Flexible positioning and connecting tooling equipment for second-level whole vehicle assembly

Abstract

The application provides a flexible positioning and connecting tool device for whole vehicle assembly in seconds, comprising a flexible tray tool, an automatic transfer module, a space positioning and tracking system, an assembly system, a fastening system and an aerial conveying system, which is based on the idea of modularized and parallel production and rapid assembly of vehicle body components, forms a complete production line organization form, and makes the whole vehicle assembly speed reach the level of seconds, so that the number of beats and the equipment occupation area can be greatly reduced compared with the traditional assembly line vehicle manufacturing mode, and the comprehensive efficiency and economy of the equipment are significantly improved. The manufacturing and transportation processes of each vehicle body independent module and glass in the whole vehicle are independent and decoupled before reaching the assembly station, so that the inline production and flexible switching of multiple vehicle types can be realized on the basis of ensuring strong anti-interference ability.

Description

Technical Field

[0001] This invention belongs to the field of automotive complete vehicle structure manufacturing technology, specifically relating to a flexible positioning and connection tooling equipment for second-level complete vehicle assembly. Background Technology

[0002] In a previous Chinese patent application with application number 202610368976.7, the applicant proposed a rapid assembly method that involves first manufacturing the individual modules that make up the tubular beam-type body-in-white in parallel and independently, and then performing a unified assembly of the entire vehicle. This method has many beneficial effects, such as significantly improving manufacturing efficiency and equipment utilization, shortening process cycle time, reducing production line footprint, and substantially reducing costs, and can replace the existing assembly line model in automobile manufacturing. However, the corresponding production line organization structure and supporting equipment still need to be developed for this method. Summary of the Invention

[0003] In view of this, the present invention provides a flexible positioning and connection tooling equipment for second-level vehicle assembly, comprising the following units: flexible pallet tooling, automatic transfer module, spatial positioning and tracking system, assembly system, fastening system and aerial conveying system; The system includes: a flexible pallet fixture for supporting independent body modules, which are then clamped and positioned on the flexible pallet fixture after being manufactured on their respective assembly lines; an automatic transfer module for supporting and transferring the flexible pallet fixture and / or the independent body modules; an assembly system at the assembly station for picking up and assembling the independent body modules; a fastening system for tightening bolts and / or gluing between the assembly lines and the assembly station; an aerial transport system for delivering glass to the assembly station and assembling the glass with the body; and a spatial positioning and tracking system for establishing the spatial coordinate system of the assembly station, tracking the position of the independent body modules in real time, and providing corresponding guidance paths.

[0004] Furthermore, the flexible pallet tooling utilizes its own clamping mechanism and / or fastening system to achieve the clamping and positioning of independent vehicle body modules.

[0005] Furthermore, all the automatic transfer modules in the device, together with other unit nodes, form a vehicle body independent module transfer network.

[0006] Furthermore, the guidance path provided by the spatial positioning and tracking system includes at least: the transfer path of the automatic transfer module for the independent body modules in the transfer network, the path of the air transport system for transporting the glass, the motion trajectory of the assembly system for grabbing the independent body modules, and the motion trajectory of the fastening system.

[0007] Furthermore, the automatic transfer module establishes its own coordinate system with respect to the flexible pallet tooling; after the automatic transfer module merges into the transfer network, its established coordinate system is transformed with the coordinate system established by the spatial positioning and tracking system.

[0008] Accordingly, the present invention also provides a method for rapid assembly of a modular tubular beam body using the aforementioned flexible positioning and connection tooling equipment, specifically including the following steps: Step 1: Divide the body-in-white into several independent body modules, which are manufactured in parallel on independent assembly lines; the corresponding connection points between different independent body modules have mortise and tenon structures that can cooperate with each other; after each independent body module is manufactured, it is clamped and positioned using flexible pallet tooling, and then transported to the assembly station by an automatic transfer module; the air transport system delivers the glass to the assembly station. Step 2: Each independent body module is picked up and assembled by the assembly system at the assembly station. Different independent body modules are assisted in positioning and rapid combination through the mortise and tenon structure. Step 3: Secure the joints using bolts and / or structural adhesive. Step 4: The air transport system completes the assembly of the glass and the vehicle body.

