Body-in-white splicing system

Abstract

The invention relates to the technical field of body-in-white splicing, and discloses a body-in-white splicing system which comprises a first conveying line, a splicing table tool, a side wall assembly conveying system, a first preassembling robot and a second preassembling robot, the splicing table tool is used for fixedly installing a lower vehicle body assembly and is suitable for moving to a first splicing station along the first conveying line, and the side wall assembly conveying system is used for conveying the side wall assembly to a second splicing station along the second conveying line. The side wall assembly conveying system comprises a first sub-conveying system and a second sub-conveying system, the first sub-conveying system is used for conveying the left side wall assembly to the first splicing station, and the second sub-conveying system is used for conveying the right side wall assembly to the first splicing station; the first preassembling robot is used for installing the left side wall assembly in the first combining and splicing station to the lower vehicle body assembly and pre-positioning the left side wall assembly, and the second preassembling robot is used for installing the right side wall assembly in the first combining and splicing station to the lower vehicle body assembly and pre-positioning the right side wall assembly. Therefore, the conveying efficiency of the side wall assembly conveying system and the production efficiency of the whole vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of body-in-white assembly, and in particular to a body-in-white assembly system. Background Art

[0002] With the rapid development of the automobile industry, the per capita car ownership is also increasing year by year. At present, major manufacturers are trying their best to improve the production efficiency of complete vehicles to meet the huge domestic market demand. Among them, the welding workshop is the key place for the assembly of the body in white, and the assembly efficiency of the body in white greatly affects the production efficiency of the whole vehicle.

[0003] In the related technology, in order to ensure that the left and right side panel assemblies corresponding to the same lower body assembly can reach the assembly station at the same time, the current side panel assembly conveying system needs to arrange the conveying order of the left and right side panel assemblies before conveying, such as placing the left side panel assembly before the right side panel assembly, etc., which results in a longer overall placement time and a lower conveying efficiency of the side panel assembly conveying system, which greatly affects the production efficiency of the entire vehicle. Summary of the invention

[0004] The present application provides a body-in-white assembly system, which solves the problem that the left and right side panel assemblies corresponding to the same lower body assembly need to be arranged in a sequential conveying order before conveying, thereby improving the conveying efficiency of the side panel assembly conveying system and further improving the production efficiency of the entire vehicle.

[0005] In order to achieve the above objectives, the main technical solutions adopted in this application include:

[0006] In a first aspect, an embodiment of the present application provides a body-in-white assembly system, comprising:

[0007] The first conveyor line;

[0008] The assembly tool is used for fixing and installing the lower vehicle body assembly, and the assembly tool is movably arranged on the first conveyor line, and the assembly tool is suitable for moving along the first conveyor line to the first assembly station;

[0009] The side panel assembly conveying system includes a first sub-conveying system and a second sub-conveying system, wherein the first sub-conveying system is used to convey the left side panel assembly to the first assembling station, and the second sub-conveying system is used to convey the right side panel assembly to the first assembling station;

[0010] The first pre-installation robot and the second pre-installation robot are both arranged at the first assembling station and located on both sides of the assembly platform. The first pre-installation robot is used to install the left side enclosure assembly in the first assembling station to the lower body assembly and pre-position it. The second pre-installation robot is used to pre-position the right side enclosure assembly in the first assembling station to the lower body assembly and pre-position it.

[0011] The body-in-white assembly system proposed in the first aspect embodiment of the present application divides the side panel assembly conveying system into two separate sub-conveyoring systems, wherein the first sub-conveyoring system is used to convey the left side panel assembly to the first assembly station, and the second sub-conveyoring system is used to convey the right side panel assembly to the first assembly station, the first pre-installation robot is used to install the left side panel assembly in the first assembly station to the lower body assembly and pre-position it, and the second pre-installation robot is used to pre-position and install the right side panel assembly in the first assembly station to the lower body assembly and pre-position it. Therefore, the two sub-conveyor systems of the side panel assembly conveying system are respectively used to convey the left side panel assembly and the right side panel assembly, and the two sub-conveyor systems are independent of each other and do not affect each other. When the left side panel assembly reaches the first assembly station, the first pre-installation robot installs the left side panel assembly to the lower body assembly. When the right side panel assembly reaches the first assembly station, the second pre-installation robot installs the right side panel assembly to the lower body assembly, thereby realizing the independent installation of the left side panel assembly and the right side panel assembly. Therefore, during the entire conveying process of the left and right side panel assemblies, there is no need to sort the order of the left and right side panel assemblies, thereby improving the conveying efficiency of the side panel assembly conveying system, and then improving the production efficiency of the whole vehicle.

[0012] Optionally, the first sub-conveying system includes a second conveying line and a plurality of first roller beds, the first roller beds are used to fix the left side enclosure assembly, each first roller bed is movably arranged on the second conveying line, and the plurality of first roller beds are suitable for conveying the left side enclosure assembly to the first assembling station along the second conveying line;

[0013] The second sub-conveying system includes a third conveying line and a plurality of second rollers, the second rollers are used to fix the right side enclosure assembly, each second roller is movably arranged on the third conveying line, and the plurality of second rollers are suitable for conveying the right side enclosure assembly to the first assembly station along the third conveying line.

[0014] The storage stability of the left side panel assembly is ensured, and the transportation accuracy and speed of the left side panel assembly can be improved by transportation via the first roller bed, which is beneficial to improving the transportation efficiency.

[0015] Optionally, the side panel assembly conveying system further includes: a first grasping robot, a second grasping robot, a first material storage area and a second material storage area,

[0016] The first storage area is used to store the left side enclosure assembly, and the plurality of first roller beds are all suitable for cyclically moving between the first assembling station and the first storage area along the second conveyor line, and the first grabbing robot is used to grab the left side enclosure assembly from the first storage area and place it on the corresponding first roller bed;

[0017] The second storage area is used to store the right side enclosure assembly, and the second roller bed is suitable for circulating along the third conveyor line between the first assembling station and the second storage area. The second grasping robot is used to grasp the right side enclosure assembly from the second storage area and place it on the corresponding second roller bed.

[0018] Therefore, by arranging independent transportation of the left and right side panel assemblies and independent storage of the left and right side panel assemblies, the problem of possible interference between the first grasping robot and the second grasping robot in storing parts is solved. In the present application, the first grasping robot and the second grasping robot are independent of each other and do not affect each other, and can ensure simultaneous operation, thereby improving the efficiency of picking up and placing parts of the left side panel assembly and the right side panel assembly, which is beneficial to improving the overall conveying efficiency of the side panel assembly conveying system.

[0019] Optionally, the body-in-white assembly system also includes: a first buckle knocking robot and a second buckle knocking robot, the first buckle knocking robot and the second buckle knocking robot are both arranged at the first assembly station and located on the left and right sides of the assembly platform tooling, the first buckle knocking robot is used to knock the buckles between the lower body assembly and the left side surround assembly, and the second buckle knocking robot is used to knock the buckles between the lower body assembly and the right side surround assembly.

[0020] Therefore, by setting up the first buckle tapping robot and the second buckle tapping robot, the automatic tapping of the buckles between the lower body assembly and the right side surround assembly and the automatic tapping of the buckles between the lower body assembly and the left side surround assembly are realized, thereby improving the automation level of the production line. At the same time, the coordinated use of the first pre-installation robot, the second pre-installation robot, the first buckle tapping robot and the second buckle tapping robot can effectively improve the buckle pre-tightening qualification rate. After the equipment is debugged and stabilized, the tapping qualification rate can be stabilized at about 95%, thereby meeting the production needs.

[0021] Optionally, the body-in-white assembly system further includes: a gluing robot, a first gluing system, a centering platform, and a plurality of first material storage racks, wherein the gluing robot, the first gluing system, the centering platform, and the plurality of first material storage racks are all arranged at the first assembly station, and each first material storage rack is used to store the front cross beam of the roof and the rear cross beam of the roof;

[0022] The gluing robot is used to grab the front crossbeam or the rear crossbeam of the top cover from the first storage rack and transport it to the first gluing system for gluing, and place the glued front crossbeam or the rear crossbeam of the top cover on the centering platform.

[0023] The same gluing robot is used to grab and place the front crossbeam and the rear crossbeam of the top cover, that is, the grabbing and placing of the front crossbeam and the rear crossbeam of the top cover are completed by the same gluing robot, which realizes the flexible sharing of the gripper of the gluing robot and improves the compatibility of the gluing robot. At the same time, using the gluing robot for gluing is also conducive to improving the accuracy of the gluing position and the stability of the gluing performance, thereby improving the quality level of gluing.

[0024] Optionally, the body-in-white assembly system also includes: a third pre-installation robot, which is arranged at the first assembly station, and is used to install the front cross beam of the top cover or the rear cross beam of the top cover on the centering platform between the left side panel assembly and the right side panel assembly, and is also used to knock together the clips between the front cross beam of the top cover and the left side panel assembly and the right side panel assembly, as well as the clips between the rear cross beam of the top cover and the left side panel assembly and the right side panel assembly.

