Body support device for vehicle flexible assembly line and side wall pre-assembly method

Abstract

This invention provides a vehicle body support device and a side panel pre-assembly method for a flexible vehicle assembly production line, belonging to the field of vehicle assembly. The vehicle body support device includes a side panel support device for assisting in the pre-assembly of the side panel onto the lower body. The side panel support device includes a first base, a ninth mounting bracket, a support frame, a third support part, and a fourth support part. The ninth mounting bracket is horizontally slidable on the first base along a first direction. The support frame is vertically slidable on the ninth mounting bracket. The third support part is fixed to one top end of the support frame. The fourth support part is horizontally slidable on the support frame along a second direction, and the fourth support part is at the same height as the third support part. The fourth support part and the third support part jointly support the side panel, wherein the second direction is perpendicular to the first direction.

Description

Technical Field

[0001] This invention relates to the field of vehicle assembly technology, and in particular to a body support device and side panel pre-assembly method for a flexible vehicle assembly production line. Background Technology

[0002] The body-in-white consists of the lower body, side panels, and roof. On the body assembly line, the side panels are first pre-installed on the lower body with the assistance of the body support device. Then, the lower body is lifted to a preset height by the lifting device. The robot picks up the roof from the material box and places it on top of the side panels. Finally, the welding robot welds the three together.

[0003] Since the existing body support system is only used for a single vehicle model, when the vehicle model is changed, the entire body support system needs to be replaced accordingly. Therefore, a large storage space needs to be reserved for storing the body support system, which results in high costs and space occupation. Summary of the Invention

[0004] The purpose of this invention is to provide a body support device for a flexible vehicle assembly line. This body support device solves the problem of needing to replace the entire body support device when changing vehicle models, thereby reducing costs and space requirements.

[0005] To achieve the objectives of this invention, the following technical solution is adopted: According to one aspect of the present invention, a body support device for a vehicle flexible assembly line is provided, including a side support device. The side support device includes a first base, a ninth mounting bracket, a support frame, a third support part, and a fourth support part. The ninth mounting bracket is horizontally slidable on the first base along a first direction, and the support frame is vertically slidable on the ninth mounting bracket. The third support part is fixed to one top end of the support frame, and the fourth support part is horizontally slidable on the support frame along a second direction. The fourth support part and the third support part are at the same height, wherein the fourth support part and the third support part jointly support the side panel.

[0006] According to one embodiment of the present invention, a connecting arm is provided on one side of the fourth support part, the height of the connecting arm is higher than that of the support frame, a bolt is provided on the connecting arm, and a plurality of positioning screw holes are provided on the upper end of the support frame along the sliding direction of the fourth support part, and the bolt can be connected to any one of the positioning screw holes to fix the fourth support part.

[0007] According to one embodiment of the present invention, it further includes a second cylinder. The first base is horizontally provided with two fifth guide rails along a first direction. The bottom of the two ninth mounting brackets is respectively provided with a first sliding groove. The first sliding groove can be slidably inserted into the fifth guide rails along the first direction. The second cylinder is fixedly connected to the first base. The first telescopic rod of the second cylinder is connected to the ninth mounting bracket and is used to drive the ninth mounting bracket to slide between a first position and a second position.

[0008] According to one embodiment of the present invention, a third lifting device is also included. The ninth mounting frame is provided with two sixth guide rails in a direction perpendicular to the horizontal. The support frame has a second sliding groove on one side. The second sliding groove can be slidably inserted into the sixth guide rails in the vertical direction. The third lifting device is fixed to the ninth mounting frame. The second telescopic rod of the third lifting device is connected to the support frame and is used to drive the support frame to move up and down.

[0009] According to one embodiment of the present invention, the support frame is horizontally provided with two seventh guide rails along the sliding direction of the fourth support portion, and the fourth support portion is provided with two third sliding grooves corresponding to the two seventh guide rails. The third sliding grooves are horizontally slidable on the seventh guide rails along the second direction.

[0010] According to one embodiment of the present invention, a longitudinal beam lifting device is further included. The longitudinal beam lifting device includes a plurality of lifting groups arranged along the front-rear direction of the vehicle body. Each lifting group includes two first horizontal sliding mechanisms, two first lifting devices, and two first positioning support parts. There is a gap between the two first horizontal sliding mechanisms for the passage of the trolley. The first horizontal sliding mechanisms can slide horizontally along a second direction. The two first lifting devices are respectively disposed on the two first horizontal sliding mechanisms. The two first positioning support parts are respectively movably disposed on the two first lifting devices for supporting the longitudinal beams on both sides of the vehicle body.

[0011] According to one embodiment of the present invention, the first positioning support portion includes a fourth cylinder, a second mounting portion, a second hook, a third connecting rod, two fourth connecting rods, and a second pin. The lower end of the second mounting portion is fixedly connected to the fourth cylinder, and the upper end of the second mounting portion has a first supporting surface for supporting the longitudinal beam. The second mounting portion has a third cavity, and the second telescopic rod, the third connecting rod, and the fourth connecting rod of the fourth cylinder are all located in the third cavity. The second pin is disposed on the first supporting surface, and the second pin has a fourth cavity communicating with the third cavity. One side of the second pin has a fourth cavity that allows the fourth cavity to communicate with the outside. The second opening is connected, the lower part of the second hook is located in the third cavity, the upper end of the second hook is provided with a second hook part, the second hook part is located in the fourth cavity, the upper end of the third connecting rod is hinged to the first side of the lower part of the second hook, the lower end of the third connecting rod is hinged to the second telescopic rod, one end of the fourth connecting rod is hinged to the second side of the lower end of the second hook, the other end of the fourth connecting rod is hinged to the second mounting part, and the two fourth connecting rods are parallel. When the second telescopic rod of the fourth cylinder moves, it drives the second hook part to extend through the second opening to clamp the longitudinal beam together with the first supporting surface or retract to release the clamp.

[0012] According to one embodiment of the present invention, the first horizontal sliding mechanism includes a cross slide, the cross slide includes a first lead screw slide and a second lead screw slide, the first lead screw slide has a first connecting portion that slides horizontally in a second direction, the second lead screw slide is disposed on the first connecting portion, the second lead screw slide has a second connecting portion that slides horizontally in a first direction, and a first lifting device is disposed on the second connecting portion of the second lead screw slide.

[0013] According to one embodiment of the present invention, the first lifting device includes a third lead screw slide, the third lead screw slide is provided with a third connecting part that can slide up and down, and a first positioning support part is provided on the third connecting part of the first lifting device.

[0014] According to one embodiment of the present invention, the first lead screw slide, the second lead screw slide, and the third lead screw slide each include a fourth housing, a fourth lead screw, a fourth slide block, and a fourth servo motor. The fourth lead screw is rotatably disposed in the fourth housing. The fourth slide block has a threaded hole that is threadedly connected to the fourth lead screw. The fourth servo motor is fixed to one end of the fourth housing, and the shaft of the fourth servo motor is connected to the fourth lead screw. The fourth servo motor drives the fourth lead screw to rotate and causes the fourth slide block to slide. The first connecting part is located on the fourth slide block of the first lead screw slide, the second connecting part is located on the fourth slide block of the second lead screw slide, and the third connecting part is located on the fourth slide block of the third lead screw slide. The fourth lead screw of the second lead screw slide and the fourth lead screw of the first lead screw slide are both horizontally disposed and perpendicular to each other. The fourth lead screw of the third lead screw slide is perpendicular to the horizontal plane.

[0015] The present invention also provides a side panel pre-assembly method, applied to the above-mentioned vehicle body support device for a flexible vehicle assembly line, the method comprising: When the trolley carrying the lower body of a vehicle model moves between the two side support devices, the ninth mounting brackets of the two side support devices move towards each other and slide to the first position respectively. Adjust the height of the support frame so that the top surface height of the fourth support part and the top surface height of the third support part are equal to the pre-installed height of the side panel of the vehicle model; Adjust the distance between the fourth support and the third support to be less than the length of the side wall of the vehicle model; The two side panels are lifted onto two side panel support devices by a lifting device, and the fourth support and the third support support the front and rear of the same side panel respectively. The two side panels are manually pushed horizontally towards each other onto the lower body of the vehicle, and then hooked onto the lower body's support parts via multiple hooks on the side panels, thus completing the pre-installation of the side panels.

[0016] One embodiment of the present invention has the following advantages or beneficial effects: The present invention discloses a body support device for a vehicle flexible assembly line, comprising a side panel support device. The side panel support device includes a first base, a ninth mounting bracket, a support frame, a third support portion, and a fourth support portion. The ninth mounting bracket is horizontally slidable on the first base along a first direction. The support frame is vertically slidable on the ninth mounting bracket. The third support portion is fixed to one top end of the support frame. The fourth support portion is horizontally slidable on the support frame along a second direction, and is at the same height as the third support portion. The fourth and third support portions jointly support the side panel assembly. During pre-assembly, the ninth mounting bracket slides to a first position, causing the fourth and third support portions to move closer to the lower vehicle body. Since the height of the support frame is adjustable, side panel assemblies of different heights can be pre-assembled. Since the distance between the fourth and third support portions is adjustable, side panel assemblies of different lengths can be supported for pre-assembly. When switching from a short side panel to a long side panel, or vice versa, the side panel support device does not need to be replaced, thereby reducing costs and space requirements. Attached Figure Description

[0017] The above and other features and advantages of the present invention will become more apparent from a detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0018] Figure 1 This is a perspective view of a side support device according to an exemplary embodiment.

[0019] Figure 2A This is a perspective view of a longitudinal beam lifting device according to an exemplary embodiment.

[0020] Figure 2B This is a cross-sectional view of a first lead screw slide according to an exemplary embodiment.

[0021] Figure 3 This is a diagram showing the state of the first hook device when the hook is open, according to an exemplary embodiment.

[0022] Figure 4 This is a diagram showing the state of the first hook device when the hook is closed, according to an exemplary embodiment.

[0023] Figure 5A This is a perspective view of a first gripper according to an exemplary embodiment.

[0024] Figure 5B This is a diagram showing the state of the second hook device when the hook is open, according to an exemplary embodiment.

[0025] Figure 5C This is a diagram showing the state of the second hook device when the hook is closed, according to an exemplary embodiment.

[0026] Figure 6 This is a front view of the second gripper shown according to an exemplary embodiment.

[0027] Figure 7 This is a front view of another embodiment of the second gripper shown according to an exemplary implementation.

[0028] Figure 8 This is a perspective view of a third gripper according to an exemplary embodiment.

[0029] Figure 9 This is a perspective view of a transport trolley and a bracket according to an exemplary embodiment.

