Flexible production line provided with truss robot and capable of assembling on base

Abstract

The invention discloses a flexible production line provided with a truss robot and capable of assembling on a base, which is characterized in that a workshop comprises a main trolley walking area, a longitudinal track and a flexible assembling production line, the flexible assembling production line comprises an assembling unit, an assembling tray and the truss robot, workpieces comprise parts, and the assembling tray comprises a tray clamping jaw interface; the assembling unit comprises an operation station, the operation station comprises a ground support, the assembling unit comprises a robot assembling unit and / or a manual assembling unit, the robot assembling unit comprises an automatic operation station, the manual assembling unit comprises a manual operation station, and the automatic operation station and the manual operation station can grab parts to assemble workpieces; the truss robot comprises a clamping jaw, a cart, a main trolley and a lifting device; the clamping jaw comprises a tray clamping jaw; the truss robot runs in the main trolley walking area through the main trolley, and conveying of the assembly trays among the assembly units can be achieved. The method has the main advantage of high production efficiency.

Description

Technical Field

[0001] This invention belongs to the field of assembly production line technology, specifically a flexible production line with a gantry robot capable of assembly on a base. 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] To address the problems existing in the prior art, the present invention aims to provide a flexible production line with a gantry robot capable of assembly on a base, thereby solving the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: 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 and a gantry robot 4. The side longitudinal track 21 is arranged along the length of the workshop 2. The workpiece 1 includes a component 1A and a base 1B. The base 1B includes a base gripper interface 1B1. Assembly unit 3A includes workstation 5, workstation 5 includes a ground support 5A for placing base 1B, assembly unit 3A includes robot assembly unit 3A1 and / or manual assembly unit 3A2, robot assembly unit 3A1 includes automatic workstation 51, manual assembly unit 3A2 includes manual workstation 52, both automatic workstation 51 and manual workstation 52 can grasp parts 1A to assemble workpiece 1; gantry robot 4 includes gripper 4A, trolley 4B, main trolley 4C and lifting device 4D, gripper 4A is mounted on... Installed at the bottom of the lifting device 4D, which is mounted on the main trolley 4C, the main trolley 4C can move laterally on the main trolley 4B, and the main trolley 4B can move longitudinally on the side longitudinal track 21; the gripper 4A includes a base gripper 4A1, and the gantry robot 4 can grasp the base gripper interface 1B1 through the base gripper 4A1, so that the base 1B can carry the workpiece 1 for operation; the gantry robot 4 can realize the transportation of the base 1B between each assembly unit 3A through the operation of the main trolley 4C in the main trolley travel area 2A without work station 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 base 1B 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 base gripper interface 1B1 includes a base hole 1B2 or a groove 1B3; the base gripper 4A1 includes a pin 4A1A or a claw 4A1B, and the gantry robot 4 can insert the pin 4A1A or the claw 4A1B into the base hole 1B2 or the groove 1B3 to grasp different bases 1B 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 component 1A and can be gripped by the base 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 clamping device 9, which clamps the base 1B to perform the assembly of the workpiece 1.

[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 assembly unit 3A1 includes two workstations 5, one workstation 5 performing the assembly of workpiece 1, and the other workstation 5 performing the conversion between the assembled workpiece 1 and the workpiece 1 to be assembled; 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; the general-purpose robot 6 includes a ground rail 6A, through which the conversion between the two workstations 5 in the same assembly unit 3A can be realized.