[0025] In this way, the automatic tapping of the front cross beam and the rear cross beam of the top cover is achieved, which is beneficial to improving the qualified rate of the buckle pre-tightening, and the grabbing / releasing of the front cross beam and the rear cross beam of the top cover are completed by the same third pre-installation robot, realizing the flexible sharing of the gripper of the third pre-installation robot and improving the compatibility of the third pre-installation robot.

[0026] Optionally, the body-in-white assembly system further comprises: a fourth pre-assembly robot, a second gluing system and a plurality of second material storage racks, the fourth pre-assembly robot, the second gluing system and the plurality of second material storage racks are all arranged at the first assembly station, and each second material storage rack is used to store the tail end plate;

[0027] The fourth pre-installation robot is used to grab the tail end plate from the second storage rack and transport it to the second gluing system for gluing, and then install the glued tail end plate to the lower body assembly and pre-position it.

[0028] The fourth pre-installation robot realizes both the gluing function and the pre-installation function of the tail end plate, that is, the number of robots is reduced, the process is merged, and it is beneficial to reduce costs. At the same time, the fourth pre-installation robot is also beneficial to improve the accuracy of the gluing position and the stability of the gluing performance, thereby improving the quality level of gluing, and the fourth pre-installation robot can also improve the accuracy of the pre-installation of the tail end plate.

[0029] Optionally, the body-in-white assembly system also includes: a first welding robot and a second welding robot, the first welding robot and the second welding robot are both arranged at the first assembly station and located on both sides of the assembly platform tooling, the first welding robot is used to weld the left side of the tail end plate to the lower body assembly, and the second welding robot is used to weld the right side of the tail end plate to the lower body assembly.

[0030] The tail end plate can be welded and fixed at the first assembly station, that is, the welding process of the tail end plate is advanced, thereby avoiding the problem of the main positioning pin hole not being aligned with the hole due to the inability to pre-tighten the tail end plate by snapping, thereby improving the dimensional accuracy of the installation of the tail end plate and the lower body assembly.

[0031] Optionally, the assembly tool is further adapted to move from the first assembly station to the second assembly station along the first conveyor line, and the body-in-white assembly system further comprises: a fifth pre-assembly robot, a third gluing system and a plurality of third material storage racks, the fifth pre-assembly robot, the third gluing system and the plurality of third material storage racks are all arranged at the second assembly station, and each third material storage rack is used to store the mounting plate under the front bulkhead;

[0032] The fifth pre-installation robot is used to grab the front partition lower mounting plate from the third material storage rack and transport it to the third gluing system for gluing, and then install the glued front partition lower mounting plate to the lower body assembly.

[0033] The fifth pre-installation robot realizes both the gluing function and the pre-installation function of the mounting plate under the front bulkhead, which reduces the number of robots, realizes the merging of processes, and is conducive to reducing costs. At the same time, the fifth pre-installation robot is also conducive to improving the accuracy of the gluing position and the stability of the gluing performance, thereby improving the quality level of gluing, and the fifth pre-installation robot can also improve the accuracy of the pre-installation of the mounting plate under the front bulkhead.

[0034] Optionally, the body-in-white assembly system further comprises: a sixth pre-assembly robot, a fourth gluing system and a plurality of fourth material storage racks, the sixth pre-assembly robot, the fourth gluing system and the plurality of fourth material storage racks are all arranged at the second assembly station, and each fourth material storage rack is used for storing coat boards;

[0035] The sixth pre-installation robot is used to grab the clothes board from the fourth storage rack and transport it to the fourth gluing system for gluing, and install the glued clothes board between the left side waist assembly and the right side waist assembly, and knock the buckles between the clothes board and the left side waist assembly and the right side waist assembly.

[0036] The sixth pre-installation robot realizes the gluing function, the pre-installation function of the coat plate, and the automatic knocking of the coat plate, that is, the number of robots is reduced, and the merger of multiple processes is realized, which is conducive to reducing costs.

[0037] Optionally, the body-in-white assembly system further includes: a visual system, which is disposed at the second assembly station, the visual system is communicatively connected with the sixth pre-assembly robot, and the visual system is used to control the motion trajectory of the sixth pre-assembly robot to install the coat board according to the shape of the coat board.

[0038] The accuracy of the installation track of the coat and hat board can be improved to reduce the risk of interference with other parts during the installation process of the coat and hat board.

[0039] Optionally, the body-in-white assembly system further includes: a gluing controller, which is in communication connection with the first gluing system, the second gluing system, the third gluing system and the fourth gluing system, and is used to control the first gluing system, the second gluing system, the third gluing system and the fourth gluing system to perform gluing, respectively. That is, one gluing controller controls four gluing systems, thus realizing an integrated design of the gluing system.

[0040] Optionally, the first roller bed is also used to fix a gripper of the first pre-installed robot;

[0041] The second roller bed is also used to fix the gripper of the second pre-installed robot.

[0042] The first pre-installation robot and the second pre-installation robot can take appropriate grippers from their respective roller beds as needed to achieve multiple functions. The cache of the side panel assembly and the placement of gripper types can reasonably arrange production according to the vehicle model scheduling and production line operation conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 A schematic diagram of a body-in-white assembly system provided in accordance with an embodiment of the present application;

[0045] Figure 2 A schematic diagram of a side panel assembly conveying system provided in one embodiment of the present application;

[0046] Figure 3 A schematic diagram of a body-in-white assembly system provided in accordance with another embodiment of the present application;

[0047] Figure 4 A flowchart of a body-in-white assembly system provided for one embodiment of the present application.

[0048] [Description of Reference Numerals]

[0049] Body-in-white assembly system 100;

[0050] The first conveyor line 1;

[0051] Assemble table tooling 2;

[0052] Side panel assembly conveying system 3; first sub-conveying system 31; second conveying line 311; first roller bed 312; second sub-conveying system 32; third conveying line 321; second roller bed 322; first grasping robot 33; second grasping robot 34;

[0053] The first pre-installation robot 4; the second pre-installation robot 5; the first buckle tapping robot 6; the second buckle tapping robot 7; the gluing robot 8; the first gluing system 9; the centering platform 10; the first material storage rack 11; the third pre-installation robot 12; the fourth pre-installation robot 13; the second gluing system 14; the second material storage rack 15; the first welding robot 16; the second welding robot 17; the fifth pre-installation robot 18; the third gluing system 19; the third material storage rack 20; the sixth pre-installation robot 21; the fourth material storage rack 22; the visual system 23; the gluing controller 24;

[0054] The first assembling station is 200;

[0055] The second assembling station 300;

[0056] The lower body assembly is 400; the left side panel assembly is 500; and the right side panel assembly is 600. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0058] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0059] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0060] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "attached" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0061] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0062] The term "multiple" as used in this application refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple sheets" refers to more than two sheets (including two sheets).

[0063] It should be noted that with the rapid development of the automobile industry, the per capita car ownership is also increasing year by year. At present, major manufacturers are trying their best to improve the production efficiency of complete vehicles to meet the huge domestic market demand. Among them, the welding workshop is the key place for the assembly of the body in white, and the assembly efficiency of the body in white greatly affects the production efficiency of the whole vehicle.

[0064] In the related technology, the current side panel assembly conveying system usually conveys the left and right side panel assemblies together, and the conveying form is a linear or ring structure. For the same lower body assembly, the left side panel assembly and the right side panel assembly need to be sorted before conveying to ensure that the left and right side panel assemblies can reach the assembly station at the same time, such as setting the left side panel assembly before the right side panel assembly, etc. However, this requires the grasping robot to wait when grasping the left and right side panel assemblies, which results in a longer overall placement time and a lower conveying efficiency of the side panel assembly conveying system, which greatly affects the production efficiency of the entire vehicle.

[0065] Based on this, the present application proposes a body-in-white assembly system 100, in which the two sub-conveyor systems of the side panel assembly conveying system 3 are respectively used to convey the left side panel assembly 500 and the right side panel assembly 600, and the two sub-conveyor systems are independent of each other and do not affect each other. When the left side panel assembly 500 reaches the first assembly station 200, the first pre-installation robot 4 installs the left side panel assembly 500 to the lower body assembly 400, and when the right side panel assembly 600 reaches the first assembly station 200, the second pre-installation robot 5 installs the right side panel assembly 600 to the lower body assembly 400, thereby realizing the independent installation of the left side panel assembly 500 and the right side panel assembly 600. Therefore, during the entire conveying process of the left and right side panel assemblies 600, there is no need to sort the sequence of the left and right side panel assemblies 600, thereby improving the conveying efficiency of the side panel assembly conveying system 3, and then improving the production efficiency of the whole vehicle.