[0030] Figure 10 yes Figure 9 An enlarged view of the front of the bracket is shown.

[0031] Figure 11 yes Figure 9 An enlarged view of the middle part of the bracket is shown.

[0032] Figure 12A This is a cross-sectional view of a second horizontal sliding mechanism according to an exemplary embodiment.

[0033] Figure 12B This is a cross-sectional view of a third horizontal sliding mechanism according to an exemplary embodiment.

[0034] Figure 13A This is a perspective view of a first material rack according to an exemplary embodiment.

[0035] Figure 13B This is a cross-sectional view of the first shelf and the inner sill plate according to an exemplary embodiment.

[0036] Figure 13C This is a state diagram of the inner sill plate on the first shelf, according to an exemplary embodiment.

[0037] Figure 14A This is a perspective view of a second rack according to an exemplary embodiment.

[0038] Figure 14B This is a diagram showing the front panel placed on the second rack according to an exemplary embodiment.

[0039] Figure 15A This is a perspective view of a third rack according to an exemplary embodiment.

[0040] Figure 15B This is a diagram showing the front wheel arch reinforcement plate being mounted on a third rack according to an exemplary embodiment.

[0041] Figure 16 This is a diagram showing the state of the hook of the second positioning support when it is open, according to an exemplary embodiment.

[0042] Figure 17 This is a diagram showing the state of the second positioning support when the hook is closed, according to an exemplary embodiment. Detailed Implementation

[0043] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0044] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended meaning of inclusion and that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the term “flexible” refers to the flexibility of production, not the tooling material.

[0045] like Figure 1 As shown, an embodiment of the present invention provides a body support device for a vehicle flexible assembly production line, including a side support device 900. The side support device 900 includes a first base 901, a ninth mounting bracket 902, a support frame 903, a third support part 909, and a fourth support part 910.

[0046] The ninth mounting bracket 902 can be horizontally slidably disposed on the first base 901 along the first direction, the support bracket 903 can be vertically slidably disposed on the ninth mounting bracket 902, the third support part 909 is fixedly connected to one top end of the support bracket 903, and the fourth support part 910 can be horizontally slidably disposed on the support bracket 903 along the second direction, and the fourth support part 910 and the third support part 909 are at the same height, wherein the fourth support part 910 and the third support part 909 jointly support the side panel assembly.

[0047] For example, the first direction is the width of the vehicle body, and the second direction is the length of the vehicle body.

[0048] When the trolley 2, carrying the lower body of a vehicle model, moves between the two side support devices 900, the ninth mounting brackets 902 of the two side support devices 900 simultaneously slide to the first position in opposite directions, causing the fourth support part 910 and the third support part 909 to approach the lower body; the height of the support bracket 903 is adjusted so that the top surface height of the fourth support part 910 and the top surface height of the third support part 909 are equal to the pre-installation height of the side assembly of the vehicle model; the fourth support part 910 and the third support part 909 are then moved closer to the lower body. The spacing between the three support parts 909 is adjusted to be less than the length of the side panel assembly of the vehicle model; the two side panel assemblies are hoisted onto the two side panel support devices 900 by a lifting device, so that the fourth support part 910 and the third support part 909 support the front and rear of the same side panel assembly respectively; the two side panel assemblies are manually pushed horizontally onto the lower body of the vehicle body in opposite directions, and hooked onto the lower body support parts by multiple hooks on the side panel assemblies, thus completing the pre-installation of the side panel assembly. After the pre-installation is completed, the ninth mounting brackets 902 of the two side panel support devices 900 slide to a second position away from the carrier trolley 2 in opposite directions, so as to leave enough space for the movement of the carrier trolley 2, so that the side panel assemblies of different lengths and heights can be pre-installed, thereby improving compatibility.

[0049] like Figure 1 As shown, in a preferred embodiment of the present invention, a connecting arm 9101 is provided on one side of the fourth support 910. The height of the connecting arm 9101 is higher than that of the support frame 903. A bolt 9102 is provided on the connecting arm 9101. A plurality of positioning screw holes 9031 are provided at the upper end of the support frame 903 along the sliding direction of the fourth support 910. The positions of the plurality of positioning screw holes 9031 correspond to various vehicle models. The bolt 9102 can be connected to any one of the positioning screw holes 9031 to fix the position of the fourth support 910 and fix the distance between the fourth support 910 and the third support 909.

[0050] Preferably, bolt 9102 is a hand-tightening bolt, which can be turned by hand without the need for a wrench, making it easy to adjust.

[0051] like Figure 1 As shown, in a preferred embodiment of the present invention, a second cylinder 907 is further included. The first base 901 is horizontally provided with two fifth guide rails 904 along the first direction. The bottom of the two ninth mounting brackets 902 is respectively provided with a first sliding groove. The first sliding groove can be slidably inserted into the fifth guide rails 904 along the first direction. The second cylinder 907 is fixedly connected to the first base 901. The first telescopic rod of the second cylinder 907 is connected to the ninth mounting bracket 902 and is used to drive the ninth mounting bracket 902 to slide between the first position and the second position.

[0052] For example, when the side panel assembly needs to be pre-installed, the first telescopic rod of the second cylinder 907 extends and pushes the ninth mounting bracket 902 to slide to the first position, so that the fourth support 910 and the third support 909 are close to the lower body. After the pre-installation is completed, the first telescopic rod of the second cylinder 907 retracts and pulls the ninth mounting bracket 902 to slide to the second position, so as to reserve the movement space of the transport trolley 2 and realize the automatic sliding of the ninth mounting bracket 902 along the first direction.

[0053] Preferably, the cross-section of the fifth guide rail 904 is an isosceles trapezoid, and the fifth guide rail 904 is narrower at the bottom and wider at the top. The cross-section of the first slide groove of the ninth mounting bracket 902 matches the cross-section of the fifth guide rail 904, so that the first slide groove can only slide horizontally along the fifth guide rail 904 and cannot derail upward from the fifth guide rail 904, thereby improving the stability of the sliding of the ninth mounting bracket 902.

[0054] like Figure 1 As shown, in a preferred embodiment of the present invention, a third lifting device 908 is further included. The ninth mounting frame 902 is provided with two sixth guide rails 905 in a direction perpendicular to the horizontal. The support frame 903 has a second sliding groove on one side, which can be slidably inserted into the sixth guide rail 905 in the vertical direction. The third lifting device 908 is fixed to the ninth mounting frame 902. The third lifting device 908 has a second telescopic rod 9081, which is connected to the support frame 903 to realize automatic driving of the support frame 903 to move up and down.

[0055] Preferably, the third lifting device 908 is a servo motor driven screw sliding mechanism. Since the power source is a servo motor driven with an encoder, the height of the fourth support part 910 and the third support part 909 can be precisely adjusted, thereby improving the adjustment efficiency.

[0056] Preferably, the cross-sectional shape of the sixth guide rail 905 is an isosceles trapezoidal shape, that is, the sixth guide rail 905 is narrow on the side facing the ninth mounting bracket 902 and wide on the side facing the support bracket 903. The cross-sectional shape of the second slide groove of the support bracket 903 matches the cross-sectional shape of the sixth guide rail 905, so that the second slide groove cannot derail from the sixth guide rail 905 in the direction of the support bracket 903, and the second slide groove of the support bracket 903 can only slide along the sixth guide rail 905, preventing the second slide groove from detaching from the sixth guide rail 905, thereby improving the stability of the sliding of the support bracket 903.

[0057] like Figure 1 As shown, in a preferred embodiment of the present invention, the support frame 903 is horizontally provided with two parallel and vertically arranged seventh guide rails 906 along the sliding direction of the fourth support portion 910. The fourth support portion 910 has two third sliding grooves on one side corresponding to the two seventh guide rails 906. The fourth support portion 910 can be horizontally slidably disposed on the seventh guide rails 906 along the second direction through the third sliding grooves.

[0058] like Figure 1 As shown, in one embodiment of the present invention, the fourth support portion 910 includes a vertical connecting arm 9103 and a first horizontal support arm 9104 disposed on the top of the vertical connecting arm 9103. The first horizontal support arm 9104 is used to support the side panel assembly. The vertical connecting arm 9103 and the first horizontal support arm 9104 are both in an inverted L-shape or T-shape. Two protrusions are respectively provided on one side of the vertical connecting arm 9103 corresponding to two seventh guide rails 906, and two third sliding grooves are respectively located on the two protrusions.

[0059] Preferably, the cross-sectional shape of the seventh guide rail 906 is the same as that of the sixth guide rail 905, so as to prevent the third groove of the fourth support part 910 from disengaging from the seventh guide rail 906.

[0060] Alternatively, the seventh guide rail 906 has an H-shaped cross-section. The upper and lower ends of the seventh guide rail 906 are respectively provided with strip grooves along the sliding direction of the fourth support part 910. The groove wall of the third sliding groove is provided with a protruding locking head corresponding to the strip groove. The locking head is inserted into the strip groove and slides along the strip groove to prevent the fourth support part 910 from disengaging from the seventh guide rail 906.

[0061] like Figure 1As shown, in one embodiment of the present invention, the third support 909 includes a second horizontal support arm 9091 and a diagonal support arm 9092. The first end of the second horizontal support arm 9091 is horizontally fixed to one end of the top of the support frame 903. The second horizontal support arm 9091 and the first horizontal support arm 9104 jointly support the side assembly. The upper end of the diagonal support arm 9092 is fixed to the second end of the second horizontal support arm 9091, and the lower end of the diagonal support arm 9092 is fixed to one side of the support frame 903. In this way, the diagonal support arm 9092, the second horizontal support arm 9091 and one side of the support frame 903 together form a tripod, thereby improving the stability of the third support 909.

[0062] like Figure 2A As shown, in a preferred embodiment of the present invention, the vehicle body support device further includes a longitudinal beam lifting device for lifting the vehicle body. The longitudinal beam lifting device includes multiple lifting groups 1 arranged along a second direction, and the multiple lifting groups 1 jointly lift the vehicle body. When the vehicle model is changed, the spacing between two adjacent lifting groups 1 is adaptively adjusted to enable the lifting of vehicle bodies of different lengths, thus achieving compatibility with multiple vehicle models.

[0063] The lifting assembly 1 includes two first horizontal sliding mechanisms 11, two first lifting devices 13, and two first positioning support parts 15. The two first horizontal sliding mechanisms 11 are arranged along a first direction, and there is a gap between the two first horizontal sliding mechanisms 11 for the passage of the transport trolley 2. The first horizontal sliding mechanisms 11 can slide horizontally along a second direction, and the two first lifting devices 13 are respectively disposed on the two first horizontal sliding mechanisms 11.