[0009] Furthermore, the transfer process of the automated transfer module specifically includes: ① Drive to each sub-assembly line or the independent body module storage area, and extract the independent body module and / or flexible pallet tooling; ② Obtain coordinates and guidance path information provided by the spatial positioning and tracking system; ③ Transport the individual vehicle body modules to the assembly station according to the guided path; ④ Waiting for the assembly system to pick up the individual vehicle body modules; ⑤ Exit the assembly station and return to the packaging line or storage area.

[0010] Furthermore, the workflow of the spatial positioning and tracking system specifically includes: ① Establish the spatial coordinate system of the assembly station and import the coordinates of each unit node in the equipment; ② Obtain the coordinates of the automatic transfer module in the spatial coordinate system and provide the guidance path; ③ Provides grasping motion trajectories for the assembly system based on the location of independent modules on the vehicle body.

[0011] Furthermore, the workflow of the assembly system specifically includes: ① Match its own coordinate position in the spatial coordinate system established by the spatial positioning and tracking system, and wait for the independent vehicle body module delivered by the automatic transfer module; ② Perform the merging according to the set merging order and the motion trajectory provided by the spatial positioning and tracking system; ③ The system resets after the merging action is completed.

[0012] Furthermore, the specific workflow of the fastening system includes: ① Match its own coordinate position in the spatial coordinate system established by the spatial positioning and tracking system; ② Obtain the tightening torque parameters and / or glue application parameters corresponding to each tightening operation; ③ Perform bolt tightening and / or glue application actions according to the parameters and the motion trajectory provided by the spatial positioning and tracking system; ④ The system is reset after the tightening operation is completed.

[0013] Furthermore, the specific workflow of the air transport system includes: ① Match its own coordinate position in the spatial coordinate system established by the spatial positioning and tracking system; ② Transport the glass to the assembly station according to the glass transport path provided by the spatial positioning and tracking system, and complete the preliminary positioning at the predetermined position of the assembly station; ③ Assemble the glass with the vehicle body according to the glass transportation path provided by the spatial positioning and tracking system; ④ Exit the assembly station and return to the glass production line or storage area.

[0014] Accordingly, the present invention also provides a computer program for controlling the flexible positioning and connecting tooling equipment as a whole and / or its units to execute the modular tubular beam body rapid assembly method.

[0015] Accordingly, the present invention also provides a computer-readable storage medium storing the above-described computer program.

[0016] Accordingly, the present invention also provides an electronic device, including a processor, a memory, and the aforementioned computer program stored in the memory and executable on the processor.

[0017] The flexible positioning and connection tooling equipment for second-level vehicle assembly provided by the present invention is based on the concept of modular, decentralized, parallel production and rapid assembly of body components, forming a complete production line organization. This enables vehicle assembly speeds to reach the second level, significantly reducing cycle times and equipment footprint compared to traditional assembly line manufacturing methods, while also significantly improving overall equipment efficiency and economy. The manufacturing and transportation processes of each independent body module and glass component before reaching the assembly station are independently decoupled, allowing for co-line production and flexible switching of multiple vehicle models while ensuring strong anti-interference capabilities. Attached Figure Description

[0018] Figure 1A perspective view of the preferred structure of the flexible positioning and connection tooling equipment provided by the present invention; Figure 2 This is a preferred structural side view of the flexible positioning and connecting tooling equipment provided by the present invention; Figure 3 A top view of the preferred structure of the flexible positioning and connecting tooling equipment provided by the present invention; Figure 4 A schematic diagram of the preferred structure for a flexible pallet tooling; Figure 5 A schematic diagram of the preferred combination structure of the automatic transfer module and the flexible pallet fixture; Figure 6 It is a preferred positioning and measurement component unit in a spatial positioning and tracking system; Figure 7 Preferred automated transfer modules and assembly system component units suitable for vehicle side panels; Figure 8 Preferred component unit for fastening systems; Figure 9 This is the preferred structure for air transport systems. Detailed Implementation