[0066] The body-in-white assembly system 100 proposed in the embodiment of the present application is described below with reference to the accompanying drawings.

[0067] like Figure 1-Figure 3 As shown, the body-in-white assembly system 100 according to the first embodiment of the present application includes: a first conveyor line 1, an assembly tool 2, a side panel assembly conveying system 3, a first pre-installation robot 4 and a second pre-installation robot 5, the assembly tool 2 is used to fix and install the lower body assembly 400, the assembly tool 2 is movably arranged on the first conveyor line 1, and the assembly tool 2 is suitable for moving along the first conveyor line 1 to the first assembly station 200, the side panel assembly conveying system 3 includes a first sub-conveying system 31 and a second sub-conveying system 32, the first sub-conveying system 31 is used to convey the left side panel assembly 50 0 is transported to the first assembling station 200, the second sub-conveying system 32 is used to transport the right side panel assembly 600 to the first assembling station 200, the first pre-installation robot 4 and the second pre-installation robot 5 are both arranged at the first assembling station 200 and located on both sides of the assembly platform tooling 2, the first pre-installation robot 4 is used to install the left side panel assembly 500 in the first assembling station 200 to the lower body assembly 400 and pre-position it, the second pre-installation robot 5 is used to pre-position and install the right side panel assembly 600 in the first assembling station 200 to the lower body assembly 400 and pre-position it.

[0068] Specifically, if Figure 1 As shown, the first conveyor line 1 of the body-in-white assembly system 100 is the body-in-white assembly line. It can be understood that before the body-in-white assembly, the welding line has completed the welding and assembly of the lower body assembly 400, and the welded and assembled lower body assembly 400 is fixedly installed on the assembly tool 2. Subsequently, the lower body assembly 400 is transferred to the first conveyor line 1 following the assembly tool 2. The transfer method includes but is not limited to horizontal transfer.

[0069] Furthermore, the assembly tooling 2 can continue to move along the first conveyor line 1 so that the assembly tooling 2 moves to the first assembly station 200, that is, the lower body assembly 400 can follow the assembly tooling 2 to move to the first assembly station 200, and the lower body assembly 400 moved to the first assembly station 200 waits for the left and right side panel assemblies 600 conveyed by the side panel assembly conveying system 3, thereby facilitating the subsequent assembly process of the left and right side panel assemblies 600 and the lower body assembly 400.

[0070] In order to improve the conveying efficiency of the side panel assembly conveying system 3, in some embodiments of the present application, for example Figure 2 and Figure 3 As shown, the side panel assembly conveying system 3 in the present application includes a first sub-conveyor system 31 and a second sub-conveyor system 32, wherein the first sub-conveyor system 31 is used to convey the left side panel assembly 500 to the first assembling station 200, and the second sub-conveyor system 32 is used to convey the right side panel assembly 600 to the first assembling station 200. Further, as a specific example, the first sub-conveyor system 31 and the second sub-conveyor system 32 can be respectively arranged in parallel on the left and right sides of the assembly tooling 2, that is, the first sub-conveyor system 31 is arranged on the left side of the assembly tooling 2, and the second sub-conveyor system 32 is arranged on the right side of the assembly tooling 2. Such an arrangement facilitates the subsequent assembly of the left side panel assembly 500 in the first sub-conveyor system 31, and also facilitates the subsequent assembly of the right side panel assembly 600 in the second sub-conveyor system 32.

[0071] By dividing the side panel assembly conveying system 3 into two separate sub-conveyor systems, the independence of the two sub-conveyor systems when conveying the left side panel assembly 500 and the right side panel assembly 600 is ensured. The two sub-conveyor systems are independent of each other and do not affect each other. Assuming that the left side panel assembly 500 in the first sub-conveyor system 31 arrives at the first assembling station 200 first, the left side panel assembly 500 in the first assembling station 200 is installed on the lower vehicle body assembly 400 by the first pre-installation robot 4 and pre-positioned. When the right side panel assembly 500 in the second sub-conveyor system 32 arrives at the first assembling station 200 first, the left side panel assembly 500 in the first assembling station 200 arrives at the first assembling station 200 first. After the assembly 600 arrives at the first assembling station 200, the second pre-installation robot 5 installs the right side assembly 600 in the first assembling station 200 to the lower body assembly 400 and performs pre-positioning; and when the right side assembly 600 in the second sub-conveyor system 32 arrives at the first assembling station 200 first, the second pre-installation robot 5 installs the right side assembly 600 in the first assembling station 200 to the lower body assembly 400 and performs pre-positioning, and when the left side assembly 500 in the first sub-conveyor system 31 arrives at the first assembling station 200, the second pre-installation robot 5 installs the right side assembly 600 in the first assembling station 200 to the lower body assembly 400 and performs pre-positioning. After the left side panel assembly 500 in the first assembling station 200 is moved to the lower vehicle body assembly 400, the first pre-installation robot 4 installs the left side panel assembly 500 in the first assembling station 200 to the lower vehicle body assembly 400 and performs pre-positioning; and when the left side panel assembly 500 in the first sub-conveyor system 31 and the right side panel assembly 600 in the second sub-conveyor system 32 arrive at the first assembling station 200 at the same time, the first pre-installation robot 4 installs the left side panel assembly 500 in the first assembling station 200 to the lower vehicle body assembly 400 and performs pre-positioning, and at the same time, the second pre-installation robot 5 installs the left side panel assembly 500 in the first assembling station 200 to the lower vehicle body assembly 400 and performs pre-positioning. 00, the right side panel assembly 600 is installed to the lower body assembly 400 and pre-positioned, which realizes the independent installation of the left side panel assembly 500 and the right side panel assembly 600. Therefore, during the entire transportation process of the left and right side panel assemblies 600, the transportation of the left and right side panel assemblies 600 is made more flexible, and there is no need to sort the sequence of the left and right side panel assemblies 600, which solves the problem of insufficient time utilization of the traditional side panel transportation station, improves the transportation efficiency of the side panel assembly transportation system 3, and is also beneficial to improving the production efficiency of the entire vehicle.

[0072] According to the body-in-white assembly system 100 proposed in the first aspect embodiment of the present application, the body-in-white assembly system 100 divides the side panel assembly conveying system 3 into two separate sub-conveyoring systems, wherein the first sub-conveyoring system 31 is used to convey the left side panel assembly 500 to the first assembly station 200, and the second sub-conveyoring system 32 is used to convey the right side panel assembly 600 to the first assembly station 200, the first pre-installation robot 4 is used to install the left side panel assembly 500 in the first assembly station 200 to the lower body assembly 400 and pre-position it, and the second pre-installation robot 5 is used to pre-position and install the right side panel assembly 600 in the first assembly station 200 to the lower body assembly 400 and pre-position it. Therefore, the two sub-conveyor systems of the side panel assembly conveying system 3 are respectively used to convey the left side panel assembly 500 and the right side panel assembly 600, and the two sub-conveyor systems are independent of each other and do not affect each other. When the left side panel assembly 500 reaches the first assembling station 200, the first pre-installation robot 4 installs the left side panel assembly 500 to the lower body assembly 400. When the right side panel assembly 600 reaches the first assembling station 200, the second pre-installation robot 5 installs the right side panel assembly 600 to the lower body assembly 400, thereby realizing the independent installation of the left side panel assembly 500 and the right side panel assembly 600. Therefore, during the entire conveying process of the left and right side panel assemblies 600, there is no need to sort the order of the left and right side panel assemblies 600, thereby improving the conveying efficiency of the side panel assembly conveying system 3, and then improving the production efficiency of the whole vehicle.

[0073] It should be noted that the above-mentioned first pre-installation robot 4 and the second pre-installation robot 5 are both provided with a photographing module. With such a configuration, the first pre-installation robot 4 can confirm by photographing whether the current left side panel assembly 500 matches the current vehicle model to be assembled before transporting the left side panel assembly 500. If it matches, the first pre-installation robot 4 starts to transport the left side panel assembly 500. If it does not match, the first pre-installation robot 4 will alarm and remind to replace the left side panel assembly 500 that matches the vehicle model. Similarly, the second pre-installation robot 5 can adopt the same photographing working mode, which will not be repeated here.

[0074] Furthermore, the characteristic recognition points of the left side panel assembly 500 and the right side panel assembly 600 are both arranged on the A-pillar and the B-pillar, and the grasping positioning points of the left side panel assembly 500 and the right side panel assembly 600 are also unified, so as to facilitate the recognition and grasping of the first pre-installation robot 4 and the second pre-installation robot 5.

