Flexible production line with truss robot and two stations for same operation
By employing a gantry robot in the assembly line, a flexible production line with two workstations for the same operation is established. This solves the problems of low production efficiency and difficulty in process adjustment in existing assembly lines, enabling the conversion of workpieces between any units and the efficient delivery of large parts, thereby improving the flexibility and efficiency of the production line.
Patent Information
- Application Number
- CN202610052670.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-15
- Publication Date
- 2026-02-24
AI Technical Summary
Existing assembly lines suffer from problems such as low production efficiency, difficulty in subsequent process adjustments, difficulty in mixing different types of workpieces at the same time, inability to reverse the flow of workpieces, limited equipment layout, and difficulties in delivering large parts due to the unidirectional operation of assembly pallets.
A flexible production line with two workstations for the same operation using gantry robots is adopted. By arranging assembly units in parallel, the parallel and serial operation of assembly pallets is realized. End face buffer positions and aerial conveying systems are designed. Gantry robots are used to realize the transfer of workpieces between assembly units. Unmanned vehicle walking areas are set up to ensure personnel safety.
It enables the conversion of workpieces between any two units, improves production efficiency, facilitates the mixing of different types of workpieces and the distribution of large parts, simplifies subsequent process adjustments, saves factory space, and avoids the disadvantages of unidirectional operation of assembly pallets, thus possessing both advantages.
Smart Images
Figure CN121552083A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of assembly line technology, specifically a flexible production line with a gantry robot having two workstations for the same operation. Background Technology
[0002] Currently, the assembly units of the final products such as engineering machinery, special vehicles, agricultural machinery, railway vehicles, power equipment, sanitation equipment, engines, machine tools, energy storage equipment, and new energy equipment are arranged in series according to the process flow. The assembly pallets can only run in one direction, making it difficult to mix and assemble different types of workpieces at the same time. When any unit has a problem and fails to complete the corresponding work within the specified time, the entire production line will be blocked. Subsequent process adjustments require moving equipment, which becomes particularly difficult, especially moving large equipment with foundations. Moreover, when a quality problem is found in the previous unit, it is difficult to reverse the flow of workpieces. Strictly speaking, series production lines are all forced to operate at a fixed pace. Because workpieces cannot be reversed, some expensive instruments and equipment that could be shared and only require one set must be arranged in multiple sets according to the process flow. Furthermore, existing assembly lines rely on ground transportation, which not only affects the arrangement of line-side equipment but also makes it impossible to set up end-face buffer positions. Coupled with the width limitations of the factory, it makes the delivery of large parts particularly difficult. Its main disadvantages are: low production efficiency, difficulty in subsequent process adjustments, and difficulty in mixing and assembling different types of workpieces at the same time. Currently, although a very small number of leading companies have adopted parallel arrangement structures for their assembly lines, each assembly unit has only one workstation, and these are all implemented through AGV intelligent vehicles. Although this structure is also a flexible parallel arrangement, it has fatal flaws in specific application scenarios: if the conversion time between assembly units is too long, the production efficiency of the operators will be low. Summary of the Invention
[0003] In view of the problems existing in the prior art, the purpose of the present invention is to provide a flexible production line with a gantry robot having two workstations in the same operation, so as to solve the problems mentioned in the background art.
[0004] To achieve the above objectives, the present invention provides the following technical solution: A workshop 2 for manufacturing workpiece 1 includes a main trolley travel area 2A, a side longitudinal track 21, and a flexible assembly line 3. The flexible assembly line 3 includes an assembly unit 3A, an assembly pallet 3B, and a gantry robot 4. The side longitudinal track 21 is arranged along the length of the workshop 2. The workpiece 1 assembled on the assembly pallet 3B includes component 1A. The assembly pallet 3B includes a pallet gripper interface 3B1. The assembly unit 3A includes two workstations 5. While one workstation 5 is assembling workpiece 1, the other workstation 5 performs the conversion between the already assembled workpiece 1 and the workpiece 1 to be assembled. The workstation 5 includes a ground support 5A for placing the assembly pallet 3B. The assembly unit 3A includes a robot assembly unit 3A1 and / or a manual assembly unit 3A2. The robot assembly unit 3A1 includes a self-assembly unit 3A1 and / or a manual assembly unit 3A2. The automatic workstation 51 and the manual assembly unit 3A2 include a manual workstation 52. Both the automatic workstation 51 and the manual workstation 52 can grip parts 1A to assemble workpiece 1. The gantry robot 4 includes a gripper 4A, a trolley 4B, a main trolley 4C, and a lifting device 4D. The gripper 4A is installed at the bottom of the lifting device 4D, and the lifting device 4D is installed on the main trolley 4C. The main trolley 4C can move laterally on the trolley 4B, and the trolley 4B can move longitudinally on the side longitudinal track 21. The gripper 4A includes a pallet gripper 4A1. The gantry robot 4 can grip the pallet gripper interface 3B1 through the pallet gripper 4A1 to realize the assembly pallet 3B carrying workpiece 1 for operation. The gantry robot 4 can realize the transportation of the assembly pallet 3B between the various assembly units 3A through the operation of the main trolley 4C in the main trolley travel area 2A without workstation 5.