[0064] Two first positioning support parts 15 are respectively movable up and down on two first lifting devices 13, and are used to support the longitudinal beams on both sides of the vehicle body.

[0065] When the transport trolley 2 moves the vehicle body to the preset position of the longitudinal beam lifting device, the transport trolley 2 is located between the two first horizontal sliding mechanisms 11, and the two first lifting devices 13 rise simultaneously until the two first positioning support parts 15 jointly lift the vehicle body to the preset assembly and welding height.

[0066] When the vehicle model is changed, since the length of the new vehicle model is different from that of the previous vehicle model, the two first horizontal sliding mechanisms 11 of the same lifting group 1 simultaneously drive the two first lifting devices 13 to move towards the front or rear of the vehicle body in the second direction, thereby adjusting the distance between the two adjacent lifting groups 1 in the second direction.

[0067] For example, when the replaced vehicle model is a short model, the distance between two adjacent first lifting devices 13 needs to be reduced in the second direction; when the replaced vehicle model is a long model, the distance between two adjacent first lifting devices 13 needs to be increased in the second direction.

[0068] It eliminates the need to completely replace the longitudinal beam lifting device, enabling it to support vehicles of various lengths. This solves the problem of needing to replace the entire longitudinal beam lifting device when changing vehicle models, thus reducing costs and space requirements.

[0069] like Figure 3 , 4 As shown, in a preferred embodiment of the present invention, the first positioning support part 15 includes a fourth cylinder 151, a second mounting part 152, a second hook 153, a third connecting rod 154, two fourth connecting rods 155, and a second pin 156.

[0070] The fourth cylinder 151 is movable up and down on the first lifting device 13.

[0071] The lower end of the second mounting part 152 is fixedly connected to the fourth cylinder 151. The upper end of the second mounting part 152 has a first supporting surface 1521 for supporting the longitudinal beam. The second mounting part 152 has a third cavity 1522. The second telescopic rod 1511, the third connecting rod 154 and the fourth connecting rod 155 of the fourth cylinder 151 are all located in the third cavity 1522.

[0072] The second pin 156 is disposed on the first support surface 1521 and is used to be inserted into the positioning hole of the longitudinal beam. The second pin 156 has a fourth cavity 1561 that communicates with the third cavity 1522, and a second opening is provided on one side of the second pin 156 to communicate with the outside of the fourth cavity 1561.

[0073] The lower part of the second hook 153 is located in the third cavity 1522, and the upper end of the second hook 153 is provided with a second hook part 1531. The second hook part 1531 is located in the fourth cavity 1561, and the second hook part 1531 has a fifth clamping end face 15311 parallel to the first supporting surface 1521.

[0074] The upper end of the third link 154 is hinged to the lower first side of the second hook 153, the lower end of the third link 154 is hinged to the second telescopic rod 1511, one end of the fourth link 155 is hinged to the lower second side of the second hook 153 (the side where the second hook part 1531 of the second hook 153 is retracted into the fourth cavity 1561), the other end of the fourth link 155 is hinged to the second mounting part 152, and the two fourth links 155 are parallel.

[0075] When the second telescopic rod 1511 of the fourth cylinder 151 moves, it drives the second hook part 1531 to extend through the second opening and clamp the longitudinal beam together with the first supporting surface 1521, or retract to release the clamp.

[0076] Since the two fourth links 155 are parallel, the second hook 153 always maintains the same angle when it extends or retracts, ensuring that the fifth clamping end face 15311 is always parallel to the first supporting surface 1521, thereby ensuring the stability of the clamping force on the longitudinal beam.

[0077] If the fifth clamping end face 15311 is not parallel to the first supporting surface 1521, the clamping force on the longitudinal beam will be reduced, posing a risk of vehicle body swaying and shifting during transportation.

[0078] like Figure 3 As shown, when the carrier trolley 2 moves into place, the hook part 1531 of the first positioning support part 15 retracts into the pin 156. The two first lifting devices 13 of the same lifting group 1 simultaneously drive the two first positioning support parts 15 to rise. At this time, the pin 156 is inserted into the positioning hole of the longitudinal beam from bottom to top, and the first support surface 1521 abuts against the lower end of the longitudinal beam to support the longitudinal beam. like Figure 4 As shown, the fourth cylinder 151 drives the second telescopic rod 1511 to move downward, and at the same time pulls the third connecting rod 154 and the hook 153 to move downward, so that the hook part 1531 extends out of the pin 156, and the hook part 1531 and the first supporting surface 1521 together clamp the longitudinal beam to fix the lower body of the vehicle. The first lifting device 13 continues to drive the first positioning support part 15 and raise the entire vehicle body to the preset assembly and welding height. At this time, the vehicle body separates from the bracket 3 of the transport trolley 2.

[0079] After welding is completed, as Figure 3 As shown, the fourth cylinder 151 drives the second telescopic rod 1511 upward, causing the hook part 1531 to move upward and inward into the pin 156, thereby releasing the clamping of the longitudinal beam. The first lifting device 13 descends to the preset height. At this time, the lower body of the vehicle is located on the bracket 3 of the transport trolley 2, and the pin 156 separates from the positioning hole of the longitudinal beam.

[0080] Preferred, such as Figure 3 As shown, the first hinge point at the lower end of the third link 154 and the fourth link 155 located below are at the same or similar height to the second hinge point of the second hook 153. The third hinge point at the upper end of the third link 154 and the fourth link 155 located above are at the same or similar height to the fourth hinge point of the second hook 153. In this way, the first hinge point, the second hinge point, the third hinge point and the fourth hinge point are roughly arranged in a matrix, achieving a compact structure and reducing the volume of the first positioning support part 15.

[0081] Preferred, such as Figure 3As shown, the third connecting rod 154 is C-shaped. Two third hinge portions 1541 are integrally formed at the upper end of the third connecting rod 154, located on both sides of the second telescopic rod 1511. A third pin passes through the two third hinge portions 1541 and the second telescopic rod 1511, thereby improving the connection strength and force uniformity between the third connecting rod 154 and the second telescopic rod 1511. Two fourth hinge portions 1542 are integrally formed at the lower end of the third connecting rod 154, located on both sides of the second hook 153. A fourth pin passes through the two fourth hinge portions 1542 and the second hook 153, thereby improving the connection strength and force uniformity between the third connecting rod 154 and the second hook 153.

[0082] like Figure 2A As shown, in a preferred embodiment of the present invention, the first horizontal sliding mechanism 11 includes a cross slide, the cross slide includes a first lead screw slide 111 and a second lead screw slide 112, the first lead screw slide 111 has a first connecting portion 1115 that slides horizontally along a second direction (i.e., the vehicle length direction), the second lead screw slide 112 is disposed on the first connecting portion 1115, the second lead screw slide 112 has a second connecting portion that slides horizontally along a first direction (the vehicle width direction), and the first lifting device 13 is disposed on the second connecting portion of the second lead screw slide 112.

[0083] When the transport trolley 2 moves to the preset position between the two first horizontal sliding mechanisms 11, the second lead screw slide 112 drives the second connecting part to move the first lifting device 13 to the first position close to the transport trolley 2, so that the first positioning support part 15 is located directly below the longitudinal beam.

[0084] After assembly and welding are completed, the second lead screw slide 112 drives the second connecting part to move the first lifting device 13 to a second position away from the transport trolley 2, thereby reserving space for the transport trolley 2 to drive away.

[0085] When the vehicle model is switched, the first lead screw slide 111 drives the first connecting part 1115 to drive the second lead screw slide 112 and the first lifting device 13 to slide along the second direction (i.e. the vehicle length direction) to adjust the distance between two adjacent first lifting devices 13 in the vehicle length direction, so as to realize the lifting of various vehicle bodies of different lengths.

[0086] like Figure 2A As shown, in a preferred embodiment of the present invention, the first lifting device 13 includes a third lead screw slide, the third lead screw slide is provided with a third connecting part that can slide up and down, and the first positioning support part 15 is provided on the third connecting part of the first lifting device 13. The first lifting device 13 drives the third connecting part upward to drive the first positioning support part 15 to lift the vehicle body.

[0087] like Figure 2B As shown, in a preferred embodiment of the present invention, the first lead screw slide 111 includes a fourth housing 1111, a fourth lead screw 1112, a fourth slide block 1113, a fourth servo motor 1114, and a tenth guide rail 1116.

[0088] The fourth lead screw 1112 is rotatably disposed inside the fourth housing 1111. The fourth lead screw 1112 is horizontally disposed, and the axial direction of the fourth lead screw 1112 is the same as the second direction (i.e. the length direction of the vehicle body).

[0089] The tenth guide rail 1116 is horizontally positioned inside the fourth housing 1111, and the extension direction of the tenth guide rail 116 is the same as the second direction.

[0090] The fourth slide block 1113 has a threaded hole, which is threadedly connected to the fourth lead screw 1112. The fourth slide block 1113 has a tenth slide groove corresponding to the tenth guide rail 1116. The fourth slide block 1113 can slide along the second direction and be inserted into the tenth guide rail 1116 through the tenth slide groove. This is used to straighten the sliding direction of the fourth slide block 1113 and prevent the fourth slide block 1113 from rotating with the fourth lead screw 1112.

[0091] The fourth servo motor 1114 is fixed to one end of the fourth housing 1111, and the shaft of the fourth servo motor 1114 is connected to the fourth lead screw 1112. The first connecting part 1115 is located on the fourth slide block 1113 of the first lead screw slide table 111. The fourth servo motor 1114 drives the fourth lead screw 1112 to rotate, causing the fourth slide block 1113 and the first connecting part 1115 to slide in the second direction.

[0092] The structures of the second lead screw slide 112 and the third lead screw slide are the same as those of the first lead screw slide 111. The fourth lead screw of the second lead screw slide 112 and the fourth lead screw 1112 of the first lead screw slide 111 are both horizontally arranged and perpendicular to each other. That is, the axial direction of the fourth lead screw of the second lead screw slide 112 is the same as the first direction (i.e., the vehicle width direction). The second connecting part is located on the fourth slide of the second lead screw slide 112.

[0093] The third connecting part of the third lead screw slide is located on the fourth slide of the third lead screw slide, and the fourth lead screw of the third lead screw slide is vertically arranged perpendicular to the horizontal plane.

[0094] The present invention also provides a flexible vehicle assembly production line, including the aforementioned body support device. Because the flexible vehicle assembly production line of the present invention uses the aforementioned body support device, it achieves compatibility with multi-vehicle assembly production, eliminating the need to change the production line when changing vehicle models, thereby reducing costs.