[0075] In some embodiments of the present application, Figure 2 and Figure 3As shown, the first sub-conveying system 31 includes a second conveying line 311 and a plurality of first rollers 312, the first rollers 312 are used to fix the left side enclosure assembly 500, each of the first rollers 312 can be movably arranged on the second conveying line 311, and the plurality of first rollers 312 are suitable for conveying the left side enclosure assembly 500 to the first assembling station 200 along the second conveying line 311, and the second sub-conveying system 32 includes a third conveying line 321 and a plurality of second rollers 322, the second rollers 322 are used to fix the right side enclosure assembly 600, each of the second rollers 322 can be movably arranged on the third conveying line 321, and the plurality of second rollers 322 are suitable for conveying the right side enclosure assembly 600 to the first assembling station 200 along the third conveying line 321.

[0076] It should be noted that traditional side panel conveying systems usually use a suspended structure for conveying. For example, the side panel assembly is hoisted and then conveyed by a chain. The conveying form includes but is not limited to a linear or ring structure. However, the conveying accuracy of the suspended form is difficult to control, and the chain conveying speed is slow.

[0077] Based on this, the side panel assembly conveying system 3 in the present application is provided with a dedicated conveying line and roller bed for the side panel assembly, wherein the first sub-conveying system 31 is composed of a second conveying line 311 and a plurality of first roller beds 312, and the second sub-conveying system 32 is composed of a third conveying line 321 and a plurality of second roller beds 322. Further, for the purpose of illustration, the second conveying line 311 and the first roller bed 312 in the first sub-conveying system 31 are taken as an example, the second conveying line 311 is composed of two parallel guide rails, and the two parallel guide rails extend to the first splicing station 200, and rollers are provided under the first roller bed 312. There may be multiple rollers, and the multiple rollers are symmetrically arranged on the two guide rails, and the rollers can move along the extension direction of the guide rails, thereby realizing the first roller bed 312 in the second Movement on the conveyor line 311, further, the first roller bed 312 is used to fix the left side panel assembly 500. It can be understood that the first roller bed 312 is used to ensure the stable installation of the left side panel assembly 500. For example, a mounting frame is provided on the first roller bed 312, and the mounting frame has a first support portion, and the first support portion is used to support the B-pillar of the left side panel assembly 500. The mounting frame also has a V-shaped groove at the bottom, and the V-shaped groove is used to clamp the skirt of the left side panel assembly 500. Limit blocks are also provided at the front and rear of the mounting frame, and the limit blocks are used to limit the forward and backward movement of the left side panel assembly 500. This arrangement ensures the storage stability of the left side panel assembly 500, and the transportation accuracy and speed of the left side panel assembly 500 can also be improved through the transportation of the first roller bed 312, which is beneficial to improving the transportation efficiency.

[0078] It should be noted that the third conveying line 321 and the second roller bed 322 of the second sub-conveying system 32 can adopt a design similar to the second conveying line 311 and the first roller bed 312, which will not be described in detail here. This ensures the storage stability of the right side enclosure assembly 600, and the transportation accuracy and speed of the right side enclosure assembly 600 can be improved through the transportation of the second roller bed 322, which is conducive to improving the transportation efficiency.

[0079] In some embodiments of the present application, the second conveyor line 311 and the third conveyor line 321 can be respectively arranged in parallel on the left and right sides of the assembly tooling 2, that is, the second conveyor line 311 is arranged on the left side of the assembly tooling 2, and the third conveyor line 321 is arranged on the right side of the assembly tooling 2 and is parallel to the second conveyor line 311; the second conveyor line 311 and the third conveyor line 321 can be respectively hammered to ensure that the second conveyor line 311 can extend to the first assembly station 200 and is located on the left side of the assembly tooling 2, and to ensure that the third conveyor line 321 can extend to the first assembly station 200 and is located on the right side of the assembly tooling 2. The specific arrangement can be based on the actual production situation of the production line, and no specific restrictions are made here.

[0080] In some embodiments of the present application, the mounting frame in the first roller bed 312 and the mounting frame in the second roller bed 322 are designed to be compatible with the left and right side panel assemblies 600, so that the side panel assemblies corresponding to different vehicle models can share the mounting frame, which solves the problem from the source that each time a new side panel enters the production line when conveying small parts with hangers, the mounting frame must be modified, thereby reducing the repeated design investment of the mounting frame and saving costs.

[0081] In some embodiments of the present application, the layout of the second conveyor line 311 and the third conveyor line 321 are both scalable, and can realize the automatic combination of multiple side panel assembly production lines and the combined main line, realize the flexibility of the production line, and different vehicle models can be mixed-line produced. The automation rate can reach 100%, which facilitates a better transformation from production pull to unmanned intelligent scheduling.

[0082] In some embodiments of the present application, Figure 2 and Figure 3As shown, the side panel assembly conveying system 3 also includes: a first grasping robot 33, a second grasping robot 34, a first stocking area and a second stocking area, the first stocking area is used to store the left side panel assembly 500, and the plurality of first rollers 312 are suitable for circulating along the second conveyor line 311 between the first assembling station 200 and the first stocking area, the first grasping robot 33 is used to grasp the left side panel assembly 500 from the first stocking area and place it on the corresponding first roller 312, the second stocking area is used to store the right side panel assembly 600, and the second rollers 322 are suitable for circulating along the third conveyor line 321 between the first assembling station 200 and the second stocking area, the second grasping robot 34 is used to grasp the right side panel assembly 600 from the second stocking area and place it on the corresponding second roller 322.

[0083] Specifically, the second conveyor line 311 in the first sub-conveying system 31 can be constructed as a circulating conveyor line. For example, the second conveyor line 311 is constructed as a rectangular circulating conveyor line, one end of the second conveyor line 311 extends to the first merging station 200, and the other end extends to the first storage area, wherein a plurality of first roller beds 312 can circulate back and forth between the first merging station 200 and the first storage area along the second conveyor line 311. As a specific example, when the left side enclosure assembly 500 in one of the first roller beds 312 follows the first roller bed 312 to move to the first merging station 200, if the left side enclosure assembly 50 0 is the left side panel assembly 500 required for the lower body assembly 400 of the current vehicle model, then the first pre-installation robot 4 installs the left side panel assembly 500 to the lower body assembly 400 and pre-positions it, and then the empty first roller bed 312 continues to move in a circulation along the second conveyor line 311, and when the empty first roller bed 312 reaches the first stocking area, the first grasping robot 33 grasps the corresponding left side panel assembly 500 from the first stocking area and places it on the corresponding first roller bed 312, and then the first roller bed 312 on which the left side panel assembly 500 has been placed continues to move in a circulation along the second conveyor line 311, and the left side panel assembly 500 is transported in a circulation manner.

[0084] Similarly, the third conveyor line 321 in the second sub-conveying system 32 can adopt a design similar to the second conveyor line 311 in the above-mentioned first sub-conveying system 31, which will not be repeated here, so as to realize the circular transportation of the right side enclosure assembly 600 on the third conveyor line 321.

[0085] Therefore, by arranging independent transportation of the left and right side panel assemblies 600 and independent storage of the left and right side panel assemblies 600, the problem of possible interference between the stored parts by the first grasping robot 33 and the second grasping robot 34 is solved. In the present application, the first grasping robot 33 and the second grasping robot 34 are independent of each other and do not affect each other, and can ensure simultaneous operation, thereby improving the efficiency of picking up and placing parts by the left side panel assembly 500 and the right side panel assembly 600, which is beneficial to improving the overall conveying efficiency of the side panel assembly conveying system 3.

[0086] In some embodiments of the present application, Figure 1 and Figure 3 As shown, the body-in-white assembly system 100 also includes: a first buckle tapping robot 6 and a second buckle tapping robot 7. The first buckle tapping robot 6 and the second buckle tapping robot 7 are both arranged at the first assembly station 200 and located on the left and right sides of the assembly platform tooling 2. The first buckle tapping robot 6 is used to tap the buckles between the lower body assembly 400 and the left side surround assembly 500, and the second buckle tapping robot 7 is used to tap the buckles between the lower body assembly 400 and the right side surround assembly 600.

[0087] It should be noted that the traditional side panel assembly and the lower body assembly 400 are manually snapped together, which can easily cause the snaps to be too loose or too tight, resulting in large fluctuations in pre-installation quality. The pass rate of the snapping is usually below 90%, which is difficult to meet production needs.

[0088] Based on this, the present application sets a first buckle tapping robot 6 and a second buckle tapping robot 7 on the left and right sides of the assembly tool 2, respectively. It can be understood that the first buckle tapping robot 6 and the second buckle tapping robot 7 are both arranged at the first assembly station 200. When the first pre-installation robot 4 installs the left side panel assembly 500 in the first assembly station 200 to the lower body assembly 400 and performs pre-positioning, the first buckle tapping robot 6 taps the buckles between the lower body assembly 400 and the left side panel assembly 500. For example, the lower body assembly 400 and the left side panel assembly 500 are There are four buckles in total, among which three buckles are set on the left side surround assembly 500, and one buckle is set on the floor of the lower body assembly 400. The first buckle tapping robot 6 can tap the three buckles on the left side surround assembly 500 toward the lower body assembly 400 and the buckles of the floor of the lower body assembly 400 toward the left side surround assembly 500 in sequence, or can tap the three buckles on the left side surround assembly 500 toward the lower body assembly 400 and the buckles of the floor of the lower body assembly 400 toward the left side surround assembly 500 at the same time. The specific tapping method is not specifically limited here.