[0005] As a further aspect of the present invention: the flexible assembly production line 3 includes several assembly units 3A arranged in parallel on one or both sides of the main trolley travel area 2A. The flexible assembly production line 3 and the main trolley travel area 2A have the same length direction, both being longitudinal. The main trolley 4C can realize the conversion of the assembly pallet 3B between various workstations 5 by running only within the main trolley travel area 2A.
[0006] As a further aspect of the present invention, the plurality of workstations 5 are connected longitudinally in space.
[0007] As a further aspect of the present invention: the pallet gripper interface 3B1 includes a pallet hole 3B1A; the pallet gripper 4A1 includes a pin 4A1A, and the gantry robot 4 can insert the pin 4A1A into the pallet hole 3B1A to grasp different assembly pallets 3B with equal width but different lengths; the lifting device 4D includes a multi-column multi-stage lifting device 4D1.
[0008] As a further aspect of the present invention: the flexible assembly production line 3 includes an end face buffer position 3C located between two adjacent workstations 5, and the end face buffer position 3C includes a delivery pallet 3D that buffers the parts 1A and can be gripped by the pallet gripper 4A1.
[0009] As a further aspect of the present invention: the flexible assembly production line 3 includes a longitudinal crane 3X for conveying parts 1A. The longitudinal crane 3X can convey parts 1A on the delivery pallet 3D to a set position or directly assemble them.
[0010] As a further aspect of the present invention: the flexible assembly production line 3 includes a material frame 3E for placing parts 1A, and the material frame 3E includes a material frame gripper interface 3E1; the gantry robot 4 includes a delivery trolley 7 that can also move laterally on the trolley 4B, the delivery trolley 7 includes a double-column three-stage lifting device 7A and a trolley gripper 7B, and the gantry robot 4 can transport parts 1A by gripping the material frame 3E through the trolley gripper 7B.
[0011] As a further aspect of the present invention: the material frame gripper interface 3E1 includes an inverted U-shaped bar 3E1A with the opening facing downwards, the trolley gripper 7B includes a Z-shaped claw 4A2A, and the gantry robot 4 can grasp the inverted U-shaped bar 3E1A through the Z-shaped claw 4A2A.
[0012] As a further aspect of the present invention: the main trolley traveling area 2A includes a safety steel platform 2A2, the lower part of the safety steel platform 2A2 includes a pedestrian logistics channel 2A2A and a side buffer area 2A2C, and the upper part of the safety steel platform 2A2 includes an aerial buffer area 2A2D of the material frame 3E.
[0013] As a further aspect of the present invention: the manual operation station 52 includes a jib crane 52A; the safety steel platform 2A2 includes a material frame opening 2A2E and a safety cover 2A2F. When the safety cover 2A2F is opened, the material frame 3E can be placed below the material frame opening 2A2E through the material frame opening 2A2E; the operator can move the material frame 3E to other positions within the manual assembly unit 3A2 using the jib crane 52A, or directly grab the parts 1A within the material frame 3E for assembly using the jib crane 52A.
[0014] As a further aspect of the present invention: the flexible assembly production line 3 includes an aerial RGV vehicle 8 located above the safety steel platform 2A2. The aerial RGV vehicle 8 includes a vehicle body 8A, a winch 8B, and RGV vehicle grippers 8C. The RGV vehicle grippers 8C can be raised and lowered by the winch 8B installed on the vehicle body 8A. The aerial RGV vehicle 8 can use the RGV vehicle grippers 8C to grab the material frame 3E to transport the parts 1A.