[0095] In a preferred embodiment, such as Figure 5AAs shown, the vehicle flexible assembly production line of the present invention also includes multiple robots, each robot being used to place the roof beam, roof cover and various plates onto the vehicle body on the longitudinal beam lifting device.

[0096] The robot includes a robot body and a first gripper 7 detachably mounted on the robot body. The first gripper 7 includes a second mounting frame 72 and a plurality of first gripping parts 73. The plurality of first gripping parts 73 are arranged and mounted on the second mounting frame 72 along the X direction, and the height of the first gripping parts 73 from both ends to the middle along the X direction decreases sequentially. Each first gripping part 73 is configured to grip a roof crossbeam.

[0097] The X direction is the same as the length direction of the vehicle body, and the Y direction is the same as the width direction of the vehicle body.

[0098] The number of the first gripping units 73 is set to be compatible with multiple vehicle models. For example, vehicle model A has three roof crossbeams, vehicle model B has four roof crossbeams, and vehicle model C has five roof crossbeams. In this way, by setting the number of the first gripping units 73 to at least five, compatibility with three vehicle models A, B, and C is achieved.

[0099] Since the height of the first gripping part 73 decreases sequentially from both ends to the middle in the X direction, two adjacent first gripping parts 73 are not on the same horizontal line, so that they do not interfere with the parts or tooling adjacent to the roof or rack when gripping and placing.

[0100] For example, the five first gripping parts are sequentially labeled as first gripping part A, first gripping part B, first gripping part C, first gripping part D, and first gripping part E. When first gripping part A needs to grip the first roof crossbeam, the robot body adaptively adjusts the angle of the first gripper 7 so that the angle of first gripping part A is perpendicular to the horizontal plane. When first gripping part B needs to grip the second roof crossbeam, the robot body adaptively adjusts the angle of the first gripper 7 so that the angle of first gripping part B is perpendicular to the horizontal plane. The gripping methods of first gripping part C, first gripping part D, and first gripping part E are the same as those of first gripping part A, and will not be described again here.

[0101] The robot of the present invention for a flexible production line for vehicles can grasp multiple roof beams at once, thereby reducing the time occupied in the grasping process and improving the production cycle.

[0102] like Figure 5AAs shown, in a preferred embodiment of the present invention, each first gripping part 73 includes two second hook devices 731. The two second hook devices 731 are arranged at the same height and along the Y direction on the second mounting bracket 72, and the two second hook devices 731 of each first gripping part 73 jointly grip the same roof crossbeam. For example, the two second hook devices 731 of each first gripping part 73 grip the two ends of the same roof crossbeam along its length, thereby applying a uniform gripping force to the roof crossbeam.

[0103] like Figure 5B and Figure 5C As shown, in a preferred embodiment of the present invention, the second hook device 731 includes a seventh cylinder 7311, a first mounting part 7312, a first hook 7313, a first connecting rod 7314, two second connecting rods 7315 and a first pin 7316.

[0104] The seventh cylinder 7311 is fixedly connected to the second mounting bracket 72. The first end of the first mounting part 7312 is fixedly connected to the seventh cylinder 7311. The first mounting part 7312 has a first cavity 73121. The first telescopic rod 73111, the first connecting rod 7314, and the second connecting rod 7315 of the seventh cylinder 7311 are all located in the first cavity 73121. The first pin 7316 is disposed on the first clamping end face 73122 of the second end of the first mounting part 73122. The first pin 7316 has a second cavity 73161 communicating with the first cavity 73121. One side of the first pin 7316 has a portion that allows the second cavity 73161 to communicate with the first cavity 73121. 161 has a first opening communicating with the outside. The upper part of the first hook 7313 is located inside the first cavity 73121. The lower end of the first hook 7313 is provided with a first hook part 73131. The first hook part 73131 is located inside the second cavity 73161. The lower end of the first connecting rod 7314 is hinged to the first side of the upper part of the first hook 7313. The upper end of the first connecting rod 7314 is hinged to the first telescopic rod 73111. One end of the second connecting rod 7315 is hinged to the second side of the upper end of the first hook 7313. The other end of the second connecting rod 7315 is hinged to the first mounting part 7312. The two second connecting rods 7315 are parallel.

[0105] like Figure 5C As shown, when the first pin 7316 is inserted into the positioning hole of the roof crossbeam, the seventh cylinder 7311 drives the first telescopic rod 73111 to move upward, causing the first hook 7313 to move upward and towards the first opening, until the first hook part 73131 extends through the first opening and together with the first clamping end face 73122 clamps the roof crossbeam.

[0106] like Figure 5BAs shown, when the roof crossbeam is placed in position on the top of the side panel, the seventh cylinder 7311 drives the first telescopic rod 73111 to move downward, which in turn drives the first hook 7313 to move downward and into the second cavity 73161 until the first hook part 73131 is completely retracted into the second cavity 73161, thereby releasing the clamping of the roof crossbeam.

[0107] like Figure 5B As shown, preferably, the first hook portion 73131 of the first hook 7313 has a second clamping end face 731311 parallel to the first clamping end face 73122, and the second clamping end face 731311 and the first clamping end face 73122 together clamp the roof beam.

[0108] like Figure 5C As shown, since the two second connecting rods 7315 are parallel, the first hook 7313 always maintains the same angle during the telescopic movement, ensuring that the second clamping end face 731311 is always parallel to the first clamping end face 73122, thereby ensuring the clamping stability of the roof beam and preventing the roof beam from shaking during movement, which would affect the placement accuracy.

[0109] like Figure 5A As shown, in a preferred embodiment of the present invention, the second mounting bracket 72 includes two sector-shaped brackets 721 and a crossbeam 722. The two sector-shaped brackets 721 are fixed to both ends of the crossbeam 722 along the Y direction. The two second hook devices 731 of each first gripping part 73 are respectively disposed on the sector-shaped part at the lower part of the two sector-shaped brackets 721. The multiple first gripping parts 73 are arranged along the sector-shaped part, so that the height of the second hook devices 731 from both ends to the middle of the sector-shaped part decreases sequentially, ensuring that two adjacent first gripping parts 73 are not at the same height.

[0110] like Figure 5A As shown, in a preferred embodiment of the present invention, the first gripper 7 further includes a first vision camera 74 and two first positioning detection switches 732. The first vision camera is mounted on the crossbeam 722 and is used to confirm the positions of the two positioning holes of the roof crossbeam. The two first positioning detection switches 732 are respectively mounted on two second hook devices 731. When the pin of the second hook device 731 is inserted into the positioning hole of the roof crossbeam, the roof crossbeam presses against the first positioning detection switch 732, causing the circuit inside the first positioning detection switch 732 to close and triggering the cylinder of the second hook device 731 to clamp the roof crossbeam.

[0111] Preferred, such as Figure 5BAs shown, the first hinge point at the upper end of the first connecting rod 7314 and the second connecting rod 7315 located above it are at the same or close to the second hinge point of the first hook 7313. The third hinge point at the lower end of the first connecting rod 7314 and the second connecting rod 7315 located below it are at the same or close to the fourth hinge point of the first hook 7313. In this way, the first hinge point, the second hinge point, the third hinge point and the fourth hinge point are roughly arranged in a matrix, which achieves a compact structure and reduces the volume of the second hook pin device 731.

[0112] Preferred, such as Figure 5B As shown, the first connecting rod 7314 is C-shaped. Two first hinge portions 73141 are integrally formed at the upper end of the first connecting rod 7314, located on both sides of the first telescopic rod 73111. A first pin passes through the two first hinge portions 73141 and the first telescopic rod 73111, thereby improving the connection strength and force uniformity between the first connecting rod 7314 and the first telescopic rod 73111. Two second hinge portions 73142 are integrally formed at the lower end of the first connecting rod 7314, located on both sides of the first hook 7313. A second pin passes through the two second hinge portions 73142 and the first hook 7313, thereby improving the connection strength and force uniformity between the first connecting rod 7314 and the first hook 7313.

[0113] like Figure 6 As shown, in a preferred embodiment of the present invention, a second gripper 100 detachably disposed on the robot body is also included, the second gripper 100 being configured for gripping the plates of the side panel assembly.

[0114] The second gripper 100 includes a third mounting bracket 101, at least one first locking disc 102, and multiple fourth hook devices 103 for gripping different types of plates respectively. The first locking disc 102 is disposed on the third mounting bracket 101. The fourth hook device 103 is provided with a first quick-change disc 1031 that matches the first locking disc 102. Any one of the fourth hook devices 103 is detachably connected to the first locking disc 102 through the first quick-change disc 1031. The second gripper 100 grips the plates through the fourth hook devices 103.

[0115] The fourth hook device 103 has the same structure as the second hook device 731, and will not be described again here. The seventh cylinder of the fourth hook device 103 drives the first telescopic rod to move, causing the first hook part to extend through the first opening and clamp the plate together with the first clamping end face, or retract to release the clamping of the plate.

[0116] For example, the panels include the sill inner panel 4 of the side panel assembly, the front wheel arch reinforcement panel 6 of the side panel assembly, and the front side panel 5 of the side panel assembly.

[0117] For example, the pin diameter of each fourth hook device 103 corresponds to the positioning hole diameter of the sill inner plate 4 of each vehicle model.

[0118] For example, the first locking disc 102 is provided with multiple insertion holes and a locking assembly driven by a pneumatic device. The first quick-change disc 1031 is provided with a pin that matches the insertion holes. When the pin of the first quick-change disc 1031 is inserted into the insertion hole of the first locking disc 102, the pneumatic device drives the locking assembly to automatically lock the first locking disc 102 and the first quick-change disc 1031. At this time, the first quick-change disc 1031 cannot be separated from the first locking disc 102. When switching is required, the pneumatic device drives the locking assembly to open, allowing the first quick-change disc 1031 to separate from the first locking disc 102. Compared with the existing manual switching pin device that uses a wrench to tighten bolts, the second gripper 100 in this embodiment has the effect of quick and convenient disassembly and assembly, thereby improving replacement efficiency and production efficiency.

[0119] like Figure 6 As shown, in a preferred embodiment of the present invention, the second gripper 100 further includes at least one sliding mechanism 104, which is disposed on the third mounting bracket 101. The sliding mechanism 104 is provided with a fourth connecting portion that can slide along a first direction of the third mounting bracket 101, and a first locking disc 102 is disposed on the fourth connecting portion. For example, the first direction of the third mounting bracket 101 is the length direction of the third mounting bracket 101.

[0120] For example, the positioning holes of the inner door sill plate 4 of different car models are in different positions. When switching car models, the sliding mechanism 104 drives the fourth connecting part to move the first locking disc 102 and the fourth hook device 103 to the preset position, so that the various types of plates with different positioning hole positions can be positioned and gripped, thereby improving compatibility.