[0089] Similarly, when the second pre-installation robot 5 installs the right side surround assembly 600 in the first assembly station 200 to the lower body assembly 400 and pre-positions it, the second buckle tapping robot 7 taps the buckles between the lower body assembly 400 and the right side surround assembly 600 in a similar manner to the first buckle tapping robot 6 tapping the buckles between the lower body assembly 400 and the left side surround assembly 500, which will not be repeated here.

[0090] Therefore, by setting up the first buckle tapping robot 6 and the second buckle tapping robot 7, the automatic tapping of the buckles between the lower body assembly 400 and the right side enclosure assembly 600 and the automatic tapping of the buckles between the lower body assembly 400 and the left side enclosure assembly 500 are realized, thereby improving the automation level of the production line. At the same time, the coordinated use of the first pre-installation robot 4, the second pre-installation robot 5, the first buckle tapping robot 6 and the second buckle tapping robot 7 can effectively improve the buckle pre-tightening qualification rate. After the equipment debugging is stable, the tapping qualification rate can be stabilized at about 95%, thereby meeting the production needs.

[0091] In some embodiments of the present application, Figure 1 and Figure 3 As shown, the body-in-white assembly system 100 also includes: a gluing robot 8, a first gluing system 9, a centering platform 10 and a plurality of first storage racks 11. The gluing robot 8, the first gluing system 9, the centering platform 10 and the plurality of first storage racks 11 are all arranged at the first assembly station 200. Each first storage rack 11 is used to store the front crossbeam of the top cover and the rear crossbeam of the top cover. The gluing robot 8 is used to grab the front crossbeam of the top cover or the rear crossbeam of the top cover from the first storage rack 11 and transport it to the first gluing system 9 for gluing, and place the glued front crossbeam of the top cover or the rear crossbeam of the top cover on the centering platform 10.

[0092] It should be noted that the traditional front crossbeam and rear crossbeam of the top cover are manually coated with glue, which is prone to quality problems such as glue breakage, uneven glue, glue deviation, glue accumulation, and glue leakage. The glue quality problem is more prominent.

[0093] Based on this, the present application respectively sets up a gluing robot 8, a first gluing system 9, a centering platform 10 and multiple first storage racks 11 at the first assembly station 200, wherein each first storage rack 11 is used to store the front crossbeam of the top cover and the rear crossbeam of the top cover, that is, the gluing robot 8 can take out the front crossbeam of the top cover or the rear crossbeam of the top cover from the same first storage rack 11 as needed. For example, when it is necessary to gluing the front crossbeam of the top cover, the gluing robot 8 is controlled to grab the front crossbeam of the top cover from the first storage rack 11 and transport it to the first gluing system 9 for gluing, and place the glued front crossbeam of the top cover on the centering platform 10 to facilitate subsequent installation operations. When the front crossbeam of the top cover on the centering platform 10 is taken out After proceeding to the next process installation, the glue coating robot 8 is controlled to grab the rear crossbeam of the top cover from the first material storage rack 11 and transport it to the first glue coating system 9 for gluing, and the rear crossbeam of the top cover after gluing is placed on the centering platform 10 to facilitate the subsequent installation operation of the rear crossbeam of the top cover. With this arrangement, the same glue coating robot 8 can grasp / release the front crossbeam and the rear crossbeam of the top cover, that is, the grasping / releasing of the front crossbeam and the rear crossbeam of the top cover are completed by the same glue coating robot 8, which realizes the flexible sharing of the gripper of the glue coating robot 8 and improves the compatibility of the glue coating robot 8. At the same time, using the glue coating robot 8 for gluing is also conducive to improving the accuracy of the glue coating position and the stability of the glue coating performance, thereby improving the quality level of glue coating.

[0094] It should be noted that by setting up a plurality of first storage racks 11 to store the front cross beams and the rear cross beams of the top cover, the stability of the feeding of the front cross beams and the rear cross beams of the top cover can be ensured. Figure 1 Figure 3 As shown, the first merging station 200 is provided with two first material storage racks 11. Assuming that one of the first material storage racks 11 is empty, the empty first material storage rack 11 can be transported away by the AGV trolley, and the first material storage rack 11 loaded with the front crossbeam and the rear crossbeam of the top cover can be transported to the corresponding area of ​​the first merging station 200 by the AGV trolley, so as to avoid the phenomenon of insufficient supply of the front crossbeam and the rear crossbeam of the top cover. The switching of the empty first material storage rack 11 does not affect the normal operation of the merging system, and can also improve the unmanned level of the production line, thereby further transforming to a smart factory.

[0095] It is understandable that the above-mentioned gluing robot 8 can also be provided with a photographing module. With such a configuration, the gluing robot 8 can confirm by taking photos whether the current front crossbeam or rear crossbeam of the top cover matches the current vehicle model to be assembled before transporting the front crossbeam or rear crossbeam of the top cover. If they match, the gluing robot 8 starts to transport the front crossbeam or rear crossbeam of the top cover. If they do not match, the gluing robot 8 will alarm and remind you to replace the front crossbeam or rear crossbeam of the top cover that matches the vehicle model.

[0096] In some embodiments of the present application, Figure 1 Figure 3 As shown, the body-in-white assembly system 100 also includes: a third pre-installation robot 12, which is arranged at the first assembly station 200, and is used for installing the front cross beam of the top cover or the rear cross beam of the top cover on the centering platform 10 between the left side enclosure assembly 500 and the right side enclosure assembly 600, and is also used for tapping the clips between the front cross beam of the top cover and the left side enclosure assembly 500 and the right side enclosure assembly 600, as well as the clips between the rear cross beam of the top cover and the left side enclosure assembly 500 and the right side enclosure assembly 600.

[0097] Specifically, the third pre-installation robot 12 performs automated installation of the front cross beam or the rear cross beam of the top cover. After the gluing robot 8 places the glued front cross beam of the top cover on the centering platform 10, the third pre-installation robot 12 installs the front cross beam of the top cover on the centering platform 10 between the left side enclosure assembly 500 and the right side enclosure assembly 600, and then taps the buckles between the front cross beam of the top cover and the left side enclosure assembly 500 and the right side enclosure assembly 600. It can be understood that the left side enclosure assembly 500 and the right side surround assembly 600 are provided with installation points for the front cross beam of the top cover, and the left side surround assembly 500 and the right side surround assembly 600 are provided with buckles. When the front cross beam of the top cover is installed between the left side surround assembly 500 and the right side surround assembly 600, the buckles of the left side surround assembly 500 and the buckles of the right side surround assembly 600 are both positioned and matched with the front cross beam of the top cover, and then the third pre-installation robot 12 knocks the buckles of the left side surround assembly 500 and the buckles of the right side surround assembly 600 toward the front cross beam of the top cover.

[0098] Furthermore, after the gluing robot 8 places the glued rear cross beam of the top cover on the centering platform 10, the third pre-installation robot 12 installs the rear cross beam of the top cover on the centering platform 10 between the left side enclosure assembly 500 and the right side enclosure assembly 600, and then knocks the rear cross beam of the top cover with the buckles between the left side enclosure assembly 500 and the right side enclosure assembly 600. It can be understood that the left side enclosure assembly 500 and the right side enclosure assembly 600 are also provided with installation points for the rear cross beam of the top cover, and the left side enclosure assembly 500 and the right side enclosure assembly 600 are provided with buckles. When the rear cross beam of the top cover is installed between the left side enclosure assembly 500 and the right side enclosure assembly 600, the buckles of the left side enclosure assembly 500 and the buckles of the right side enclosure assembly 600 are both positioned and matched with the rear cross beam of the top cover, and then the third pre-installation robot 12 knocks the buckles of the left side enclosure assembly 500 and the buckles of the right side enclosure assembly 600 toward the rear cross beam of the top cover.

[0099] In this way, the automatic tapping of the front cross beam and the rear cross beam of the top cover is achieved, which is beneficial to improving the qualified rate of the buckle pre-tightening, and the grabbing / releasing of the front cross beam and the rear cross beam of the top cover are completed by the same third pre-installation robot 12, realizing the flexible sharing of the gripper of the third pre-installation robot 12 and improving the compatibility of the third pre-installation robot 12.