[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. The present invention also designs an assembly unit with two workstations, 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 This is a structural 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 diagram of the base 1B and end-face buffer position 3C that make up the flexible assembly production line 3, and a structural diagram of the delivery pallet 3D that makes up the end-face buffer position 3C. The trolley 4B includes the trolley body 4B1, side wheels 4B2, intermediate frame 4B3, and intermediate wheels 4B4, the middle longitudinal track 22, the ground track 6A, and the intermediate column 5Z. Figure 2 It 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 also 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 yes Figure 1 The AA view is also a structural schematic diagram of the assembly unit 3A that makes up the flexible assembly production line 3, a structural schematic diagram of the robot assembly unit 3A1 and the general robot 6, a structural schematic diagram of the engineering machinery 1D that makes up the workpiece 1, a structural schematic diagram of the excavator 1D1 that makes up the engineering machinery 1D, a structural schematic diagram of the base gripper interface 1B1 that makes up the base 1B, a structural schematic diagram of the base hole 1B2 or groove 1B3 that makes up the base gripper interface 1B1, a structural schematic diagram of the trolley body 4B1, side travel wheel 4B2, intermediate frame 4B3 and intermediate travel wheel 4B4 that make up the trolley 4B, a structural schematic diagram of the intermediate longitudinal track 22 in the workshop 2, and a structural schematic diagram of the intermediate column 5Z located at the corner of the work station 5. Figure 4 yes Figure 1 The BB view 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, and a structural schematic diagram of the underframe 1D1A that makes up the excavator 1D1. Figure 5 yes Figure 1The CC view 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 It is a structural diagram of the automatic workstation 51 that makes up the robot assembly unit 3A1, a structural diagram of the base gripper 4A1 that makes up the gripper 4A, or a structural diagram of the pin 4A1A or the gripper 4A1B that makes up the base gripper 4A1. Figure 7 yes Figure 6 K-direction view; Figure 8 This is a 3D structural diagram of a gantry robot grasping and delivering a pallet; Figure 9 This is a structural diagram of the ground support 5A that makes up the work station 5, and also a structural diagram of the aerial rotating device 4E that makes up the gantry robot 4. Figure 10 This 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 It 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 It is a structural schematic diagram of the aerial RGV vehicle 8 that makes up the flexible assembly production line 3, a structural schematic diagram of the vehicle body 8A, winch 8B and RGV vehicle gripper 8C that make up the aerial RGV vehicle 8, a structural schematic diagram of the component 1A that makes up the workpiece 1, a structural schematic diagram of the material frame 3E that makes up the flexible assembly production line 3, a structural schematic diagram of the material frame gripper interface 3E1 that makes up the material frame 3E, and a structural schematic diagram of the inverted U-shaped rod 3E1A that makes up the frame gripper interface 3E1. Figure 13 This is a structural schematic diagram of the upper gantry robot 42 that makes up the gantry robot 4; Figure 14 This is a schematic diagram of the ground clamping device 9 that makes up the ground support 5A.

[0020] Workpiece 1, Component 1A, Base 1B, Base Gripper Interface 1B1, Special Vehicle 1C, Fire Truck 1C1, Chassis 1C1A, Construction Machinery 1D, Excavator 1D1, Underframe 1D1A, Railway Bogie 1E, Frame 1E1, 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, Side Longitudinal Rail 21, Middle Longitudinal Rail 22, Flexible Assembly Production Line 3, Assembly Unit 3A, Robot Assembly Unit 3A1, Manual Assembly Unit 3A2, Base 1B, Base Gripper Interface 1B1, 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 32, gantry robot 4, gripper 4A, base gripper 4A1, pin 4A1A or gripper 4A1B, 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, workstation 5, ground support 5A, ground slewing device 5A1, intermediate column 5Z, automatic workstation 51, manual workstation 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 trolley 8, trolley body 8A, winch 8B, RGV trolley gripper 8C, ground clamping device 9 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 see 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 and a gantry robot 4. The side longitudinal track 21 is arranged along the length of the workshop 2. The workpiece 1 includes a component 1A and a base 1B. The base 1B includes a base gripper interface 1B1. Assembly unit 3A includes work station 5, work station 5 includes ground support 5A for placing base 1B, assembly unit 3A includes robot assembly unit 3A1 and / or manual assembly unit 3A2, robot assembly unit 3A1 includes automatic work station 51, manual assembly unit 3A2 includes manual work station 52, automatic work station 51 and manual work station 52 can both grab 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 base gripper 4A1. The gantry robot 4 can grasp the base gripper interface 1B1 through the base gripper 4A1, so that the base 1B can carry the workpiece 1 for operation. The gantry robot 4 can realize the transportation of the base 1B between various assembly units 3A through the operation of the main carriage 4C in the main carriage travel area 2A of the no-work station 5.

[0023] It should be noted that work station 5 may also be without ground support 5A, and base 1B 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: base 1B can have various pallets, and different pallets can be changed as needed during 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 special vehicle 1C, engineering machinery 1D, railway bogie 1E, agricultural machinery, railway vehicles, power equipment, sanitation equipment, engine, machine tool, energy storage equipment, and new energy equipment; special vehicle 1C can be fire truck 1C1, and the chassis 1C1A of fire truck 1C1 can be used as the base during assembly; engineering machinery 1D can be excavator 1D1, and the underframe 1D1A of excavator 1D1 can be used as the base during assembly; and the frame 1E1 in railway bogie 1E can be used as the base during assembly.

[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 base 1B between various work stations 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 base 1B of the adjacent assembly unit 3A can also be directly converted without passing through the main trolley travel area 2A.

[0030] The base gripper interface 1B1 includes a base hole 1B2 or a groove 1B3; the base gripper 4A1 includes a pin 4A1A or a claw 4A1B, and the gantry robot 4 can insert the pin 4A1A or the claw 4A1B into the base hole 1B2 or groove 1B3 to grasp different bases 1B 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 base gripper interface 1B1 can also be a lifting ring or an auxiliary tooling temporarily installed on the base 1B.

[0032] It should be noted that the multi-column multi-stage lifting device 4D1 can be a four-column three-stage lifting device 4D1A.

[0033] 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 the base gripper 4A1.

[0034] It should be noted that the delivery pallet 3D is the same width as the base 1B, but the length of the delivery pallet 3D can be less than the length of the base 1B.