[0015] As a further aspect of the present invention: the ground support 5A includes a ground rotation device 5A1, which enables the rotation of the assembly pallet 3B; the gantry robot 4 includes an aerial rotation device 4E, the gripper 4A is mounted on the aerial rotation device 4E, the aerial rotation device 4E is mounted on the lifting device 4D, and the workpiece 1 can be rotated in the air through the aerial rotation device 4E.
[0016] As a further aspect of the present invention: the flexible assembly production line 3 includes a single-row production line 31 and a double-row production line 32; the gantry robot 4 includes an upper gantry robot 42 with a conveying frame 3E; the robot assembly unit 3A1 includes a general-purpose robot 6, the base of which can be installed in the main trolley travel area 2A, and the general-purpose robot 6 includes a ground rail 6A, through which the general-purpose robot 6 can switch between two workstations 5 in the same assembly unit 3A.
[0017] As a further aspect of the present invention: the factory building 2 includes an intermediate longitudinal track 22 parallel to the side longitudinal track 21, and the corner of the work station 5 includes an intermediate column 5Z for mounting the intermediate longitudinal track 22. The intermediate column 5Z can be used to mount a jib crane 52A. The trolley 4B includes a trolley body 4B1, side traveling wheels 4B2, intermediate frame 4B3, and intermediate traveling wheels 4B4. The side traveling wheels 4B2 and intermediate frame 4B3 are mounted on the trolley body 4B1, and the intermediate traveling wheels 4B4 are mounted on the intermediate frame 4B3. The trolley 4B achieves longitudinal movement through the movement of the side traveling wheels 4B2 on the side longitudinal track 21 and the movement of the intermediate traveling wheels 4B4 on the intermediate longitudinal track 22.
[0018] In summary, compared with existing technologies, this invention arranges each work unit in parallel on one side, both sides, or around the trolley travel area. The assembly pallets can operate in parallel or in series, making it a truly flexible production line. It not only enables reverse flow but also allows for the transfer of workpieces between any two units. Subsequent process adjustments do not require changing or adjusting the positional relationship between the work units, making it particularly suitable for subsequent process adjustments. The transfer of workpieces between assembly units is achieved through an aerial gantry robot, without occupying ground space or affecting the layout of line-side equipment. This invention also designs and arranges an unmanned trolley travel area to ensure personnel safety. Automated equipment such as six-axis robots can be placed in the trolley travel area, saving factory space. Alternatively, a steel platform can be provided in the trolley travel area, allowing for personnel movement and equipment placement at manual workstations. This invention also designs end-face buffer positions (3C) and delivery pallets (3D), making the delivery of large parts particularly easy. It not only avoids the disadvantages of unidirectional operation of assembly pallets but also retains their advantages. This invention also creatively sets up two workstations in an assembly unit, and the two workstations can share the same set of work equipment. When the work equipment or workers in the same assembly unit are working in one workstation, the other workstation can be used for workpiece conversion. Its main advantages are: high production efficiency, easier to realize mixed assembly of different types of workpieces, delivery of large parts and subsequent process adjustment. Attached Figure Description
[0019] Figure 1 is a structural schematic diagram of the side longitudinal track 21, the middle longitudinal track 22, the flexible assembly production line 3, and the gantry robot 4 within the workshop 2 where workpiece 1 is manufactured. It is also a structural schematic diagram of the assembly pallet 3B and end-face buffer position 3C that make up the flexible assembly production line 3, and a structural schematic diagram of the delivery pallet 3D that makes up the end-face buffer position 3C. The trolley 4B includes a trolley body 4B1, side wheels 4B2, an intermediate frame 4B3 and an intermediate wheel 4B4, the middle longitudinal track 22, the ground track 6A, and the intermediate column 5Z. Figure 2 is a structural schematic diagram of the main trolley traveling area 2A, and also a structural schematic diagram of the gripper 4A, the large trolley 4B, the main trolley 4C and the lifting device 4D that make up the gantry robot 4. It is also a structural schematic diagram of the multi-column multi-stage lifting device 4D1 that makes up the lifting device 4D, and a structural schematic diagram of the four-column three-stage lifting device 4D1A that makes up the multi-column multi-stage lifting device 4D1. Figure 3 is the AA view of Figure 1, and is also a structural schematic diagram of the assembly unit 3A that makes up the flexible assembly production line 3, the robot assembly unit 3A1, the general robot 6, the engineering machinery 1B that makes up the workpiece 1, the excavator 1B1 that makes up the engineering machinery 1B, the pallet gripper