[0100] In some embodiments of the present application, Figure 1 Figure 3 As shown, the body-in-white assembly system 100 also includes: a fourth pre-assembly robot 13, a second gluing system 14 and a plurality of second storage racks 15. The fourth pre-assembly robot 13, the second gluing system 14 and the plurality of second storage racks 15 are all arranged at the first assembly station 200. Each second storage rack 15 is used to store the tail end plate. The fourth pre-assembly robot 13 is used to grab the tail end plate from the second storage rack 15 and transport it to the second gluing system 14 for gluing, and install the glued tail end plate to the lower body assembly 400 and pre-position it.

[0101] Specifically, the present application sets up a fourth pre-installation robot 13, a second gluing system 14 and a plurality of second storage racks 15 at the first assembling station 200, wherein each second storage rack 15 is used to store the tail end plate. For example, when the tail end plate needs to be glued, the fourth pre-installation robot 13 is controlled to grab the tail end plate from the second storage rack 15 and transport it to the second gluing system 14 for gluing, and the glued tail end plate is installed to the lower body assembly 400 and pre-positioned. In other words, the fourth pre-installation robot 13 realizes both the gluing function and the pre-installation function of the tail end plate, that is, the number of robots is reduced, the process is merged, and it is beneficial to reduce costs. At the same time, the fourth pre-installation robot 13 is also beneficial to improve the accuracy of the gluing position and the stability of the gluing performance, thereby improving the quality level of gluing, and the fourth pre-installation robot 13 can also improve the accuracy of the pre-installation of the tail end plate.

[0102] It should be noted that by providing a plurality of second storage racks 15 to store the tail end plates, the stability of the tail end plate feeding can be ensured. Figure 1 Figure 3 As shown, the first merging station 200 is provided with two second material storage racks 15. Assuming that one of the second material storage racks 15 is empty, the empty second material storage rack 15 can be transported away by the AGV trolley, and the second material storage rack 15 loaded with the tail end plate can be transported to the corresponding area of ​​the first merging station 200 by the AGV trolley, so as to avoid the phenomenon of insufficient supply of tail end plates. The switching of the empty second material storage rack 15 does not affect the normal operation of the merging system, and can also improve the unmanned level of the production line, thereby further transforming to a smart factory.

[0103] It is understandable that the fourth pre-installation robot 13 may also be provided with a photographing module. With such a configuration, before carrying the rear end plate, the fourth pre-installation robot 13 may confirm by photographing whether the current rear end plate matches the current vehicle model to be assembled. If so, the fourth pre-installation robot 13 starts to carry the rear end plate. If not, the fourth pre-installation robot 13 issues an alarm and reminds to replace the rear end plate with one that matches the vehicle model.

[0104] In some embodiments of the present application, Figure 1 Figure 3 As shown, the body-in-white assembly system 100 also includes: a first welding robot 16 and a second welding robot 17. The first welding robot 16 and the second welding robot 17 are both arranged at the first assembly station 200 and located on both sides of the assembly tooling 2. The first welding robot 16 is used to weld the left side of the tail end plate to the lower body assembly 400, and the second welding robot 17 is used to weld the right side of the tail end plate to the lower body assembly 400.

[0105] It should be noted that, since the current tail end plate is clipped inside the car body, the robot cannot knock the tail end plate in place and can only hold the body in white in its natural state with the clip, so it is difficult to insert and pin the tooling at the main fixture station.

[0106] Based on this, the present application respectively sets up the first welding robot 16 and the second welding robot 17 at the first assembly station 200. It can be understood that the first welding robot 16 and the second welding robot 17 are respectively located on the left and right sides of the assembly tooling 2. When the fourth pre-installation robot 13 pre-installs the tail end plate to the lower body assembly 400, the first welding robot 16 welds the left side of the tail end plate to the lower body assembly 400, and the second welding robot 17 welds the right side of the tail end plate to the lower body assembly 400, so that the welding and fixation of the tail end plate can be achieved at the first assembly station 200, that is, the welding process of the tail end plate is advanced, thereby avoiding the problem of the main positioning pin hole not being aligned with the hole due to the inability to pre-tighten the tail end plate in the past, thereby improving the dimensional accuracy of the installation of the tail end plate and the lower body assembly 400.

[0107] In some embodiments of the present application, Figure 1 Figure 3 As shown, the assembly tool 2 is also suitable for moving from the first assembly station 200 to the second assembly station 300 along the first conveyor line 1, and the body-in-white assembly system 100 also includes: a fifth pre-assembly robot 18, a third gluing system 19 and a plurality of third material storage racks 20, the fifth pre-assembly robot 18, the third gluing system 19 and a plurality of third material storage racks 20 are all arranged at the second assembly station 300, each third material storage rack 20 is used to store the front bulkhead lower mounting plate, the fifth pre-assembly robot 18 is used to grab the front bulkhead lower mounting plate from the third material storage rack 20 and transport it to the third gluing system 19 for gluing, and install the glued front bulkhead lower mounting plate to the lower body assembly 400.

[0108] Specifically, when the left and right side panel assemblies 600, the top front and rear cross beams and the tail end plate are pre-installed at the first assembly station 200, the assembly work moves along the first conveyor line 1 from the first assembly station 200 to the second assembly station 300, wherein the second assembly station 300 is provided with a fifth pre-installation robot 18, a third gluing system 19 and a plurality of third material storage racks 20, each third material storage rack 20 is used to store the front partition lower mounting plate. For example, when it is necessary to perform gluing operation on the front partition lower mounting plate, the fifth pre-installation robot 18 is controlled to grab the front partition lower mounting plate from the third material storage rack 20 and transport it to the third gluing system 19 for gluing, and the glued front partition lower mounting plate is installed on the lower body assembly 400 and pre-positioned. That is to say, the fifth pre-installation robot 18 realizes both the gluing function and the pre-installation function of the front partition lower mounting plate, that is, the number of robots is reduced, the process is merged, and it is beneficial to reduce costs. At the same time, the fifth pre-installation robot 18 is also beneficial to improving the accuracy of the gluing position and the stability of the gluing performance, thereby improving the quality level of gluing, and the fifth pre-installation robot 18 can also improve the accuracy of the pre-installation of the mounting plate under the front bulkhead.

[0109] It should be noted that by providing a plurality of third material storage racks 20 to store the mounting plates under the front partition, the stability of the material supply of the mounting plates under the front partition can be ensured. Figure 1 As shown, the second merging station 300 is provided with two third material storage racks 20. Assuming that one of the third material storage racks 20 is empty, the empty third material storage rack 20 can be transported away by the AGV trolley, and the third material storage rack 20 loaded with the mounting plate under the front partition can be transported to the corresponding area of ​​the second merging station 300 by the AGV trolley, so as to avoid the phenomenon of insufficient supply of the mounting plate under the front partition. The switching of the empty third material storage rack 20 does not affect the normal operation of the merging system, and can also improve the unmanned level of the production line, thereby further transforming to a smart factory.

[0110] It is understandable that the fifth pre-installation robot 18 may also be provided with a photographing module. With such a configuration, before transporting the mounting plate under the front partition, the fifth pre-installation robot 18 may confirm by photographing whether the current mounting plate under the front partition matches the current vehicle model to be assembled. If so, the fifth pre-installation robot 18 starts to transport the mounting plate under the front partition. If not, the fifth pre-installation robot 18 issues an alarm and reminds to replace the mounting plate under the front partition that matches the vehicle model.

[0111] In some embodiments of the present application, Figure 1 Figure 3As shown, the body-in-white assembly system 100 also includes: a sixth pre-assembly robot 21, a fourth gluing system and a plurality of fourth storage racks 22. The sixth pre-assembly robot 21, the fourth gluing system and the plurality of fourth storage racks 22 are all arranged at the second assembly station 300. Each fourth storage rack 22 is used to store clothes boards. The sixth pre-assembly robot 21 is used to grab clothes boards from the fourth storage racks 22 and transport them to the fourth gluing system for gluing, and install the glued clothes boards between the left side assembly 500 and the right side assembly 600, and knock the buckles between the clothes boards and the left side assembly 500 and the right side assembly 600.

[0112] Specifically, the second assembling station 300 is provided with a sixth pre-installation robot 21, a fourth gluing system and a plurality of fourth storage racks 22, each of which is used to store coat boards. For example, when it is necessary to gluing the coat boards, the sixth pre-installation robot 21 is controlled to grab the coat boards from the fourth storage racks 22 and transport them to the fourth gluing system for gluing, and the glued coat boards are installed between the left side assembly 500 and the right side assembly 600. It is understandable that the buckles between the coat boards and the left side assembly 500 and the right side assembly 600 are then knocked together. It is understandable that the left side assembly 500 and the right side assembly 600 are also There is a mounting point for a coat board, and the left side waist assembly 500 and the right side waist assembly 600 are provided with buckles. When the coat board is installed between the left side waist assembly 500 and the right side waist assembly 600, the buckles of the left side waist assembly 500 and the buckles of the right side waist assembly 600 are both positioned and matched with the coat board. Then the sixth pre-installation robot 21 knocks the buckles of the left side waist assembly 500 and the buckles of the right side waist assembly 600 toward the coat board. That is to say, the sixth pre-installation robot 21 realizes both the gluing function and the pre-installation function of the coat board, and also realizes the automatic knocking of the coat board, that is, the number of robots is reduced, and the merger of multiple processes is realized, which is conducive to reducing costs.