[0121] like Figure 7 As shown, in a preferred embodiment of the present invention, the second gripper 100 includes two sliding mechanisms 104. The fourth connecting portion of one sliding mechanism 104 slides horizontally along the first direction of the third mounting frame 101, and the fourth connecting portion of the other sliding mechanism 104 slides vertically. Alternatively, the fourth connecting portion of one sliding mechanism 104 slides horizontally along the first direction of the third mounting frame 101, and the fourth connecting portion of the other sliding mechanism 104 slides horizontally along the second direction of the third mounting frame 101, with the sliding directions of the fourth connecting portions of the two sliding mechanisms 104 perpendicular to each other. For example, the second direction of the third mounting frame 101 is the width direction of the third mounting frame 101, enabling multi-directional adjustment and ensuring that plates with various surface structures can be positioned and gripped, further improving compatibility. like Figure 6-7As shown, in a preferred embodiment of the present invention, the second gripper 100 further includes a second vision camera 105 and a second positioning detection switch 106. The second vision camera 105 is disposed on the third mounting bracket 101 and is used to confirm the position of the positioning hole of the plate. The second positioning detection switch 106 is disposed on the fourth locking device 103. When the pin of the fourth locking device 103 is inserted into the positioning hole of the plate, the plate presses against the second positioning detection switch 106, causing the circuit inside the second positioning detection switch 106 to close and triggering the cylinder of the fourth locking device 103 to clamp the plate.

[0122] like Figure 8 As shown, in a preferred embodiment of the present invention, a third gripper 800 detachably mounted on the robot body is further included for gripping a car roof. The third gripper 800 includes a fourth mounting bracket 801, at least one second locking disc 802, and multiple gripping modules 803. The second locking disc 802 is mounted on the fourth mounting bracket 801. Each gripping module 803 corresponds to a car roof model. Each gripping module 803 is provided with a second quick-change disc 8031 ​​that matches the second locking disc 802. Any gripping module 803 can be detachably connected to the second locking disc 802 through the second quick-change disc 8031, thereby enabling quick replacement of the gripping module 803 and improving production efficiency.

[0123] For example, different models of roofs have different shapes and different positions of positioning holes. When changing the model of the roof, the gripping module 803 needs to be replaced as a whole to improve the compatibility of the third gripper 800.

[0124] Another advantage of the overall replacement is that there is no need to set up multiple sliding mechanisms on the fourth mounting bracket 801 for compatibility, which reduces the weight of the gripper, avoids overloading the robot, and extends the robot's service life.

[0125] The second locking disc 802 has the same structure as the first locking disc 102, and the second quick-change disc 8031 ​​has the same structure as the first quick-change disc 1031, which will not be described again here.

[0126] like Figure 8As shown, in a preferred embodiment of the present invention, the number of second locking discs 802 is at least two. Each group of gripping modules 803 includes two gripping units 8032 arranged along the first direction of the fourth mounting bracket 801. Each gripping unit 8032 is provided with a second quick-change disc 8031. The two gripping units 8032 are respectively configured to grip the two ends of the roof in the width direction. Each gripping unit 8032 includes two fifth hook devices 80321 arranged along the second direction of the fourth mounting bracket 801. The two fifth hook devices 80321 of each gripping unit 8032 grip the two ends of the roof in the length direction, thereby realizing gripping of the front end, rear end, left end and right end of the roof in four directions, ensuring uniform force during gripping.

[0127] The fifth hook device 80321 has the same structure as the second hook device 731, and will not be described again here. The seventh cylinder of the fifth hook device 80321 drives the first telescopic rod to move, causing the first hook part to extend through the first opening and clamp the roof cover together with the first clamping end face, or retract to release the clamping of the roof cover.

[0128] like Figure 9-11 As shown, the vehicle flexible assembly production line of the present invention also includes a transport trolley 2 and a bracket 3 disposed on the top of the transport trolley 2. The bracket 3 is used to support the vehicle body, and the transport trolley 2 is used to transport the vehicle body to various workstations of the vehicle flexible assembly production line.

[0129] For example, the transport vehicle 2 is an intelligent vehicle or a rail-type conveyor.

[0130] The bracket 3 includes a second base 31 and multiple lifting groups 32. The multiple lifting groups 32 are arranged on the second base 31 along the long side direction. The multiple lifting groups 32 jointly support the vehicle body. Each lifting group 32 includes a fifth connecting part 3211, a third mounting part 322 and two second positioning support parts 323. The fifth connecting part 3211 can slide along the long side direction of the second base 31. The third mounting part 322 is disposed on the fifth connecting part 3211. The two second positioning support parts 323 are arranged on the third mounting part 322 along the short side direction of the second base 31 and are used to support the longitudinal beams on both sides of the vehicle body respectively.

[0131] like Figure 9 As shown, in this embodiment, the long side of the second base 31 is in the direction of the vehicle body length, and the short side of the second base 31 is in the direction of the vehicle body width.

[0132] For example, when switching from a short-body model to a long-body model, the fifth connecting portion 3211 of each lifting assembly 32 is slidably adjusted to a preset position, thereby increasing the distance between adjacent lifting assemblies 32 to accommodate the long-body model. Conversely, when switching to a short-body model, the fifth connecting portion 3211 of each lifting assembly 32 is slidably adjusted to a preset position, thereby decreasing the distance between adjacent lifting assemblies 32 to accommodate the short-body model.

[0133] Since the bracket 3 of the present invention can slide along the length of the vehicle body, it can lift and transport both long-body and short-body vehicles. After switching vehicle models, there is no need to change the bracket, thus achieving compatibility with lifting and transporting multiple vehicle models.

[0134] like Figure 16-17 As shown, in a preferred embodiment of the present invention, the second positioning support 323 includes a support arm 3231, a fifth cylinder 3232, a fourth mounting part 3233, a third hook 3234, a fifth connecting rod 3235, two sixth connecting rods 3236, and a third pin 3237.

[0135] The lower end of the support arm 3231 is mounted on the third mounting part 322. The fifth cylinder 3232 is fixedly connected to the upper end of the support arm 3231. The lower end of the fourth mounting part 3233 is fixedly connected to the fifth cylinder 3232. The upper end of the fourth mounting part 3233 has a second supporting surface 32331 for supporting the longitudinal beam. The fourth mounting part 3233 has a sixth cavity 32332. The fourth telescopic rod 32321, the fifth connecting rod 3235 and the sixth connecting rod 3236 of the fifth cylinder 3232 are all located in the sixth cavity 32332.

[0136] The third pin 3237 is disposed on the second support surface 32331 and is used to be inserted into the positioning hole of the vehicle body longitudinal beam. The third pin 3237 has a seventh cavity 32371 that communicates with the sixth cavity 32332. A fourth opening is provided on one side of the third pin 3237 to communicate with the outside of the seventh cavity 32371.

[0137] The lower part of the third hook 3234 is located inside the sixth cavity 32332, and the upper end of the third hook 3234 is provided with a third hook part 32341, which is located inside the seventh cavity 32371.

[0138] The upper end of the fifth link 3235 is hinged to the lower first side of the third hook 3234, the lower end of the fifth link 3235 is hinged to the fourth telescopic rod 32321, one end of the sixth link 3236 is hinged to the lower second side of the third hook 3234, the other end of the sixth link 3236 is hinged to the fourth mounting part 3233, and the two sixth links 3236 are parallel.

[0139] When the fourth telescopic rod 32321 of the fifth cylinder 3232 moves, it drives the third hook part 32341 to extend through the fourth opening and clamp the longitudinal beam together with the second supporting surface 32331, or retract to release the clamping.

[0140] For example, when the transport trolley 2 moves to the loading position, the fifth cylinder 3232 drives the fourth telescopic rod 32321 to move upward, so that the third hook part 32341 retracts into the seventh cavity 32371; The hoisting or lifting equipment hoists the vehicle body above multiple lifting groups 32, and each positioning hole of the vehicle body longitudinal beam corresponds to the third pin 3237 on each lifting group 32. Then the hoisting equipment lowers the vehicle body onto the multiple lifting groups 32 until the second supporting surface 32331 abuts against the lower end face of the vehicle body longitudinal beam, and the third pin 3237 is inserted into the positioning hole of the longitudinal beam. Then, the fifth cylinder 3232 drives the fourth telescopic rod 32321 to move downward, which in turn drives the fifth connecting rod 3235 to move downward. The fifth connecting rod 3235 pulls the third hook 3234 and the third hook part 32341 downward and moves towards the fourth opening on the side of the third pin 3237 until the third hook part 32341 extends out from the fourth opening and clamps the longitudinal beam together with the second supporting surface 32331, thereby fixing the vehicle body on the bracket 3 and ensuring that the vehicle body will not shake or fall off when the trolley 2 moves. When the clamping is released, the fifth cylinder 3232 drives the fourth telescopic rod 32321 to move upward, causing the third hook part 32341 to retract into the seventh cavity 32371.

[0141] like Figure 9-11 As shown, in a preferred embodiment of the present invention, the lifting assembly 32 further includes a second horizontal sliding mechanism 321, which is disposed on the second base 31. The fifth connecting portion 3211 is slidably disposed on the second horizontal sliding mechanism 321 along the long side of the second base 31. When it is necessary to adjust the distance between two adjacent lifting assemblies 32, the second horizontal sliding mechanism 321 drives the fifth connecting portion 3211 to drive the two second positioning support portions 323 to slide along the long side of the second base 31, thereby achieving automatic adjustment.

[0142] like Figure 12A As shown, in a preferred embodiment of the present invention, the second horizontal sliding mechanism 321 includes a first housing 3212, a first lead screw 3213, a first slide block 3214, a first servo motor 3215, and a first guide rail 3216.

[0143] The first lead screw 3213 is rotatably disposed within the first housing 3212. The first guide rail 3216 is disposed parallel to the first lead screw 3213 within the first housing 3212, and the extension direction of the first guide rail 3216 and the extension direction of the first lead screw 3213 are both the same as the long side direction of the second base 31.

[0144] The first slide block 3214 has a first threaded hole and a first guide groove. The first threaded hole is threadedly connected to the first lead screw 3213, and the first slide block 3214 can be slidably inserted into the first guide rail 3216 through the first guide groove.

[0145] The first servo motor 3215 has an encoder inside, the shaft of the first servo motor 3215 is connected to the first lead screw 3213, and the fifth connecting part 3211 is fixedly located on the first slide 3214.