interface 3B1 that makes up the assembly pallet 3B, the pallet hole 3B1A that makes up the pallet gripper interface 3B1, the trolley body 4B1, the side travel wheel 4B2, the intermediate frame 4B3 and the intermediate travel wheel 4B4 that make up the trolley 4B, the intermediate longitudinal track 22 in the workshop 2, and the corner intermediate column 5Z located at the work station 5. Figure 4 is a BB view of Figure 1, and is also a structural schematic diagram of the robot assembly unit 3A1 and the manual assembly unit 3A2 that make up the assembly unit 3A, as well as a structural schematic diagram of the underframe 1B1A that makes up the excavator 1B1. Figure 5 is a CC view of Figure 1, and is also a structural schematic diagram of the longitudinal crane 3X that makes up the flexible assembly production line 3, a structural schematic diagram of the manual work station 52 that makes up the manual assembly unit 3A2, a structural schematic diagram of the jib crane 52A that makes up the manual work station 52, a structural schematic diagram of the special vehicle 1C that makes up the workpiece 1, a structural schematic diagram of the fire truck 1C1 that makes up the special vehicle 1C, a structural schematic diagram of the pedestrian logistics channel 2A2A and the side buffer area 2A2C that make up the safety steel platform 2A2, a structural schematic diagram of the aerial buffer area 2A2D that makes up the safety steel platform 2A2, and a structural schematic diagram of the material frame opening 2A2E and the safety cover 2A2F that make up the safety steel platform 2A2. Figure 6 is a schematic diagram of the automatic workstation 51 that makes up the robot assembly unit 3A1, a schematic diagram of the pallet gripper 4A1 that makes up the gripper 4A, and a schematic diagram of the pin 4A1A that makes up the pallet gripper 4A1. Figure 7 is a view from direction K in Figure 6; Figure 8 is a 3D structural schematic diagram of the gantry robot 4 grasping and delivering a pallet; Figure 9 is a schematic diagram of the structure of the ground support 5A that makes up the work station 5, and also a schematic diagram of the structure of the aerial rotating device 4E that makes up the gantry robot 4. Figure 10 is a schematic diagram of the structure of the double-row production line 32 that makes up the flexible assembly production line 3; Figure 11 is a structural schematic diagram of the single-row production line 31 that makes up the flexible assembly production line 3, a structural schematic diagram of the ground rotation device 5A1 that makes up the ground support 5A, a structural schematic diagram of the delivery trolley 7 that makes up the gantry robot 4, and a structural schematic diagram of the double-column three-stage lifting device 7A and the trolley gripper 7B that make up the delivery trolley 7. Figure 12 is a schematic diagram of the structure of the aerial RGV vehicle 8 that makes up the flexible assembly production line 3, and also a schematic diagram of the structure of the vehicle body 8A, winch 8B and RGV vehicle gripper 8C that make up the aerial RGV vehicle 8, a schematic diagram of the structure of the component 1A that makes up the workpiece 1, a schematic diagram of the structure of the material frame 3E that makes up the flexible assembly production line 3, a schematic diagram of the structure of the material frame gripper interface 3E1 that makes up the material frame 3E, and a schematic diagram of the structure of the inverted U-shaped rod 3E1A that makes up the frame gripper interface 3E1. Figure 13 is a structural schematic diagram of the upper gantry robot 42 that makes up the gantry robot 4.
[0020] Workpiece 1, Component 1A, Construction Machinery 1B, Excavator 1B1, Underframe 1B1A, Special Vehicle 1C, Fire Truck 1C1, Plant 2, Main Trolley Traveling Area 2A, Safety Steel Platform 2A2, Pedestrian and Logistics Channel 2A2A, Side Buffer Area 2A2C, Aerial Buffer Area 2A2D, Material Frame Opening 2A2E, Safety Cover 2A2F, Channel Steel Platform 2A1, Side Longitudinal Rail 21, Middle Longitudinal Rail 22, Flexible Assembly Production Line 3, Assembly Unit 3A, Robot Assembly Unit 3A1, Manual Assembly Unit 3A2, Assembly Pallet 3B, Pallet Gripper Interface 3B1, End Face Buffer Position 3C, Delivery Pallet 3D, Material Frame 3E, Material Frame Gripper Interface 3E1, Inverted U-Shaped Rod 3E1A, Longitudinal Crane 3X, Single Row Production Line 31, Double Row Production Line 3 2. Gantry robot 4. Gripper 4A, Pallet gripper 4A1, Pin 4A1A, Trolley gripper 7B, Z-shaped gripper 4A2A, Trolley 4B, Trolley body 4B1, Side traveling wheel 4B2, Intermediate frame 4B3, Intermediate traveling wheel 4B4, Main trolley 4C, Lifting device 4D, Multi-column multi-stage lifting device 4D1, Four-column three-stage lifting device 4D1A, Aerial slewing device 4E, Upper gantry robot 42, Work station 5. Ground support 5A, Ground slewing device 5A1, Intermediate column 5Z, Automatic work station 51, Manual work station 52, Jib crane 52A, General-purpose robot 6. Ground rail 6A, Delivery trolley 7. Double-column three-stage lifting device 7A, Trolley gripper 7B, Aerial RGV vehicle 8. Vehicle body 8A, Winch 8B, RGV vehicle gripper 8C. Detailed Implementation
[0021] The technical solutions of the embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.