[0113] It should be noted that by providing a plurality of fourth storage racks 22 to store coat and hat boards, the stability of coat and hat board feeding can be ensured. Figure 1 Figure 3 As shown, the second merging station 300 is provided with two fourth stock racks 22. Assuming that one of the fourth stock racks 22 is empty, the empty fourth stock rack 22 can be transported away by the AGV trolley, and the fourth stock rack 22 loaded with clothes boards can be transported to the corresponding area of ​​the second merging station 300 by the AGV trolley, so as to avoid the phenomenon of insufficient supply of clothes boards. The switching of the empty fourth stock rack 22 does not affect the normal operation of the merging system, and can also improve the unmanned level of the production line, thereby further transforming to a smart factory.

[0114] It is understandable that the sixth pre-installation robot 21 may also be provided with a photographing module. With such a configuration, before transporting the clothes board, the sixth pre-installation robot 21 may confirm by photographing whether the current clothes board matches the current vehicle model to be assembled. If so, the sixth pre-installation robot 21 starts to transport the clothes board. If not, the sixth pre-installation robot 21 issues an alarm and reminds to replace the clothes board with one that matches the vehicle model.

[0115] In some embodiments of the present application, Figure 1 Figure 3 As shown, the body-in-white assembly system 100 also includes: a visual system 23, which is arranged at the second assembly station 300, and the visual system 23 is communicated with the sixth pre-assembly robot 21, and the visual system 23 is used to control the motion trajectory of the sixth pre-assembly robot 21 to install the coat board according to the shape of the coat board.

[0116] It should be noted that, since the shape of the coat board is relatively complex, in order to prevent interference with other components during the installation of the coat board, the body-in-white assembly system 100 in the present application is also provided with a visual system 23, and the visual system 23 is communicated with the sixth pre-installation robot 21, and the visual system 23 is used to obtain the shape of the coat board, and plan the motion trajectory of the sixth pre-installation robot 21 to install the coat board according to the shape of the coat board, and then control the sixth pre-installation robot 21 to install the coat board according to the planned motion trajectory. Such a setting can improve the accuracy of the coat board installation trajectory to reduce the risk of interference with other components during the installation of the coat board.

[0117] In some embodiments of the present application, Figure 1 Figure 3 As shown, the body-in-white assembly system 100 further includes: a gluing controller 24, which is in communication connection with the first gluing system 9, the second gluing system 14, the third gluing system 19 and the fourth gluing system, and the gluing controller 24 is used to control the first gluing system 9, the second gluing system 14, the third gluing system 19 and the fourth gluing system to apply glue. In other words, the first gluing system 9, the second gluing system 14, the third gluing system 19 and the fourth gluing system in the body-in-white assembly system 100 are all controlled by the gluing controller 24, that is, one gluing controller 24 controls four gluing systems, realizing the integrated design of the gluing system.

[0118] In summary, the body-in-white assembly system 100 in the present application realizes the fully automatic grabbing, gluing, installation, pre-tightening and welding of the upper body parts through 6 pre-installation robots, 1 gluing robot 8, 2 welding robots and 2 buckle-tapping robots. The automation rate of the main line is increased from 75% to 100%, realizing the full automation, full unmanned and full intelligent manufacturing of the main line for the first time, taking a key step towards green manufacturing and intelligent manufacturing.

[0119] In some embodiments of the present application, the first roller bed 312 is also used to fix the gripper of the first pre-installation robot 4 , and the second roller bed 322 is also used to fix the gripper of the second pre-installation robot 5 .

[0120] Specifically, when the side panel assembly is pre-installed, different side panel assemblies corresponding to different vehicle models need to be transported by the first pre-installation robot 4 and the second pre-installation robot 5 to ensure that the gripper of the first pre-installation robot 4 and the gripper of the second pre-installation robot 5 match the side panel assembly. When the side panel assembly is switched according to the vehicle model, the gripper of the first pre-installation robot 4 and the gripper of the second pre-installation robot 5 must also be replaced accordingly. In the present application, the gripper of the required first pre-installation robot 4 can be fixedly placed on the first roller bed 312, and the gripper of the required second pre-installation robot 5 can be fixedly placed on the second roller bed 322. With such an arrangement, the first pre-installation robot 4 and the second pre-installation robot 5 can take appropriate grippers from their respective roller beds as needed to achieve multiple functions, and the caching of the side panel assembly and the placement of gripper types can reasonably arrange production according to the vehicle model production schedule and production line operation.

[0121] Further, in order to enable those skilled in the art to better understand the present invention, Figure 1-Figure 4 As shown, an overall description of this scheme is given below.

[0122] First, before the body-in-white is assembled, the welding line has completed the welding and assembly of the lower body assembly 400, and the welded and assembled lower body assembly 400 is fixedly installed on the assembly tool 2, and then transported to the first conveyor line 1 following the assembly tool 2. The assembly tool 2 continues to move along the first conveyor line 1 to move the assembly tool 2 to the first assembly station 200.

[0123] The first grasping robot 33 is used to grasp the left side enclosure assembly 500 from the first storage area and place it on the first roller bed 312 in the first sub-conveyor system 31. The second grasping robot 34 is used to grasp the right side enclosure assembly 600 from the second storage area and place it on the second roller bed 322 in the first sub-conveyor system 31. The first roller bed 312 is used to transport the left side enclosure assembly 500 to the first assembling station 200. The second roller bed 312 is used to transport the right side enclosure assembly 600 to the first assembling station 200.

[0124] Before the first pre-installation robot 4 moves the left side panel assembly 500, it can confirm by taking photos whether the current left side panel assembly 500 matches the current vehicle model to be assembled. If so, the first pre-installation robot 4 installs the left side panel assembly 500 in the first assembling station 200 to the lower body assembly 400 and pre-positions it. If not, an alarm is issued and a reminder is given to replace the left side panel assembly 500 that matches the vehicle model. Similarly, before the second pre-installation robot 5 moves the right side panel assembly 600, it can confirm by taking photos whether the current right side panel assembly 600 matches the current vehicle model to be assembled. If so, the second pre-installation robot 5 installs the right side panel assembly 600 in the first assembling station 200 to the lower body assembly 400 and pre-positions it. If not, an alarm is issued and a reminder is given to replace the right side panel assembly 600 that matches the vehicle model.

[0125] The first buckle-fitting robot 6 is used to fit the buckles between the lower body assembly 400 and the left side surround assembly 500 , and the second buckle-fitting robot 7 is used to fit the buckles between the lower body assembly 400 and the right side surround assembly 600 .

[0126] The AGV trolley transports the first storage rack 11 loaded with the front cross beam and the rear cross beam of the top cover to the corresponding area of ​​the first assembly station 200. Before transporting the front cross beam or the rear cross beam of the top cover, the gluing robot 8 can confirm by taking photos whether the current front cross beam or the rear cross beam of the top cover matches the current vehicle model to be assembled. If they match, the gluing robot 8 is used to grab the front cross beam or the rear cross beam of the top cover from the first storage rack 11 and transport it to the first gluing system 9 for gluing, and place the glued front cross beam or the rear cross beam of the top cover on the centering platform 10. If they do not match, an alarm is issued, and a reminder is given to replace the front cross beam or the rear cross beam of the top cover that matches the vehicle model.

[0127] The third pre-installation robot 12 is used to install the front crossbeam of the top cover or the rear crossbeam of the top cover on the centering platform 10 between the left side enclosure assembly 500 and the right side enclosure assembly 600, and is also used to knock together the clips between the front crossbeam of the top cover and the left side enclosure assembly 500 and the right side enclosure assembly 600, as well as the clips between the rear crossbeam of the top cover and the left side enclosure assembly 500 and the right side enclosure assembly 600.

[0128] The AGV cart transports the second storage rack 15 loaded with the tail end plate to the corresponding area of ​​the first assembling station 200. Before transporting the tail end plate, the fourth pre-installation robot 13 can confirm whether the current tail end plate matches the current vehicle model to be assembled by taking a photo. If it matches, the fourth pre-installation robot 13 is used to grab the tail end plate from the second storage rack 15 and transport it to the second gluing system 14 for gluing, and install the glued tail end plate to the lower body assembly 400 and pre-position it. If it does not match, an alarm is issued and a reminder is given to replace the tail end plate that matches the vehicle model.

[0129] Then, the first welding robot 16 is used to weld the left side of the tail end plate to the lower vehicle body assembly 400 , and the second welding robot 17 is used to weld the right side of the tail end plate to the lower vehicle body assembly 400 .