[0146] For example, the first servo motor 3215 rotates clockwise, driving the first lead screw 3213 to rotate clockwise, causing the first slide block 3214 and the fifth connecting part 3211 to slide forward along the long side of the second base 31, thereby lengthening the distance between two adjacent lifting groups 32; the first servo motor 3215 rotates counterclockwise, driving the first lead screw 3213 to rotate counterclockwise, causing the first slide block 3214 and the fifth connecting part 3211 to slide backward along the long side of the second base 31, thereby reducing the distance between two adjacent lifting groups 32.

[0147] By using a servo motor drive with an encoder, the accuracy of adjusting the distance between the two lifting groups 32 is improved, eliminating the need for repeated fine-tuning and thus improving adjustment efficiency.

[0148] Preferred, such as Figure 12A The first guide rail 3216 has symmetrical slots 32161 on both sides of its short side. The slots 32161 extend along the length of the first guide rail 3216. The first guide groove of the first slide block 3214 has protrusions 32141 on both sides of its first guide groove that match the slots 32161. The protrusions 32141 and the slots 32161 can be slidably inserted into each other, and the protrusions 32141 slide along the slots 32161 to prevent the first slide block 3214 from derailing from the first guide rail 3216 and to ensure the stability of the sliding of the first slide block 3214.

[0149] like Figure 10-11 As shown, in a preferred embodiment of the present invention, the lifting assembly 32 further includes a second guide rail 324, which is fixedly connected to the second base 31, and the extending direction of the second guide rail 324 is parallel to the sliding direction of the fifth connecting part 3211. One end of the third mounting part 322 is slidably disposed on the second guide rail 324, and the other end of the third mounting part 322 is fixedly connected to the fifth connecting part 3211 to ensure the uniformity of force when the third mounting part 322 slides.

[0150] like Figure 11 As shown, in a preferred embodiment of the present invention, the third mounting part 322 includes a third horizontal sliding mechanism. The third horizontal sliding mechanism is provided with a sixth connecting part 3221 and a seventh connecting part 3222 that slide along the short side of the second base 31. The sixth connecting part 3221 and the seventh connecting part 3222 are configured to move simultaneously in opposite directions. Two second positioning support parts 323 are respectively provided on the sixth connecting part 3221 and the seventh connecting part 3222.

[0151] For example, when switching from a narrow-body vehicle to a wide-body vehicle, the third horizontal sliding mechanism drives the sixth connecting portion 3221 and the seventh connecting portion 3222 to move in opposite and opposite directions, thereby lengthening the distance between the two second positioning support portions 323 to accommodate the wide-body vehicle. Conversely, when switching to a narrow-body vehicle, the third horizontal sliding mechanism drives the sixth connecting portion 3221 and the seventh connecting portion 3222 to move in opposite and opposite directions, thereby shortening the distance between the two second positioning support portions 323 to accommodate the narrow-body vehicle. This achieves support for both wide-body and narrow-body vehicles, further enhancing compatibility.

[0152] like Figure 12B As shown, in a preferred embodiment of the present invention, the third horizontal sliding mechanism includes a second housing 3223, a second lead screw 3224, a third guide rail 3225, a second slide block 3226, a third slide block 3227, and a second servo motor 3228.

[0153] The second lead screw 3224 is rotatably and horizontally disposed within the second housing 3223 along the short side of the second base 31. The second lead screw 3224 is provided with a first thread 32241 and a second thread 32242 with opposite screwing directions.

[0154] The third guide rail 3225 extends in the same direction as the axis of the second lead screw 3224, and the third guide rail 3225 and the second lead screw 3224 are arranged parallel to each other in the second housing 3223.

[0155] The second slide block 3226 has a second threaded hole and a second guide groove. The second slide block 3226 is connected to the first thread 32241 through the second threaded hole, and the second slide block 3226 can be slidably inserted into the third guide rail 3225 through the second guide groove.

[0156] The third slide block 3227 has a third threaded hole and a third guide groove. The third slide block 3227 is connected to the second thread 32242 through the third threaded hole, and the third slide block 3227 can slide and be inserted into the third guide rail 3225 through the third guide groove.

[0157] The third guide rail 3225 has the same structure as the first guide rail 3216. The second guide groove of the second slide 3226 and the third guide groove of the third slide 3227 have the same structure as the first guide groove of the first slide 3214, which will not be described in detail here.

[0158] The shaft of the second servo motor 3228 is connected to the second lead screw 3224. The sixth connecting part 3221 and the seventh connecting part 3222 are located on the second slide 3226 and the third slide 3227, respectively. The second servo motor 3228 has a program for measuring the magnetic pole position and the servo motor rotation angle and speed, so as to provide accurate position, speed and torque information and help the control system to achieve precise control of the servo motor.

[0159] For example, when the second servo motor 3228 drives the second lead screw 3224 to rotate in the forward direction, the second slide 3226 and the third slide 3227 move towards each other simultaneously; when the second servo motor 3228 drives the second lead screw 3224 to rotate in the reverse direction, the second slide 3226 and the third slide 3227 move away from each other simultaneously.

[0160] like Figure 9 , 11 As shown, in a preferred embodiment of the present invention, it further includes two first material racks 600 for placing the two inner door sill plates 4 of the vehicle body respectively, and the two first material racks 600 are respectively placed on both sides of the short side direction of the second base 31.

[0161] like Figure 13A As shown, each first material rack 600 includes a fourth base 601, multiple first support groups 602, a first limiting arm 605 and a second limiting arm 606. The multiple first support groups 602 are spaced apart on the fourth base 601 along the long side direction of the fourth base 601, and are used to support the inner sill plate 4 at an angle together, so that the robot can easily grasp the inner sill plate 4 through the second gripper 100.

[0162] The long side of the fourth base 601 is in the same direction as the long side of the inner sill plate 4.

[0163] For example, such as Figure 13B As shown, the inner sill plate 4 includes a bottom wall 41, a first side wall 42 fixed to one end of the bottom wall 41, and a second side wall 43 fixed to the other end of the bottom wall 41. The free ends of the first side wall 42 and the free ends of the second side wall 43 are respectively provided with flanges, and the bottom wall 41 has multiple positioning holes. When the angle between the bottom wall 41 of the inner sill plate 4 and the horizontal line is 30-80 degrees, the second gripper 100 can easily grip the inner sill plate 4.

[0164] The long side of the fourth base 601 is in the same direction as the long side of the second base 31. The first limiting arm 605 is located at the first end of the long side of the fourth base 601, and the second limiting arm 606 is located at the second end of the long side of the fourth base 601. The second limiting arm 606 and the first limiting arm 605 are configured together to limit the inner sill plate 4 in the long side of the fourth base 601, so as to prevent the inner sill plate 4 from shaking in the long side of the fourth base 601 during transportation, which would affect the gripping of the inner sill plate 4.

[0165] When the transport trolley 2 moves to the loading station, the hoisting equipment places the lower body of the vehicle onto the carrier 3 of the transport trolley. A robot or operator places the sill inner panel 4 onto the first material rack 600. Then, the transport trolley 2 carries the lower body of the vehicle and the sill inner panel 4 to the longitudinal beam lifting device of the vehicle flexible production line. When it is necessary to weld the sill inner panel 4 to the vehicle body, the robot uses the second gripper 100 to grab the sill inner panel 4 from the first material rack 600 and move it to the preset welding position on the vehicle body. Since the first material rack 600 is fixed to the carrier 3, it does not occupy space in the vehicle flexible production line, thus optimizing the layout of the vehicle flexible production line.

[0166] like Figure 13A , 13B As shown in Figure 13C, in a preferred embodiment of the present invention, the first support group 602 includes a first support arm 6021 and a second support arm 6022. The first support arm 6021 is horizontally disposed on the fourth base 601 and is used to support the first side wall 42 of the inner sill plate 4, or the first support arm 6021 supports the connection between the first side wall 42 and the bottom wall 41.

[0167] One end of the first support arm 6021 is provided with a slot 60211 for inserting into the flange of the inner sill plate 4. The second support arm 6022 is set at an angle on the fourth base 601 to support the bottom wall 41 of the inner sill plate 4. The second support arm 6022 and the slot 60211 together limit the inner sill plate 4 in the short side direction of the fourth base 601 to prevent the inner sill plate 4 from shaking along the short side direction of the fourth base 601 during transportation.

[0168] For example, the angle between the bottom wall 41 and the horizontal line and the angle between the second support arm 6022 and the horizontal line are both 30-80 degrees.

[0169] like Figure 13A , 13CAs shown, in a preferred embodiment of the present invention, a fourth guide rail 6011 is provided at the second end of the long side of the fourth base 601. The fourth guide rail 6011 extends in the same direction as the long side of the fourth base 601. A first connecting seat 6061 is provided at one end of the second limiting arm 606. The first connecting seat 6061 has a sixth sliding groove that matches the fourth guide rail 6011. The second limiting arm 606 is slidably mounted on the fourth guide rail 6011 through the sixth sliding groove to adapt to sill inner panels of different lengths.

[0170] For example, the cross-sectional shape of the fourth guide rail 6011 is an isosceles trapezoid, and the lower end of the fourth guide rail 6011 is narrow and the upper end is wide. The cross-sectional shape of the sixth slide groove matches the cross-section of the fourth guide rail 6011, so that the sixth slide groove cannot derail from the fourth guide rail 6011 upwards, thereby improving the stability of the sliding of the second limit arm 606.

[0171] like Figure 13C As shown, in a preferred embodiment of the present invention, the first material rack 600 further includes a first columnar insert 607, and the fourth guide rail 6011 has a plurality of first positioning holes 60111 along the sliding direction of the first connecting seat 6061 of the second limiting arm 606. The first connecting seat 6061 also has a second positioning hole that communicates with the sixth sliding groove. The lower end of the first columnar insert 607 can be axially movably disposed in the second positioning hole, and the first columnar insert 607 can be inserted into any one of the first positioning holes 60111 to fix the position of the first connecting seat 6061 of the second limiting arm 606 according to the length of the inner plate of the threshold.

[0172] For example, the first columnar insert 607 is any one of a bolt, a hand-tightening bolt, a pin, or a self-locking pin.

[0173] like Figure 9 , 10 As shown in 14A and 14B, in a preferred embodiment of the present invention, two second material racks 400 for placing the front side panel 5 of the vehicle body are also included. The two second material racks 400 are respectively disposed on both sides of the short side direction of the second base 31, and both second material racks 400 are located at the front end of the second base 31 in the length direction. Each second material rack 400 includes a second main body 401, a fourth limiting arm 404, a fifth limiting arm 405, an upper support arm 406, and a lower support part 407.