[0019] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] The flexible positioning and connection tooling equipment provided by this invention for second-level vehicle assembly, such as... Figure 1-3 As shown, it includes the following units: flexible pallet tooling 1, automatic transfer module 2, spatial positioning and tracking system 3, assembly system 4, fastening system 5, and aerial conveying system 6; The flexible pallet fixture is used to support independent body modules, such as the front engine compartment module, front floor module, rear floor module, left side panel module, right side panel module, roof module, and rear panel module. After being manufactured on their respective assembly lines, the independent body modules are clamped and positioned on the flexible pallet fixture. An automated transfer module is used to support and transfer the flexible pallet fixture and / or the individual body modules. The assembly system, such as… Figure 7 As shown, the assembly station is used to pick up and assemble the individual body modules; the fastening system can employ methods such as... Figure 8 The automatic bolt tightening device shown is used to perform bolt tightening operations at the sub-assembly and assembly stations; air transport systems such as Figure 9As shown, the system may include overhead transport rails, vacuum adsorption units, etc., for conveying glass to the assembly station and completing the assembly of the glass with the vehicle body; a spatial positioning and tracking system is used to establish the spatial coordinate system of the assembly station, track the position of the independent modules of the vehicle body in real time, and provide corresponding guidance paths. Using the above equipment, the entire vehicle assembly process can be completed in just a few seconds, thereby greatly improving production efficiency.

[0021] In a preferred embodiment of the present invention, the flexible pallet tooling specifically utilizes its own clamping mechanism and / or fastening system to achieve clamping and positioning of independent vehicle body modules. For example... Figure 4 As shown, it can adopt independent module positioning surfaces of the vehicle body in the form of cylindrical or rhomboid cylindrical surfaces, as well as suitable limiting parts, positioning holes, clamps, etc., and may be reinforced by a fastening system if necessary. Figure 5 The diagram illustrates a transportation method where a flexible pallet fixture is combined with an automated transfer module below.

[0022] In a preferred embodiment of the present invention, all the automatic transfer modules in the device, together with other unit nodes, form a vehicle body independent module transfer network.

[0023] In a preferred embodiment of the present invention, the guidance path provided by the spatial positioning and tracking system includes at least: the transfer path of the automatic transfer module for the independent body modules in the transfer network, the path of the air transport system for transporting the glass, the motion trajectory of the assembly system for grabbing the independent body modules, and the motion trajectory of the fastening system. Figure 6 A laser positioning measurement unit that can be used as a component of a spatial positioning and tracking system is shown.

[0024] In a preferred embodiment of the present invention, the automatic transfer module establishes its own coordinate system with respect to the flexible pallet tooling; after the automatic transfer module merges into the transfer network, its established coordinate system is transformed with the coordinate system established by the spatial positioning and tracking system.

[0025] Accordingly, the present invention also provides a method for rapid assembly of a modular tubular beam body using the aforementioned flexible positioning and connection tooling equipment, specifically including the following steps: Step 1: Divide the body-in-white into several independent body modules, which are manufactured in parallel on independent assembly lines; the corresponding connection points between different independent body modules have mortise and tenon structures that can cooperate with each other; after each independent body module is manufactured, it is clamped and positioned using flexible pallet tooling, and then transported to the assembly station by an automatic transfer module; the air transport system delivers the glass to the assembly station. Step 2: Each independent body module is picked up and assembled by the assembly system at the assembly station. Different independent body modules are assisted in positioning and rapid combination through the mortise and tenon structure. Step 3: Secure the joints using bolts and / or structural adhesive. Step 4: The air transport system completes the assembly of the glass and the vehicle body.

[0026] In a preferred embodiment of the present invention, the transfer process of the automatic transfer module specifically includes: ① Drive to each sub-assembly line or the independent body module storage area, and extract the independent body module and / or flexible pallet tooling; ② Obtain coordinates and guidance path information provided by the spatial positioning and tracking system; ③ Transport the individual vehicle body modules to the assembly station according to the guided path; ④ Waiting for the assembly system to pick up the individual vehicle body modules; ⑤ Exit the assembly station and return to the packaging line or storage area.

[0027] In a preferred embodiment of the present invention, the workflow of the spatial positioning and tracking system specifically includes: ① Establish the spatial coordinate system of the assembly station and import the coordinates of each unit node in the equipment; ② Obtain the coordinates of the automatic transfer module in the spatial coordinate system and provide the guidance path; ③ Provides grasping motion trajectories for the assembly system based on the location of independent modules on the vehicle body.

[0028] Furthermore, the workflow of the assembly system specifically includes: ① Match its own coordinate position in the spatial coordinate system established by the spatial positioning and tracking system, and wait for the independent vehicle body module delivered by the automatic transfer module; ② Perform the merging according to the set merging order and the motion trajectory provided by the spatial positioning and tracking system; ③ The system resets after the merging action is completed.