[0035] 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.

[0036] It should be noted that the longitudinal crane 3X can be a KBK flexible crane.

[0037] 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.

[0038] It should be noted that the conveying of the 3E material frame can also be achieved through ground AGVs, etc.

[0039] It should be noted that the delivery cart 7 and the main cart 4C can also be a single unit.

[0040] 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.

[0041] It should be noted that gripper 4A can also be an integrated gripper that combines base gripper 4A1 and trolley gripper 7B into one unit.

[0042] The main trolley traveling area 2A includes a safety steel platform 2A2. Below the safety steel platform 2A2 are a pedestrian and logistics channel 2A2A and a side buffer area 2A2C. Above the safety steel platform 2A2 is an aerial buffer area 2A2D of the material frame 3E.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] The ground support 5A includes a ground clamping device 9, which clamps the base 1B to assemble the workpiece 1.

[0047] It should be noted that: the ground support 5A may be equipped with a ground rotation device 5A1, which can realize the rotation of the base 1B; the gantry robot 4 may be equipped with an aerial rotation device 4E, the gripper 4A is installed on the aerial rotation device 4E, the aerial rotation device 4E is installed on the lifting device 4D, and the workpiece 1 can be rotated in the air through the aerial rotation device 4E.

[0048] 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 assembly unit 3A1 includes two workstations 5. When one workstation 5 is assembling a workpiece 1, the other workstation 5 converts the assembled workpiece 1 to the workpiece 1 to be assembled. The robot assembly unit 3A1 includes a general-purpose robot 6. The base of the general-purpose robot 6 can be installed in the main trolley travel area 2A. The general-purpose robot 6 includes a ground rail 6A, which enables the general-purpose robot 6 to switch between the two workstations 5 in the same assembly unit 3A.

[0049] It should be noted that the general-purpose robot 6 can be a six-axis robot.

[0050] 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.

[0051] 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.

[0052] 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 capable of assembly on a base, 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) and a gantry robot (4). The side longitudinal track (21) is arranged along the length of the workshop (2). The workpiece (1) includes a component (1A) and a base (1B). The base (1B) includes a base gripper interface (1B1). The assembly unit (3A) includes a work station (5). The work station (5) includes a ground support (5A) for placing the base (1B). The assembly unit (3A) includes a robot assembly unit (3A1) and / or a manual assembly unit (3A2). The robot assembly unit (3A1) includes an automated work station (51). The manual assembly unit (3A2) includes a manual work station (52). The automated work station (51) and the manual work station (52) All can grasp parts (1A) to assemble workpiece (1); the gantry robot (4) includes gripper (4A), trolley (4B), main trolley (4C) and 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 base gripper (4A1). The gantry robot (4) can grasp the base gripper interface (1B1) through the base gripper (4A1) to realize the base (1B) carrying workpiece (1) for operation; the gantry robot (4) can realize the transport of base (1B) between each assembly unit (3A) through the operation of the main trolley (4C) in the main trolley walking area (2A) of the no-work station (5).

2. The flexible production line according to claim 1, characterized in that a gantry robot can assemble on a base, is 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 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 base (1B) between each work station (5) by running only in the main trolley travel area (2A).

3. The flexible production line according to claim 1, characterized in that a gantry robot can assemble on a base, is characterized in that... The aforementioned workstations (5) are connected longitudinally in space.

4. A flexible production line with a gantry robot capable of assembly on a base, as described in claim 2 or 3, characterized in that: The base gripper interface (1B1) includes a base hole (1B2) or a groove (1B3); the base gripper (4A1) includes a pin (4A1A) or a claw (4A1B), and the gantry robot (4) can insert the pin (4A1A) or the claw (4A1B) into the base hole (1B2) or groove (1B3) to grip different bases (1B) 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 a gantry robot capable of assembly on a base, 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 a base gripper (4A1).

6. A flexible production line with a gantry robot capable of assembly on a base, 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 a gantry robot capable of assembly on a base, as described in 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 a gantry robot capable of assembly on a base, 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 a gantry robot capable of assembly on a base, 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 a gantry robot capable of assembly on a base, as described in 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 a gantry robot capable of assembly on a base, 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 a gantry robot capable of assembly on a base, as described in claim 11, characterized in that: The ground support (5A) includes a ground clamping device (9), which clamps the base (1B) to assemble the workpiece (1).

13. A flexible production line with a gantry robot capable of assembly on a base, as described in 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 assembly unit (3A1) includes two workstations (5), one workstation (5) performs the assembly of workpiece (1), while the other workstation (5) performs the conversion between the assembled workpiece (1) and the workpiece (1) to be assembled; 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); the general-purpose robot (6) includes a ground rail (6A), through which the general-purpose robot (6) can be converted between the two workstations (5) in the same assembly unit (3A).

14. A flexible production line with a gantry robot capable of assembly on a base, 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).

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