[0174] The second main body 401 is angled and mounted on the second base 31, allowing the robot to easily grasp the front side plate 5 via the second gripper 100. For example, the angle between the long side of the second main body 401 and the horizontal line is 30-80 degrees.

[0175] The fourth limiting arm 404 and the fifth limiting arm 405 are arranged parallel to each other on both sides of the short side of the second main body 401 to jointly limit the front side plate 5. When the front side plate 5 is placed on the second material rack 400, the fourth limiting arm 404 and the fifth limiting arm 405 abut against the left and right sides of the front side plate 5 respectively to prevent the front side plate 5 from swaying along the short side of the second main body 401 during transportation.

[0176] The short side of the second main body 401 is in the same direction as the length of the second base 31.

[0177] The lower support portion 407 is located at the lower end of the long side of the second main body portion 401. The lower support portion 407 includes two support arms 4071 for supporting the front side plate 5 and a third limiting arm 4072 disposed between the two support arms 4071. The third limiting arm 4072 has a through groove 40721 for inserting into the bottom of the front side plate 5.

[0178] The upper support arm 406 is located at the upper end of the long side of the second main body 401, and the upper support arm 406 extends horizontally to support the upper part of the front side plate 5.

[0179] When the bottom of the front side plate 5 is inserted into the through groove 40721, the through groove 40721 and the upper support arm 406 together limit the front side plate 5 to restrict the placement angle of the front side plate 5, so that the front side plate 5 cannot shake. The lower end of the front side plate 5 abuts against the upper end face of the two support arms 4071, so that the two support arms 4071 support the front side plate 5.

[0180] When the transport trolley 2 moves to the loading station, the hoisting equipment places the lower body of the vehicle onto the carrier 3 of the transport trolley. A robot or operator places the sill inner panel 4 and the front side panel 5 onto the first material rack 600 and the second material rack 400, respectively. Then, the transport trolley 2 transports the lower body of the vehicle, the sill inner panel 4, and the front side panel 5 to the longitudinal beam lifting device of the flexible vehicle production line. When the sill inner panel 4 needs to be welded to the vehicle body, the robot uses the second gripper 100 to grab the sill inner panel 4 from the first material rack 600 and move it to the preset welding position on the vehicle body. When the front side panel 5 needs to be welded to the vehicle body, the robot uses the second gripper 100 to grab the front side panel 5 from the second material rack 400 and move it to the preset welding position on the vehicle body. Since the first material rack 600 and the second material rack 400 are fixed to the carrier 3, they do not occupy space in the flexible vehicle production line, thus optimizing the layout of the flexible vehicle production line. Because the second material rack is set at an angle of 400, it is easier for the second gripper 100 to grasp it, thereby improving the grasping efficiency.

[0181] like Figure 14A , 14BAs shown, in a preferred embodiment of the present invention, a horizontally extending first slide rail 4011 is provided on one side of the short side of the second main body 401, and a second connecting seat 4051 is provided at one end of the fifth limiting arm 405. The second connecting seat 4051 has a seventh sliding groove that can be slidably inserted into the first slide rail 4011. The fifth limiting arm 405 slides horizontally along the first slide rail 402 in the short side direction of the second main body 401 through the seventh sliding groove, which is used to adjust the distance between the fifth limiting arm 405 and the fourth limiting arm 404 to adapt to front side plates 5 of different widths, thereby improving the compatibility of the second material rack 400.

[0182] Preferably, the cross-sectional shape of the first slide rail 4011 is the same as that of the fourth guide rail 6011, which will not be described in detail here. This prevents the seventh slide groove of the second connecting seat 4051 from derailing from the first slide rail 4011 and improves the stability of the sliding of the fifth limiting arm 405.

[0183] like Figure 14A As shown, preferably, it also includes a second columnar insert 408. The first slide rail 4011 has a plurality of third positioning holes 40111 along the sliding direction of the fifth limiting arm 405. The second connecting seat 4051 has a fourth positioning hole 40511 that communicates with the seventh slide groove. The lower end of the second columnar insert 408 can be axially movably disposed in the fourth positioning hole 40511. The second columnar insert 408 can be inserted into any of the third positioning holes 40111 to fix the position of the fifth limiting arm 405, thereby fixing the distance between the fifth limiting arm 405 and the fourth limiting arm 404, and preventing the fifth limiting arm 405 from sliding arbitrarily during transportation.

[0184] For example, the second columnar insert 408 can be any one of a bolt, a hand-tightening bolt, a pin, or a self-locking pin.

[0185] like Figure 14A , 14B As shown, in a preferred embodiment of the present invention, a third guide rail 4012 extending along the long side of the second main body 401 is provided at the upper end of the second main body 401, and a third connecting seat 4061 is provided in the middle of the upper support arm 406. The third connecting seat 4061 has an eighth sliding groove that matches the third guide rail 4012. The upper support arm 406 can be slidably disposed on the third guide rail 4012 along the long side of the second main body 401 through the eighth sliding groove, for sliding adjustment of the position of the upper support arm 406 to adapt to the front side plate 5 of different heights.

[0186] Preferably, the cross-sectional shape of the third guide rail 4012 is the same as that of the fourth guide rail 6011, which will not be described in detail here. This prevents the upper support arm 406 from derailing from the third guide rail 4012, thereby improving the stability of the upper support arm 406 sliding.

[0187] Preferably, it also includes a third columnar insert, such as Figure 14A As shown, the third guide rail 4012 has multiple fifth positioning holes 40121 along the sliding direction of the upper support arm 406, and the third connecting seat 4061 has a sixth positioning hole that connects to the eighth slide groove. One end of the third columnar insert can be axially movably disposed in the sixth positioning hole, and the third columnar insert can be inserted into any of the fifth positioning holes 40121 to fix the position of the upper support arm 406 and prevent the upper support arm 406 from sliding randomly during transportation.

[0188] For example, the third column insert can be any one of a bolt, a hand-tightening bolt, a pin, or a self-locking pin.

[0189] like Figure 14B As shown, in a preferred embodiment of the present invention, a bracket 409 is further included, the lower end of the bracket 409 is fixedly connected to the bracket 3, and the second main body 401 is fixedly connected at an angle to the upper end of the bracket 409.

[0190] For example, the upper part of the bracket 409 includes a tripod with a bevel, and the second main body 401 is fixed to the bevel of the tripod to achieve angled installation.

[0191] Of course, the transport vehicle 2 is not limited to the lower body of the transport vehicle, the inner sill plate 4, and the front side plate 5. For example, the art can select the lower body of the transport vehicle, the inner sill plate 4, and the front wheel arch reinforcement plate 6 according to the actual situation of the vehicle model.

[0192] For example, such as Figure 15A , 15B As shown, in one embodiment of the present invention, two third racks 200 are also included for placing the two front wheel arch reinforcement plates 6 of the vehicle body respectively. The two third racks 200 are respectively disposed on both sides of the short side of the second base 31, and the two third racks 200 are located at the front end of the long side of the bracket 3.

[0193] Each third rack 200 includes a first main body 201, a seventh limiting arm 203, an eighth limiting arm 204, and a hanging pin 205.

[0194] The first main body 201 is set at an angle on the bracket 3. For example, the angle between the long side of the first main body 201 and the horizontal line is 30-80 degrees, so that the second gripper 100 can easily grip the front wheel cover reinforcement plate 6, thereby improving the gripping efficiency.

[0195] The seventh limiting arm 203 and the eighth limiting arm 204 are arranged parallel to each other on both sides of the short side of the first main body 201. They are used to abut against both sides of the front wheel cover reinforcement plate 6 and jointly limit the front wheel cover reinforcement plate 6 to prevent it from shaking. The hanging pin 205 is located at the upper end of the first main body 201. The front wheel cover reinforcement plate 6 is hung on the hanging pin 205 through the hanging hole at its upper part.

[0196] When the transport trolley 2 moves to the loading station, the robot places the lower body of the vehicle on the carrier 3 of the transport trolley. The robot or a person places the sill inner panel 4 and the front wheel arch reinforcement plate 6 on the first material rack 600 and the third material rack 200 respectively. Then the transport trolley 2 carries the lower body of the vehicle, the sill inner panel 4 and the front wheel arch reinforcement plate 6 to the longitudinal beam lifting device. When it is necessary to weld the sill inner panel 4 and the front wheel arch reinforcement plate 6 to the vehicle body, the robot uses the second gripper 100 to grab the sill inner panel 4 and the front wheel arch reinforcement plate 6 from the first material rack 600 and the third material rack 200 respectively and move them to the preset welding position on the vehicle body.

[0197] like Figure 15A As shown, in a preferred embodiment of the present invention, a horizontally extending second slide rail 2011 is provided on one side of the short side of the first main body 201, and a fourth connecting seat 2041 is provided at one end of the eighth limiting arm 204. The fourth connecting seat 2041 has a ninth sliding groove that matches the second slide rail 2011. The eighth limiting arm 204 can be horizontally slidably disposed on the second slide rail 2011 through the ninth sliding groove, and is used to slide and adjust the distance between the eighth limiting arm 204 and the seventh limiting arm 203 to adapt to front wheel arch reinforcement plates 6 of different widths.

[0198] Preferably, the cross-sectional shape of the second slide rail 2011 is the same as that of the fourth guide rail 6011, which will not be described in detail here. This prevents the eighth limiting arm 204 from derailing from the second slide rail 2011, thereby improving the stability of the sliding of the eighth limiting arm 204.

[0199] like Figure 15A As shown, preferably, it also includes a fourth columnar insert 206. The second slide rail 2011 has multiple seventh positioning holes 20111 along the sliding direction of the eighth limiting arm 204. The fourth connecting seat 2041 has an eighth positioning hole that communicates with the ninth slide groove. One end of the fourth columnar insert 206 can be axially movably disposed in the eighth positioning hole, and the fourth columnar insert can be inserted into any of the seventh positioning holes 20111 to fix the position of the eighth limiting arm 204 and prevent the eighth limiting arm 204 from sliding arbitrarily during transportation. For example, the fourth columnar insert 206 can be any one of a bolt, a hand-tightening bolt, a pin, or a self-locking pin.

[0200] like Figure 15A , 15B As shown, preferably, it also includes an upper support block 207, which is disposed at the upper end of the first main body 201. A hanging pin 205 is disposed on the upper support block 207, and steps 2042 are provided in the middle of both the eighth limiting arm 204 and the seventh limiting arm 203. Figure 15BAs shown, when the front wheel cover reinforcement plate 6 is hung on the third material rack 200, the upper support block 207 and the step 2042 jointly support the front wheel cover reinforcement plate 6, so that a certain gap is reserved between the front wheel cover reinforcement plate 6 and the first main body 201 to avoid them jamming each other.