[0029] In a preferred embodiment of the present invention, the working process of the fastening system specifically includes: ① Match its own coordinate position in the spatial coordinate system established by the spatial positioning and tracking system; ② Obtain the tightening torque parameters and / or glue application parameters such as glue application area and glue application amount for each tightening operation; ③ Perform bolt tightening and / or glue application actions according to the parameters and the motion trajectory provided by the spatial positioning and tracking system; ④ The system is reset after the tightening operation is completed.

[0030] In a preferred embodiment of the present invention, the workflow of the air transport system specifically includes: ① Match its own coordinate position in the spatial coordinate system established by the spatial positioning and tracking system; ② Transport the glass to the assembly station according to the glass transport path provided by the spatial positioning and tracking system, and complete the preliminary positioning at the predetermined position of the assembly station; ③ Assemble the glass with the vehicle body according to the glass transportation path provided by the spatial positioning and tracking system; ④ Exit the assembly station and return to the glass production line or storage area.

[0031] In practice, the assembly station can select the following sequence for cyclical assembly: Before the previous cycle is completed, each automatic transfer module and flexible pallet fixture completes its initial positioning around the assembly station and stands by.

[0032] In the current cycle, several automatic transfer modules and flexible pallet fixtures are guided into the assembly station by the spatial positioning tracking system and complete relative positioning during the process; the assembly system grabs the left and right side modules, and the fastening system reaches the predetermined tightening position; the aerial conveying system completes the initial positioning of the glass above the assembly station, and can complete the corresponding gluing and bonding work on the roof beams before entering the station.

[0033] When the automatic transfer module and the flexible pallet fixture complete their positioning and reach the predetermined position at the assembly station, the fastening system begins to tighten the main bolts, completing the initial connection of the three modules: the front and rear floors and the front engine compartment. At the same time, the left and right side panel modules picked up by the assembly system begin to align with the vehicle body position according to the predetermined trajectory. After the initial connection of the first three modules is completed, the side panels are assembled by mortise and tenon joints. Then, the fastening system tightens the positioning bolts of the side panels, and the upper glass is lowered to the predetermined position for the first time.

[0034] D. After the left and right side panels are fixed, the assembly system is reset, the air transport system connects the glass module to the vehicle body, and the fastening system tightens the remaining bolts one by one to the set torque.

[0035] E. Once the glass is connected, the air transport system exits the assembly station; after the fastening system is reset, the automatic transfer module and flexible pallet fixture will transport the assembled body-in-white out of the assembly station, and the current cycle ends.

[0036] Those skilled in the art should know that when the above-mentioned equipment units obtain positioning coordinates and perform coordinate transformation calculations, they can flexibly select from coordinate system types including but not limited to spatial rectangular coordinate system, Cartesian coordinate system, geodetic coordinate system, workpiece coordinate system, robot base coordinate system, joint coordinate system, and user coordinate system as needed.

[0037] Accordingly, the present invention also provides a computer program for controlling the flexible positioning and connecting tooling equipment as a whole and / or its units to execute the modular tubular beam body rapid assembly method.

[0038] Accordingly, the present invention also provides a computer-readable storage medium storing the above-described computer program.

[0039] Accordingly, the present invention also provides an electronic device, including a processor, a memory, and the aforementioned computer program stored in the memory and executable on the processor.

[0040] It should be understood that the sequence number of each step in the embodiments of the present invention does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flexible positioning and connection tooling equipment for second-level vehicle assembly, characterized in that: It includes the following units: flexible pallet tooling, automatic transfer module, spatial positioning and tracking system, assembly system, fastening system, and aerial conveying system; The system includes: a flexible pallet fixture for supporting independent body modules, which are then clamped and positioned on the flexible pallet fixture after being manufactured on their respective assembly lines; an automatic transfer module for supporting and transferring the flexible pallet fixture and / or the independent body modules; an assembly system at the assembly station for picking up and assembling the independent body modules; a fastening system for tightening bolts and / or gluing between the assembly lines and the assembly station; an aerial transport system for delivering glass to the assembly station and assembling the glass with the body; and a spatial positioning and tracking system for establishing the spatial coordinate system of the assembly station, tracking the position of the independent body modules in real time, and providing corresponding guidance paths.