[0022] Please refer to Figures 1-13. In this embodiment of the invention, the workshop 2 for manufacturing workpiece 1 includes a main trolley travel area 2A, a side longitudinal track 21, and a flexible assembly production line 3. The flexible assembly production line 3 includes an assembly unit 3A, an assembly pallet 3B, and a gantry robot 4. The side longitudinal track 21 is arranged along the length of the workshop 2. The workpiece 1 assembled on the assembly pallet 3B includes component 1A. The assembly pallet 3B includes a pallet gripper interface 3B1. Assembly unit 3A includes two workstations 5. While one workstation 5 is assembling workpiece 1, the other workstation 5 is converting the already assembled workpiece 1 to the workpiece 1 to be assembled. Workstation 5 includes a ground support 5A for placing assembly tray 3B. Assembly unit 3A includes robot assembly unit 3A1 and / or manual assembly unit 3A2. Robot assembly unit 3A1 includes automatic workstation 51, and manual assembly unit 3A2 includes manual workstation 52. Both automatic workstation 51 and manual workstation 52 can grasp parts 1A to assemble workpiece 1. The gantry robot 4 includes a gripper 4A, a large trolley 4B, a main trolley 4C, and a lifting device 4D. The gripper 4A is installed at the bottom of the lifting device 4D, and the lifting device 4D is installed on the main trolley 4C. The main trolley 4C can move laterally on the large trolley 4B, and the large trolley 4B can move longitudinally on the side longitudinal track 21. The gripper 4A includes a pallet gripper 4A1. The gantry robot 4 can grasp the pallet gripper interface 3B1 through the pallet gripper 4A1, so that the assembly pallet 3B can carry the workpiece 1 for operation. The gantry robot 4 can realize the transportation of the assembly pallet 3B between each assembly unit 3A by running the main carriage 4C in the main carriage travel area 2A of the no-work station 5.
[0023] It should be noted that workstation 5 may also be without the ground support 5A, and the assembly pallet 3B may be placed directly on the ground.
[0024] It should also be noted that the flexible assembly production line 3 may also include other units for operations such as testing.
[0025] It should also be noted that the 3B assembly pallet can be made of various types of pallets, and different pallets can be changed as needed during the operation.
[0026] It should also be noted that the workpiece 1 can be a component or complete machine that makes up the final products such as engineering machinery 1B, special vehicle 1C, agricultural machinery, railway vehicles, power equipment, sanitation equipment, engine, machine tool, energy storage equipment, and new energy equipment; engineering machinery 1B can be an excavator 1B1, which includes a lower frame 1B1A; and special vehicle 1C can be a fire truck 1C1.
[0027] The flexible assembly production line 3 includes several assembly units 3A arranged in parallel on one or both sides of the main trolley travel area 2A. The flexible assembly production line 3 and the main trolley travel area 2A are in the same longitudinal direction. The main trolley 4C can realize the conversion of the assembly pallet 3B between various workstations 5 by running only within the main trolley travel area 2A.
[0028] The aforementioned workstations 5 are connected longitudinally in space.
[0029] It should be noted that the assembly pallet 3B of the adjacent assembly unit 3A can also be directly converted without passing through the main trolley travel area 2A.
[0030] The pallet gripper interface 3B1 includes a pallet hole 3B1A; the pallet gripper 4A1 includes a pin 4A1A, and the gantry robot 4 can insert the pin 4A1A into the pallet hole 3B1A to grip different assembly pallets 3B with equal width but different lengths; the lifting device 4D includes a multi-column multi-stage lifting device 4D1.
