A device and method for assembling an automobile chassis

Abstract

This invention discloses a device and method for assembling an automobile chassis. The invention includes: a lifting arm opening mechanism, an EMS lifting device, a side-mounted machine, a side-mounted machine slide, a left robot, a right robot, lifting device positioning pins, and a side-mounted machine receiving pin. The lifting arm opening mechanism is divided into left and right parts, respectively located on the left and right sides of the EMS lifting device. A left robot is located on one side of the side-mounted machine, and a right robot is located on the other side. The left robot includes a front left robot and a rear left robot, and the right robot includes a front right robot and a rear right robot. The left and right robots are used to support, guide, and maintain the posture of the automobile shock absorbers. Lifting device positioning pins are respectively located on both sides of the inner side of the side-mounted machine. This invention solves the problem in related technologies where manual support of the automobile shock absorbers is still required during chassis assembly.

Description

Technical Field

[0001] This invention relates to the field of automobile manufacturing technology, and in particular to an apparatus and method for assembling an automobile chassis. Background Technology

[0002] Chassis assembly is a key process in the final assembly of automobiles. It is mainly used to connect, position, and fit the body with chassis components such as the powertrain, running gear, subframe, and suspension components. The assembly accuracy, cycle time, operational stability, and safety of chassis assembly directly affect the overall vehicle assembly quality, vehicle driving stability, and final assembly production efficiency.

[0003] Currently, as automobile manufacturing develops towards intelligence, automation, and flexibility, the vehicle assembly line has placed higher demands on the continuous operation capability, assembly consistency, cycle stability, and safety and reliability of chassis assembly. The chassis assembly station is gradually developing towards fully automated assembly.

[0004] Fully automated chassis assembly typically integrates vehicle body transport, transfer and positioning, pallet locking, chassis positioning, auxiliary support, assembly docking, inspection and feedback, safety interlocking, and workstation release into a continuous electronically controlled process. In this process, industrial robots offer advantages such as high repeatability, strong continuous operation capability, stable motion rhythm, and easy integration with electronic control systems, enabling them to meet the high-precision, continuous operation requirements of fully automated assembly stations in intelligent automotive manufacturing.

[0005] To ensure that the above-mentioned continuous electronic control process meets the production requirements of high cycle time, stability and safety, each action in the fully automated chassis assembly needs to have a clear automated control hardware system, electronic control logic and interlocking conditions.

[0006] Existing methods for assembling automotive chassis mainly include manual-assisted assembly, AGV assembly, and semi-automatic assembly. These methods can complete the transportation, lifting, positioning, and basic assembly of chassis components. However, during continuous operation, there are still problems such as excessive manual confirmation, multiple steps of control, and insufficient continuity of action, making it difficult to fully meet the requirements of high cycle time, high precision, and high stability for fully automatic chassis assembly.

[0007] Therefore, the technical problem of requiring manual support for the vehicle's shock absorbers during chassis assembly in related technologies has not yet been effectively solved. Summary of the Invention

[0008] The purpose of this invention is to provide an apparatus and method for assembling an automobile chassis, so as to solve the problem that manual support of automobile shock absorbers is still required during chassis assembly in related technologies.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] A device for assembling an automobile chassis includes a lifting arm opening mechanism, an EMS lifting device, a side-mounted machine, a side-mounted machine slide, a left robot, a right robot, lifting arm positioning pins, and a side-mounted machine receiving pin. The lifting arm opening mechanism is divided into left and right parts, which are respectively located on the left and right sides of the EMS lifting device. A left robot is located on one side of the side-mounted machine, and a right robot is located on the other side. The left robot includes a left front robot and a left rear robot, and the right robot includes a right front robot and a right rear robot. The left and right robots are used to support, guide, and maintain the posture of the automobile shock absorbers. Lifting arm positioning pins are respectively provided on both sides of the inner side of the side-mounted machine.

[0011] Further configuration: A side-mounted machine slide is provided on each side of the bottom of the side-mounted machine.

[0012] Further configuration: A side-mounted machine receiving pin is provided inside the positioning pin of the lifting device.

[0013] Further configuration: The left front robot and the right front robot are connected to a front shock-absorbing support mechanism; the front shock-absorbing support mechanism includes a servo motor, a ball screw, a front shock-absorbing support gripper, a gripper pad, a sensor plate, and a first laser ranging sensor bracket; the servo motor is driven by the ball screw, and the ball screw is connected to the front shock-absorbing support gripper. The servo motor drives the ball screw to open or close the front shock-absorbing support gripper; the gripper pad is located at the gripping part of the front shock-absorbing support gripper, and the gripper pad has a built-in spring; the first laser ranging sensor bracket is located on the front shock-absorbing support mechanism, and a first laser ranging sensor is installed on the first laser ranging sensor bracket.