[0130] When the left and right side panel assemblies 600 , the top front and rear cross beams and the rear end plate are pre-assembled in the first assembling station 200 , the assembly work moves from the first assembling station 200 to the second assembling station 300 along the first conveyor line 1 .

[0131] The third stocking rack 20 loaded with the front bulkhead lower mounting plate is transported to the corresponding area of ​​the second assembly station 300 by the AGV trolley. Before the fifth pre-installation robot 18 carries the front bulkhead lower mounting plate, it can confirm by taking photos whether the current front bulkhead lower mounting plate matches the current vehicle model to be assembled. If it matches, the fifth pre-installation robot 18 is used to grab the front bulkhead lower mounting plate from the third stocking rack 20 and carry it to the third gluing system 19 for gluing, and then install the glued front bulkhead lower mounting plate to the lower vehicle body assembly 400. If it does not match, an alarm is issued, and a reminder is given to replace the front bulkhead lower mounting plate that matches the vehicle model.

[0132] The fourth storage rack 22 loaded with the coat board is transported to the corresponding area of ​​the second assembly station 300 by the AGV trolley. Before the sixth pre-installation robot 21 moves the coat board, it can confirm whether the current coat board matches the current vehicle model to be assembled by taking a photo. If it matches, the sixth pre-installation robot 21 is used to grab the coat board from the fourth storage rack 22 and move it to the fourth gluing system for gluing, and install the glued coat board between the left side assembly 500 and the right side assembly 600, and knock the buckles between the coat board and the left side assembly 500 and the right side assembly 600. If it does not match, an alarm is issued, and a reminder is given to replace the coat board that matches the vehicle model.

[0133] The above is the overall process of BIW assembly. After the BIW assembly is completed, the BIW leaves the second assembly station 300 and enters the next station.

[0134] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0135] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0136] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

[0137] Although the embodiments of the present application have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A body-in-white assembly system, characterized in that: include: The first conveyor line; An assembling tool, the assembling tool is used for fixing and installing the lower vehicle body assembly, the assembling tool is movably arranged on the first conveying line, and the assembling tool is suitable for moving along the first conveying line to the first assembling station; A side panel assembly conveying system, the side panel assembly conveying system comprising a first sub-conveying system and a second sub-conveying system, the first sub-conveying system being used to convey the left side panel assembly to the first assembling station, and the second sub-conveying system being used to convey the right side panel assembly to the first assembling station; A first pre-installation robot and a second pre-installation robot, wherein the first pre-installation robot and the second pre-installation robot are both arranged at the first assembling station and located on both sides of the assembly tooling, the first pre-installation robot is used for installing the left side enclosure assembly in the first assembling station to the lower body assembly and pre-positioning it, and the second pre-installation robot is used for pre-positioning and installing the right side enclosure assembly in the first assembling station to the lower body assembly and pre-positioning it.

2. The body-in-white assembly system according to claim 1, characterized in that: The first sub-conveying system includes a second conveying line and a plurality of first roller beds, wherein the first roller beds are used to fix the left side enclosure assembly, each of the first roller beds is movably arranged on the second conveying line, and the plurality of first roller beds are suitable for conveying the left side enclosure assembly to the first assembling station along the second conveying line; The second sub-conveying system includes a third conveying line and a plurality of second rollers, the second rollers being used for fixing the right side enclosure assembly, each of the second rollers being movably arranged on the third conveying line, and the plurality of second rollers being suitable for conveying the right side enclosure assembly to the first assembling station along the third conveying line.

3. The body-in-white assembly system according to claim 2, characterized in that: The side panel assembly conveying system further includes: a first grasping robot, a second grasping robot, a first material storage area and a second material storage area. The first material storage area is used to store the left side panel assembly, and the plurality of first roller beds are suitable for cyclically moving between the first assembling station and the first material storage area along the second conveying line, and the first grasping robot is used to grasp the left side panel assembly from the first material storage area and place it on the corresponding first roller bed; The second storage area is used to store the right side enclosure assembly, and the second roller beds are suitable for circulating along the third conveyor line between the first assembling station and the second storage area, and the second grasping robot is used to grasp the right side enclosure assembly from the second storage area and place it on the corresponding second roller bed.

4. The body-in-white assembly system according to claim 1, characterized in that: The body-in-white assembly system also includes: a first buckle tapping robot and a second buckle tapping robot, the first buckle tapping robot and the second buckle tapping robot are both arranged at the first assembly station and located on the left and right sides of the assembly platform tooling, the first buckle tapping robot is used to tap the buckles between the lower body assembly and the left side enclosure assembly, and the second buckle tapping robot is used to tap the buckles between the lower body assembly and the right side enclosure assembly.

5. The body-in-white assembly system according to any one of claims 1 to 4, characterized in that: The body-in-white assembly system further includes: a gluing robot, a first gluing system, a centering platform, and a plurality of first material storage racks, wherein the gluing robot, the first gluing system, the centering platform, and the plurality of first material storage racks are all arranged at the first assembly station, and each of the first material storage racks is used to store a front crossbeam and a rear crossbeam of a roof; The gluing robot is used to grab the front crossbeam of the top cover or the rear crossbeam of the top cover from the first material storage rack and transport it to the first gluing system for gluing, and place the glued front crossbeam of the top cover or the rear crossbeam of the top cover on the centering platform.

6. The body-in-white assembly system according to claim 5, characterized in that: The body-in-white assembly system also includes: a third pre-installation robot, which is arranged at the first assembly station, and is used for installing the front cross beam of the top cover or the rear cross beam of the top cover on the centering platform between the left side panel assembly and the right side panel assembly, and is also used for tapping the clips between the front cross beam of the top cover and the left side panel assembly and the right side panel assembly, and the clips between the rear cross beam of the top cover and the left side panel assembly and the right side panel assembly.

7. The body-in-white assembly system according to claim 6, characterized in that: The body-in-white assembly system further includes: a fourth pre-assembly robot, a second gluing system and a plurality of second material storage racks, wherein the fourth pre-assembly robot, the second gluing system and the plurality of second material storage racks are all arranged at the first assembly station, and each of the second material storage racks is used to store the tail end plate; The fourth pre-installation robot is used to grab the tail end plate from the second material storage rack and transport it to the second gluing system for gluing, and then install the glued tail end plate to the lower body assembly and pre-position it.

8. The body-in-white assembly system according to claim 7, characterized in that: The body-in-white assembly system also includes: a first welding robot and a second welding robot, the first welding robot and the second welding robot are both arranged at the first assembly station and located on both sides of the assembly tooling, the first welding robot is used to weld the left side of the tail end plate to the lower body assembly, and the second welding robot is used to weld the right side of the tail end plate to the lower body assembly.

9. The body-in-white assembly system according to claim 8, characterized in that: The assembly tool is also suitable for moving from the first assembly station to the second assembly station along the first conveyor line, and the body-in-white assembly system further includes: a fifth pre-assembly robot, a third gluing system and a plurality of third material storage racks, the fifth pre-assembly robot, the third gluing system and the plurality of third material storage racks are all arranged at the second assembly station, and each of the third material storage racks is used to store the lower mounting plate of the front bulkhead; The fifth pre-installation robot is used to grab the front bulkhead lower mounting plate from the third material storage rack and transport it to the third gluing system for gluing, and then install the glued front bulkhead lower mounting plate to the lower vehicle body assembly.

10. The body-in-white assembly system according to claim 9, characterized in that: The body-in-white assembly system further comprises: a sixth pre-assembly robot, a fourth gluing system and a plurality of fourth material storage racks, wherein the sixth pre-assembly robot, the fourth gluing system and the plurality of fourth material storage racks are all arranged at the second assembly station, and each of the fourth material storage racks is used for storing coat boards; The sixth pre-installation robot is used to grab the clothes board from the fourth storage rack and transport it to the fourth gluing system for gluing, and install the glued clothes board between the left side waist assembly and the right side waist assembly, and knock the buckles between the clothes board and the left side waist assembly and the right side waist assembly.

11. The body-in-white assembly system according to claim 10, characterized in that: The body-in-white assembly system also includes: a visual system, which is arranged at the second assembly station, the visual system is communicatively connected with the sixth pre-assembly robot, and the visual system is used to control the motion trajectory of the sixth pre-assembly robot to install the coat board according to the shape of the coat board.

12. The body-in-white assembly system according to claim 11, characterized in that: The body-in-white assembly system further includes: a gluing controller, which is communicatively connected with the first gluing system, the second gluing system, the third gluing system and the fourth gluing system, and is used to control the first gluing system, the second gluing system, the third gluing system and the fourth gluing system to perform gluing.

13. The body-in-white assembly system according to claim 2, characterized in that: The first roller bed is also used to fix the gripper of the first pre-installed robot; The second roller bed is also used to fix the gripper of the second pre-installed robot.

Images