[0031] It should be noted that the multi-column multi-stage lifting device 4D1 can be a four-column three-stage lifting device 4D1A.
[0032] The flexible assembly line 3 includes an end face buffer position 3C located between two adjacent workstations 5. The end face buffer position 3C includes a delivery pallet 3D that buffers components 1A and can be gripped by pallet grippers 4A1.
[0033] It should be noted that the delivery pallet 3D is the same width as the assembly pallet 3B, but the length of the delivery pallet 3D can be shorter than the length of the assembly pallet 3B.
[0034] The flexible assembly production line 3 includes a longitudinal crane 3X for conveying parts 1A. The longitudinal crane 3X can convey parts 1A on the delivery pallet 3D to a set position or directly assemble them.
[0035] It should be noted that the longitudinal crane 3X can be a KBK flexible crane.
[0036] The flexible assembly production line 3 includes a material frame 3E for placing parts 1A, and the material frame 3E includes a material frame gripper interface 3E1; the gantry robot 4 includes a delivery trolley 7 that can also move laterally on the trolley 4B, the delivery trolley 7 includes a double-column three-stage lifting device 7A and a trolley gripper 7B, and the gantry robot 4 can transport parts 1A by gripping the material frame 3E through the trolley gripper 7B.
[0037] It should be noted that the conveying of the 3E material frame can also be achieved through ground AGVs, etc.
[0038] It should also be noted that the delivery cart 7 and the main cart 4C can also be a single unit.
[0039] The material frame gripper interface 3E1 includes an inverted U-shaped bar 3E1A with the opening facing downwards, and the trolley gripper 7B includes a Z-shaped claw 4A2A. The gantry robot 4 can grasp the inverted U-shaped bar 3E1A through the Z-shaped claw 4A2A.
[0040] It should be noted that gripper 4A can also be an integrated gripper that combines pallet gripper 4A1 and trolley gripper 7B into one unit.
[0041] The main trolley traveling area 2A includes a safety steel platform 2A2, with a pedestrian and material flow channel 2A2A and a side buffer area 2A2C below the safety steel platform 2A2, and a material frame 3E above the safety steel platform 2A2. The air buffer 2A2D.
[0042] It should be noted that the main trolley travel area 2A may also be without the safety steel platform 2A2, but the open main trolley travel area 2A is unmanned under normal production conditions.
[0043] The manual work station 52 includes a jib crane 52A; the safety steel platform 2A2 includes a material frame opening 2A2E and a safety cover 2A2F. When the safety cover 2A2F is open, the material frame 3E can be placed below the material frame opening 2A2E through the material frame opening 2A2E; the operator can use the jib crane 52A to move the material frame 3E to other positions within the manual assembly unit 3A2, or use the jib crane 52A to directly grab the parts 1A within the material frame 3E for assembly.
[0044] The flexible assembly production line 3 includes an aerial RGV vehicle 8 located above the safety steel platform 2A2. The aerial RGV vehicle 8 includes a vehicle body 8A, a winch 8B, and RGV vehicle grippers 8C. The RGV vehicle grippers 8C can be raised and lowered by the winch 8B installed on the vehicle body 8A. The aerial RGV vehicle 8 can use the RGV vehicle grippers 8C to grab the material frame 3E to transport the parts 1A.
[0045] The ground support 5A includes a ground rotation device 5A1, which enables the rotation of the assembly pallet 3B; the gantry robot 4 includes an aerial rotation device 4E, with grippers 4A mounted on the aerial rotation device 4E, which is mounted on a lifting device 4D, enabling the workpiece 1 to rotate in the air.
[0046] The flexible assembly production line 3 includes a single-row production line 31 and a double-row production line 32; the gantry robot 4 includes an upper gantry robot 42 with a conveying frame 3E; the robot assembly unit 3A1 includes a general-purpose robot 6, the base of which can be installed in the main trolley travel area 2A, and the general-purpose robot 6 includes a ground rail 6A, through which the general-purpose robot 6 can switch between two workstations 5 in the same assembly unit 3A.
[0047] It should be noted that in the double-row production line 32, the two workstations 5 in the same assembly unit 3A can be arranged vertically or horizontally.
[0048] It should also be noted that the general-purpose robot 6 can be a six-axis robot.