2. The device as described in claim 1, characterized in that: The flexible pallet tooling utilizes its own clamping mechanism and / or fastening system to achieve the clamping and positioning of independent modules of the vehicle body.

3. The device as described in claim 1, characterized in that: All the automatic transfer modules in the device, together with other unit nodes, form a vehicle body independent module transfer network.

4. The device as described in claim 1, characterized in that: The guidance path provided by the spatial positioning and tracking system includes at least: the transfer path of the automatic transfer module for the independent body modules in the transfer network, the path of the air transport system for transporting the glass, the motion trajectory of the assembly system for grabbing the independent body modules, and the motion trajectory of the fastening system.

5. The device as described in claim 1, characterized in that: The automatic transfer module establishes its own coordinate system with respect to the flexible pallet tooling; after the automatic transfer module merges into the transfer network, its established coordinate system is transformed with the coordinate system established by the spatial positioning and tracking system.

6. A method for rapid assembly of a modular tubular beam car body using the flexible positioning and connection tooling equipment as described in any one of claims 1-5, specifically comprising the following steps: Step 1: Divide the body-in-white into several independent body modules, which are manufactured in parallel on independent assembly lines; the corresponding connection points between different independent body modules have mortise and tenon structures that can cooperate with each other; after each independent body module is manufactured, it is clamped and positioned using flexible pallet tooling, and then transported to the assembly station by an automatic transfer module; the air transport system delivers the glass to the assembly station. Step 2: Each independent body module is picked up and assembled by the assembly system at the assembly station. Different independent body modules are assisted in positioning and rapid combination through the mortise and tenon structure. Step 3: Secure the joints using bolts and / or structural adhesive. Step 4: The air transport system completes the assembly of the glass and the vehicle body.

7. The method as described in claim 6, characterized in that: The transfer process of the automated transfer module specifically includes: ① Drive to each sub-assembly line or the independent body module storage area, and extract the independent body module and / or flexible pallet tooling; ② Obtain coordinates and guidance path information provided by the spatial positioning and tracking system; ③ Transport the individual vehicle body modules to the assembly station according to the guided path; ④ Waiting for the assembly system to pick up the individual vehicle body modules; ⑤ Exit the assembly station and return to the packaging line or storage area.

8. The method as described in claim 6, characterized in that: The workflow of a spatial positioning and tracking system specifically includes: ① Establish the spatial coordinate system of the assembly station and import the coordinates of each unit node in the equipment; ② Obtain the coordinates of the automatic transfer module in the spatial coordinate system and provide the guidance path; ③ Provides grasping motion trajectories for the assembly system based on the location of independent modules on the vehicle body.

9. The method as described in claim 6, characterized in that: The workflow of the assembly system specifically includes: ① Match its own coordinate position in the spatial coordinate system established by the spatial positioning and tracking system, and wait for the independent vehicle body module delivered by the automatic transfer module; ② Perform the merging according to the set merging order and the motion trajectory provided by the spatial positioning and tracking system; ③ The system resets after the merging action is completed.

10. The method as described in claim 6, characterized in that: The specific workflow of the fastening system includes: ① Match its own coordinate position in the spatial coordinate system established by the spatial positioning and tracking system; ② Obtain the tightening torque parameters and / or glue application parameters corresponding to each tightening operation; ③ Perform bolt tightening and / or glue application actions according to the parameters and the motion trajectory provided by the spatial positioning and tracking system; ④ The system is reset after the tightening operation is completed.

11. The method as described in claim 6, characterized in that: The specific workflow of the air transport system includes: ① Match its own coordinate position in the spatial coordinate system established by the spatial positioning and tracking system; ② Transport the glass to the assembly station according to the glass transport path provided by the spatial positioning and tracking system, and complete the preliminary positioning at the predetermined position of the assembly station; ③ Assemble the glass with the vehicle body according to the glass transportation path provided by the spatial positioning and tracking system; ④ Exit the assembly station and return to the glass production line or storage area.

12. A computer program, by running the computer program, can control the whole and / or individual units of the flexible positioning and connecting tooling equipment as described in any one of claims 1-5, to perform the modular tubular beam body rapid assembly method as described in any one of claims 6-11.

13. A computer-readable storage medium storing a computer program as described in claim 12.

14. An electronic device comprising a processor, a memory, and a computer program as described in claim 12 stored in the memory and executable on the processor.

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