different vehicle models, assembly mechanism, puppet welding fixtures and AGV transfer equipment; The material frame is used to store the workpieces to be processed; The AGV transfer equipment is used to transport the material frame containing the workpiece to be processed and the fixture to the first welding work station, and the fixture is installed on the first turntable. The workpiece to be processed is clamped and fixed by the fixture. The first welding robot is used to perform welding processing on the workpiece to be processed on the first turntable to obtain the first welding intermediate part. The first turntable rotates the first welding intermediate part to a predetermined position; The AGV transfer equipment is used to transport the material frame containing the first welding intermediate part and the fixture to the second welding work station. The fixture is installed on the second turntable, and the first welding intermediate part is clamped and fixed by the fixture. The second welding robot is used to weld the first welding intermediate part on the second turntable to obtain the second welding intermediate part. The second turntable rotates the second welding intermediate part to a predetermined position; The AGV transfer equipment is used to transport the material frame containing the second welding intermediate part and the fixture to the third welding work station. The fixture is installed on the third turntable, and the second welding intermediate part is clamped and fixed by the fixture. The third welding robot is used to weld the second welding intermediate part on the third turntable to obtain the inner panel of the car door. The third turntable rotates the inner door panel to a predetermined position, and the inner door panel is transported to the inner panel loading station and placed on the inner panel loading mechanism. The first transfer robot is used to transfer the inner door panel to the welding station, then transfer the welded inner door panel to the glue application station, and apply glue to the inner door panel through the glue application mechanism. The first transfer robot transfers the glued inner door panel and outer door panel to the assembly mechanism, and the assembly mechanism is used to assemble the glued inner door panel and outer door panel to obtain an assembly intermediate part; The first transfer robot transfers the assembled intermediate component to the pressing device, which is used to press the assembled intermediate component. The second transfer robot is used to transfer the pressed workpiece to the puppet welding fixture; The puppet welding fixture is used to perform puppet welding on the pressed workpiece.

2. The flexible production line for the four-door body-in-white assembly as described in claim 1, characterized in that, The AGV transfer equipment includes: an AGV trolley, an AGV bracket, and an AGV guiding mechanism. The AGV bracket is connected to the AGV trolley, and the AGV bracket is detachably connected to the material frame / clamp. The AGV trolley and the AGV guiding mechanism are slidably engaged, so that the AGV trolley drives the material frame / clamp to move along the extension direction of the AGV guiding mechanism.

3. The flexible production line for the four-door body-in-white assembly as described in claim 1, characterized in that, The flexible production line for the four-door assembly of the body-in-white also includes: an outer panel loading mechanism, which is used to place the outer panel of the door. The first transfer robot transfers the inner panel of the door that has been glued and the outer panel of the door on the outer panel loading mechanism to the assembly mechanism.

4. The flexible production line for the four-door body-in-white assembly as described in claim 3, characterized in that, The outer plate mounting mechanism includes: The platform is inclined relative to the horizontal plane; The outer panel positioning pin, which is connected to the frame, is used to mate with the holes on the outer panel of the door to fix the position of the outer panel of the door. And an adhesive application guide mechanism, which is used to mark the position to be applied to the outer panel of the door to guide the manual / adhesive application equipment to complete the adhesive application at the position to be applied.

5. The flexible production line for the four-door body-in-white assembly as described in claim 4, characterized in that, The adhesive application guiding mechanism includes: Tilting mechanism; A pressure arm, which is connected to the tilting mechanism; A connecting rod that connects to the pressure arm, and the connecting rod and the pressure arm intersect each other; And an adhesive guide, which connects to the connecting rod / pressure arm and has an arc-shaped groove; The flipping mechanism is used to drive the pressure arm to rotate toward the outer door panel, and apply pressure to the outer door panel through the pressure arm and / or connecting rod. The manual / adhesive application equipment completes the adhesive application along the arc-shaped groove to form an adhesive block.

6. The flexible production line for the four-door body-in-white assembly as described in claim 1, characterized in that, The inner plate mounting mechanism includes: Inner panel turntable; A drive unit, which is connected to the inner plate component turntable, is used to drive the inner plate component turntable to rotate horizontally. A roller mounting base, which connects to the inner plate upper turntable; A roller, which is rotatably mounted on a roller mounting base; A slide table that contacts the roller and can move as the roller rolls; The inner panel positioning pin, which is connected to the slide, is used to mate with the hole on the inner panel of the door to fix the position of the inner panel of the door. A column, which connects to the slide table; An inner panel limiting block, which connects the column and / or slide, is used to limit the position of the upper and / or lower and / or side of the inner panel of the door; And a limiting mechanism, which is connected to the inner plate upper turntable, for limiting the position of the slide.

7. The flexible production line for the four-door body-in-white assembly as described in claim 6, characterized in that, The limiting mechanism includes: A fixed limiting component is connected to the inner plate upper turntable and is located outside the slide table; A movable limiting member is connected to the inner plate upper turntable, and its upper end extends upward from below the slide table to pass through the slide table; A linear drive assembly, connected to the movable limiting member, is used to drive the movable limiting member to move linearly. The linear movement of the movable limiting member drives the slide table to move on the roller until the slide table moves to a predetermined position. Then, the fixed limiting member and the movable limiting component clamp the slide table to limit its position.

8. The flexible production line for the four-door body-in-white assembly as described in claim 1, characterized in that, The flexible production line for the four-door body-in-white assembly also includes: The gripper placement rack is used to store grippers corresponding to the inner and outer door panels of different car models. The first transfer robot transfers the inner and outer door panels of different car models by connecting to different grippers.

9. The flexible production line for the four-door body-in-white assembly as described in claim 8, characterized in that, The gripper placement rack includes: Support column; Support block, which connects to the support column; A positioning block, which connects to the support block and is used to engage with a groove on the inner panel of the door to fix the position of the gripper; The mounting platform is connected to the upper part of the support column; And a dust cover, which is rotatably connected to the mounting platform, is used to close the quick-change disc of the gripper by rotating when the gripper is engaged with the positioning block.

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