[0049] The factory building 2 includes a central longitudinal track 22 parallel to the side longitudinal track 21. The corner of the work station 5 includes a central column 5Z for mounting the central longitudinal track 22. The central column 5Z can mount a jib crane 52A. The trolley 4B includes a trolley body 4B1, side traveling wheels 4B2, a central frame 4B3, and a central traveling wheel 4B4. The side traveling wheels 4B2 and the central frame 4B3 are mounted on the trolley body 4B1, and the central traveling wheels 4B4 are mounted on the central frame 4B3. The trolley 4B achieves longitudinal movement by the movement of the side traveling wheels 4B2 on the side longitudinal track 21 and the movement of the central traveling wheels 4B4 on the central longitudinal track 22.
[0050] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In this invention, it should also be noted that the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integrally formed connection, a mechanical connection, or an indirect connection through an intermediate medium. The specific meaning of the terms in this invention can be understood according to the specific circumstances.
[0051] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims
1. A flexible production line with a gantry robot having two workstations in the same operation, characterized in that: The workshop (2) for manufacturing workpiece (1) includes a main trolley travel area (2A), a side longitudinal track (21), and a flexible assembly line (3). The flexible assembly line (3) includes an assembly unit (3A), an assembly pallet (3B), and a gantry robot (4). The side longitudinal track (21) is arranged along the length of the workshop (2). The workpiece (1) assembled on the assembly pallet (3B) includes parts (1A). The assembly pallet (3B) includes a pallet gripper interface (3B1). The assembly unit (3A) includes two workstations (5). When one workstation (5) is performing the assembly operation of workpiece (1), the other workstation (5) performs the conversion between the completed workpiece (1) and the workpiece (1) to be assembled. The workstation (5) includes a ground support (5A) for placing the assembly pallet (3B). The assembly unit (3A) includes a robot assembly unit (3A1) and / or a manual assembly unit (3A2). The robot assembly unit (3A1) includes an automatic workstation (51) and a manual assembly unit (52). The assembly unit (3A2) includes a manual workstation (52), an automatic workstation (51), and a manual workstation (52), all of which can grip parts (1A) to assemble workpieces (1); the gantry robot (4) includes a gripper (4A), a trolley (4B), a main trolley (4C), and a lifting device (4D). The gripper (4A) is installed at the bottom of the lifting device (4D), and the lifting device (4D) is installed on the main trolley (4C). The main trolley (4C) can move laterally on the trolley (4B). The trolley (4B) can move longitudinally on the side longitudinal track (21); the gripper (4A) includes a pallet gripper (4A1), and the gantry robot (4) can grab the pallet gripper interface (3B1) through the pallet gripper (4A1) to realize the assembly pallet (3B) carrying the workpiece (1) for operation; the gantry robot (4) can realize the transportation of the assembly pallet (3B) between each assembly unit (3A) by the operation of the main trolley (4C) in the main trolley travel area (2A) of the no-work station (5).
2. A flexible production line with two workstations for the same operation of a gantry robot as described in claim 1, characterized in that: The flexible assembly production line (3) includes several assembly units (3A) arranged in parallel on one or both sides of the main trolley travel area (2A). The length direction of the flexible assembly production line (3) and the main trolley travel area (2A) is the same, both being longitudinal. The main trolley (4C) can realize the conversion of the assembly pallet (3B) between each work station (5) by running only within the main trolley travel area (2A).
3. A flexible production line with two workstations for the same operation of a gantry robot as described in claim 1, characterized in that: The aforementioned workstations (5) are connected longitudinally in space.
4. A flexible production line with two workstations for the same operation of a gantry robot, as described in claim 2 or 3, characterized in that: The pallet gripper interface (3B1) includes a pallet hole (3B1A); the pallet gripper (4A1) includes a pin (4A1A), and the gantry robot (4) can insert the pin (4A1A) into the pallet hole (3B1A) to grip different assembly pallets (3B) with equal width but different lengths; the lifting device (4D) includes a multi-column multi-stage lifting device (4D1).
5. A flexible production line with two workstations for the same operation of a gantry robot as described in claim 4, characterized in that: The flexible assembly line (3) includes an end face buffer position (3C) located between two adjacent workstations (5), and the end face buffer position (3C) includes a delivery pallet (3D) that buffers components (1A) and can be gripped by pallet grippers (4A1).
6. A flexible production line with two workstations for the same operation of a gantry robot as described in claim 5, characterized in that: The flexible assembly line (3) includes a longitudinal crane (3X) for conveying parts (1A), which can convey parts (1A) on the delivery pallet (3D) to a set position or directly assemble them.