[0201] This invention also discloses a side panel assembly pre-assembly method, applied to the aforementioned vehicle body support device for a flexible vehicle assembly line, the method comprising: like Figure 1 As shown, when the lower body of a vehicle model carried by the trolley 2 moves between the two side support devices, the ninth mounting brackets 902 of the two side support devices move towards each other and slide to the first position respectively. Adjust the height of the support frame 903 so that the top surface height of the fourth support part 910 and the top surface height of the third support part 909 are equal to the pre-installation height of the side assembly of the vehicle model. The distance between the fourth support part 910 and the third support part 909 is adjusted to be less than the length of the side panel assembly of the vehicle model; The two side panel assemblies are lifted onto the two side panel support devices by a lifting device, and the fourth support part 910 and the third support part 909 support the front and rear of the same side panel assembly respectively. The two side panel assemblies are manually pushed horizontally towards each other onto the lower body of the vehicle, and then hooked onto the lower body's mounting parts via multiple hooks on the side panel assemblies, thus completing the pre-assembly of the side panel assemblies.

[0202] After pre-installation, the ninth mounting brackets 902 on both sides move in opposite directions and slide to the second position respectively; When the transport vehicle 2 carries the lower body, which includes the pre-installed side panel assembly, to the longitudinal beam lifting device, each lifting group moves to a preset lifting position adapted to the vehicle model. Each lifting group simultaneously lifts the lower body of the vehicle model to a preset height. Each gripping robot grips the parts (such as the inner door sill plate and the front wheel arch reinforcement plate, or the inner door sill plate and the front side plate) to the welding position of the lower body. Each welding robot welds the parts and the side panel assembly to the lower body. After assembly and welding are completed, each lifting group lowers the lower body onto the bracket 3 of the transport trolley 2, and the transport trolley 2 carries the lower body to the next preset work station.

[0203] The side panel assembly pre-installation method provided by the present invention, by adopting the above-mentioned side panel support device, can support multiple types of side panel assemblies, and does not require the entire side panel support device to be replaced when the type of side panel assembly is changed.

[0204] In this embodiment of the invention, the term "multiple" refers to two or more, unless otherwise explicitly defined. The terms "install," "connect," and "fix" should be interpreted broadly. For example, "connect" can mean a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention based on the specific circumstances.

[0205] In the description of the embodiments of the present invention, it should be understood that the terms "upper" and "lower" 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 the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or unit 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 the embodiments of the present invention.

[0206] In the description of this specification, the terms "an embodiment," "a preferred embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0207] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. For those skilled in the art, the embodiments of the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of the present invention should be included within the protection scope of the embodiments of the present invention.

Claims

1. A vehicle body support device for a flexible vehicle assembly line, characterized in that, The device includes a side support device (900), which includes a first base (901), a ninth mounting bracket (902), a support frame (903), a third support part (909), and a fourth support part (910). The ninth mounting bracket (902) is horizontally slidable on the first base (901) along a first direction. The support frame (903) is vertically slidable on the ninth mounting bracket (902). The third support part (909) is fixed to one top end of the support frame (903). The fourth support part (910) is horizontally slidable on the support frame (903) along a second direction, and the fourth support part (910) is at the same height as the third support part (909). The fourth support part (910) and the third support part (909) are configured to jointly support the side wall, wherein the second direction is perpendicular to the first direction.

2. The vehicle body support device for a flexible vehicle assembly line according to claim 1, characterized in that, A connecting arm (9101) is provided on one side of the fourth support part (910). The height of the connecting arm (9101) is higher than that of the support frame (903). A bolt (9102) is provided on the connecting arm (9101). The upper end of the support frame (903) is provided with a plurality of positioning screw holes (9031) along the sliding direction of the fourth support part (910). The bolt (9102) can be connected to any one of the positioning screw holes (9031) to fix the fourth support part (910).

3. The vehicle body support device for a flexible vehicle assembly line according to claim 1, characterized in that, It also includes a second cylinder (907), the first base (901) is horizontally provided with two fifth guide rails (904) along the first direction, the bottom of the two ninth mounting brackets (902) are respectively provided with first sliding grooves, the first sliding grooves can be slidably inserted into the fifth guide rails (904) along the first direction, the second cylinder (907) is fixed to the first base (901), and the first telescopic rod of the second cylinder (907) is connected to the ninth mounting bracket (902) for driving the ninth mounting bracket (902) to slide between the first position and the second position.

4. The vehicle body support device for a flexible vehicle assembly line according to claim 1, characterized in that, It also includes a third lifting device (908). The ninth mounting bracket (902) is provided with two sixth guide rails (905) in a direction perpendicular to the horizontal. The support frame (903) has a second sliding groove on one side. The support frame (903) can be slidably inserted into the sixth guide rail (905) in the vertical direction through the second sliding groove. The third lifting device (908) is fixed to the ninth mounting bracket (902). The second telescopic rod (9081) of the third lifting device (908) is connected to the support frame (903) and is used to drive the support frame (903) to move up and down.

5. The vehicle body support device for a flexible vehicle assembly line according to claim 1, characterized in that, The support frame (903) has two parallel and vertically arranged seventh guide rails (906) horizontally arranged along the sliding direction of the fourth support part (910). The fourth support part (910) has two third sliding grooves corresponding to the two seventh guide rails (906). The fourth support part (910) can be horizontally slidably arranged on the seventh guide rails (906) along the second direction through the third sliding grooves.

6. The vehicle body support device for a flexible vehicle assembly line according to claim 1, characterized in that, It also includes a longitudinal beam lifting device, which includes multiple lifting groups (1) arranged along the second direction. The lifting group (1) includes two first horizontal sliding mechanisms (11), two first lifting devices (13), and two first positioning support parts (15). The two first horizontal sliding mechanisms (11) are arranged along the first direction, and there is a gap between the two first horizontal sliding mechanisms (11) for the passage of the trolley (2). The first horizontal sliding mechanisms (11) can slide horizontally along the second direction. The two first lifting devices (13) are respectively disposed on the two first horizontal sliding mechanisms (11). The two first positioning support parts (15) are respectively disposed on the two first lifting devices (13) for supporting the longitudinal beams on both sides of the vehicle body.

7. The vehicle body support device for a flexible vehicle assembly line according to claim 6, characterized in that, The first positioning support part (15) includes a fourth cylinder (151), a second mounting part (152), a second hook (153), a third connecting rod (154), two fourth connecting rods (155), and a second pin (156). The fourth cylinder (151) is movably mounted on the first lifting device (13). The lower end of the second mounting part (152) is fixedly connected to the fourth cylinder (151), and the upper end of the second mounting part (152) has a first supporting surface (156) for supporting the longitudinal beam. 21), the second mounting part (152) has a third cavity (1522), the second telescopic rod (1511), the third connecting rod (154) and the fourth connecting rod (155) of the fourth cylinder (151) are all located in the third cavity (1522), the second pin (156) is disposed on the first supporting surface (1521), and the second pin (156) has a fourth cavity (1561) communicating with the third cavity (1522). A second opening is provided on one side to connect the fourth cavity (1561) with the outside. The lower part of the second hook (153) is located inside the third cavity (1522). The upper end of the second hook (153) is provided with a second hook part (1531), which is located inside the fourth cavity (1561). The upper end of the third connecting rod (154) is hinged to the lower first side of the second hook (153), and the lower end of the third connecting rod (154) is connected to the second telescopic rod ( 1511) Hinged, one end of the fourth link (155) is hinged to the second side of the lower end of the second hook (153), and the other end of the fourth link (155) is hinged to the second mounting part (152). The two fourth links (155) are parallel. When the second telescopic rod (1511) of the fourth cylinder (151) moves, it drives the second hook part (1531) to extend through the second opening and clamp the longitudinal beam together with the first supporting surface (1521) or retract to release the clamp.

8. The vehicle body support device for a flexible vehicle assembly line according to claim 6, characterized in that, The first horizontal sliding mechanism (11) includes a cross slide, which includes a first lead screw slide (111) and a second lead screw slide (112). The first lead screw slide (111) has a first connecting part that slides horizontally along the second direction. The second lead screw slide (112) is disposed on the first connecting part and has a second connecting part that slides horizontally along the first direction. The first lifting device (13) is disposed on the second connecting part of the second lead screw slide (112).

9. The vehicle body support device for a flexible vehicle assembly line according to claim 8, characterized in that, The first lifting device (13) includes a third lead screw slide, which is provided with a third connecting part that can slide up and down, and the first positioning support part (15) is provided on the third connecting part of the first lifting device (13).

10. The vehicle body support device for a flexible vehicle assembly line according to claim 9, characterized in that, The first lead screw slide (111), the second lead screw slide (112), and the third lead screw slide each include a fourth housing, a fourth lead screw, a fourth slide block, and a fourth servo motor. The fourth lead screw is rotatably disposed in the fourth housing. The fourth slide block has a threaded hole, which is threadedly connected to the fourth lead screw. The fourth servo motor is fixed to one end of the fourth housing, and the shaft of the fourth servo motor is connected to the fourth lead screw. The fourth servo motor drives the fourth lead screw to rotate, thereby causing the fourth slide block to slide. The first connecting part is located on the fourth slide block of the first lead screw slide, the second connecting part is located on the fourth slide block of the second lead screw slide, and the third connecting part is located on the fourth slide block of the third lead screw slide. The fourth lead screw of the second lead screw slide and the fourth lead screw of the first lead screw slide are both horizontally disposed and perpendicular to each other. The fourth lead screw of the third lead screw slide is perpendicular to the horizontal plane.

11. A method for pre-assembling a side panel, characterized in that, The method, applied to the vehicle body support device for a flexible vehicle assembly line according to any one of claims 1-10, comprises: When the trolley (2) carrying the lower body of a vehicle model moves between the two side support devices (900), the ninth mounting brackets (902) of the two side support devices (900) move towards each other and slide to the first position respectively; The height of the support frame (903) is adjusted so that the top surface height of the fourth support part (910) and the top surface height of the third support part (909) are equal to the pre-installed height of the side wall of the vehicle model; The distance between the fourth support part (910) and the third support part (909) is adjusted to be less than the length of the side wall of the vehicle model; The two side panels are lifted by a lifting device onto the two side panel support devices (900), and the fourth support part (910) and the third support part (909) support the front and rear of the same side panel respectively. The two side panels are pushed horizontally towards each other onto the lower body of the vehicle, and then hooked onto the lower body's mounting parts via multiple hooks on the side panels, thus completing the pre-installation of the side panels.

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