7. A flexible production line with two workstations for the same operation of a gantry robot according to claim 4, characterized in that: The flexible assembly production line (3) includes a material frame (3E) for placing parts (1A), and the material frame (3E) includes a material frame gripper interface (3E1); the gantry robot (4) includes a delivery trolley (7) that can also move laterally on a large trolley (4B), and the delivery trolley (7) includes a double-column three-stage lifting device (7A) and a trolley gripper (7B). The gantry robot (4) can use the trolley gripper (7B) to grab the material frame (3E) to transport the parts (1A).
8. A flexible production line with two workstations for the same operation of a gantry robot as described in claim 7, characterized in that: The material frame gripper interface (3E1) includes an inverted U-shaped bar (3E1A) with the opening facing downwards, and the trolley gripper (7B) includes a Z-shaped claw (4A2A). The gantry robot (4) can grasp the inverted U-shaped bar (3E1A) through the Z-shaped claw (4A2A).
9. A flexible production line with two workstations for the same operation of a gantry robot as described in claim 8, characterized in that: The main trolley traveling area (2A) includes a safety steel platform (2A2), a pedestrian logistics channel (2A2A) and a side buffer area (2A2C) below the safety steel platform (2A2), and an aerial buffer area (2A2D) of the material frame (3E) above the safety steel platform (2A2).
10. A flexible production line with two workstations for the same operation of a gantry robot according to claim 9, characterized in that: The manual work station (52) includes a jib crane (52A); the safety steel platform (2A2) includes a material frame opening (2A2E) and a safety cover (2A2F). When the safety cover (2A2F) is opened, the material frame (3E) can be placed below the material frame opening (2A2E) through the material frame opening (2A2E); the operator can move the material frame (3E) to other positions in the manual assembly unit (3A2) through the jib crane (52A), or directly grab the parts (1A) in the material frame (3E) through the jib crane (52A) for assembly.
11. A flexible production line with two workstations for the same operation of a gantry robot, as described in claim 6 or 10, characterized in that: The flexible assembly production line (3) includes an aerial RGV vehicle (8) located above a safety steel platform (2A2). The aerial RGV vehicle (8) includes a vehicle body (8A), a winch (8B), and RGV vehicle grippers (8C). The RGV vehicle grippers (8C) can be lifted and lowered by the winch (8B) installed on the vehicle body (8A). The aerial RGV vehicle (8) can pick up the material frame (3E) and transport the parts (1A) by using the RGV vehicle grippers (8C).
12. A flexible production line with two workstations for the same operation of a gantry robot as described in claim 11, characterized in that: The ground support (5A) includes a ground rotation device (5A1), which enables the rotation of the assembly pallet (3B); the gantry robot (4) includes an aerial rotation device (4E), the gripper (4A) is mounted on the aerial rotation device (4E), the aerial rotation device (4E) is mounted on the lifting device (4D), and the workpiece (1) can be rotated in the air through the aerial rotation device (4E).
13. A flexible production line with two workstations for the same operation of a gantry robot according to claim 1, characterized in that: The flexible assembly production line (3) includes a single-row production line (31) and a double-row production line (32); the gantry robot (4) includes an upper gantry robot (42) of a conveying frame (3E); the robot assembly unit (3A1) includes a general-purpose robot (6), the base of which can be installed in the main trolley travel area (2A), and the general-purpose robot (6) includes a ground rail (6A), through which the general-purpose robot (6) can be switched between two workstations (5) in the same assembly unit (3A).
14. A flexible production line with two workstations for the same operation of a gantry robot, as described in claim 12 or 13, characterized in that: The workshop (2) includes an intermediate longitudinal track (22) parallel to the side longitudinal track (21). The corner of the work station (5) includes an intermediate column (5Z) for installing the intermediate longitudinal track (22). The intermediate column (5Z) can be equipped with a jib crane (52A). The trolley (4B) includes a trolley body (4B1), side travel wheels (4B2), intermediate frame (4B3) and intermediate travel wheels (4B4). The side travel wheels (4B2) and intermediate frame (4B3) are installed on the trolley body (4B1), and the intermediate travel wheels (4B4) are installed on the intermediate frame (4B3). The trolley (4B) achieves longitudinal movement by the side travel wheels (4B2) running on the side longitudinal track (21) and the intermediate travel wheels (4B4) running on the intermediate longitudinal track (22).