[0014] Further configuration: The left and right rear robots are connected to a rear shock-absorbing support mechanism; the rear shock-absorbing support mechanism includes a cylinder, a rear shock-absorbing support gripper, a gas spring, and a second laser ranging sensor bracket. The cylinder is connected to the rear shock-absorbing support gripper and is used to drive the rear shock-absorbing support gripper to open or close; the gas spring is located at the follow-up support part of the rear shock-absorbing support mechanism; the second laser ranging sensor bracket is located on the rear shock-absorbing support mechanism, and a second laser ranging sensor is installed on the second laser ranging sensor bracket.

[0015] To achieve the above objectives, the present invention employs another technical solution:

[0016] A method for assembling a car chassis includes: an EMS (Electronic Material Handling) lifting device that carries the car body into the assembly area and stops in position for receiving the vehicle; after receiving the vehicle, the assembly PLC sets a receiving completion signal; upon receiving the receiving completion signal, the assembly PLC controls the lifting device arm opening mechanism to open the EMS lifting device; after the EMS lifting device is fully opened, the lifting device arm opening completion signal is set; a side-mounted machine lowers the car body from the receiving position to the robot support waiting position; the assembly PLC allows the EMS lifting device to release and resets the receiving completion signal and the lifting device arm opening completion signal; after the left and right robots are in position, the robot PLC sends a support completion signal to the assembly PLC; the assembly PLC sends a propulsion signal to the robot PLC based on the current assembly height range; after each propulsion, the robot PLC sends a propulsion completion signal to the assembly PLC. When the assembly PLC receives the final push-in signal, the left and right robots, along with the support mechanism, simultaneously withdraw. The robot PLC sends a robot withdrawal completion signal back to the assembly PLC. The push-in process occurs at least once, with each push corresponding to a push signal, and each push signal corresponding to a specific assembly height range. After receiving the robot withdrawal completion signal, the assembly PLC controls the vehicle body to continue descending to the assembly position. The vehicle body and chassis workpiece are then aligned and positioned. After the assembly PLC sets the pallet locking completion signal, it executes the visual inspection process. Upon receiving the visual inspection completion signal, the assembly PLC controls the assembly chain bed to start the vehicle and resets the pallet positioning preparation completion signal, pallet locking completion signal, and information comparison success signal. The side top machine rises to the receiving waiting position, the side top machine slide closes simultaneously, and the system returns to its initial state.

[0017] Optionally, after the EMS lifting device pulls the vehicle body into the assembly area and stops in place, the assembly PLC obtains the lifting device's arrival signal and the corresponding vehicle model information, the side top machine slide closes, and the vehicle is received. After the vehicle is received, a vehicle receiving completion signal is output. During the vehicle receiving process, the side top machine rises from the waiting position to the receiving position. After the assembly PLC receives the bonding in place signal, it locks the vehicle body and sets the vehicle receiving completion signal.

[0018] Optionally, when the EMS lifter pulls the vehicle body into the assembly area, the pallet carrying the chassis workpiece enters the assembly station chain bed. After the pallet is in place, the cross-beam photoelectric reflective switches on both sides of the assembly station chain bed detect the status of the chassis workpiece and transmit the pallet production information to the assembly PLC. After confirming that the chassis workpiece is in normal condition and the production vehicle information is valid, the assembly PLC performs chassis positioning and locking preparation and sets the pallet positioning preparation completion signal. The assembly PLC compares the vehicle body production information with the pallet production information. After successful comparison, it sets the information comparison success signal.

[0019] Optionally, during the process of the vehicle body descending to the robot support waiting position, after the assembly PLC sends a support permission signal, the left robot and the right robot respectively drive the corresponding support mechanism to move to the front and rear shock absorber support positions, so that the support mechanism contacts the shock absorber workpiece and completes the support positioning.

[0020] Optionally, during the continuous advancement of the left and right robots, the first laser ranging sensor detects the position of the guide cone of the front shock absorber workpiece, and the second laser ranging sensor detects the position of the rear shock absorber workpiece, and continuously feeds the detection values ​​back to the control system; when the position of the front or rear shock absorber workpiece is detected to deviate from the preset allowable range, an alarm is immediately triggered and the robot stops, and the left and right robots are prohibited from continuing to advance and the vehicle body is prohibited from continuing to press down for assembly; after the left and right robots have supported the workpiece in place, the robot PLC sends a support signal to the assembly PLC.

[0021] Optionally, the robot PLC controls the left and right robots to synchronously perform the pushing action with the support mechanism, so that the shock absorber moves in the predetermined assembly direction or maintains the predetermined posture under the action of the support mechanism. After pushing into place, the robot PLC sends a pushing into place signal to the assembly PLC and requests to enter the next pushing action. When the vehicle body continues to descend to the next pushing height range, when the assembly PLC receives the previous pushing into place signal, the assembly PLC sends a pushing permission signal to the robot PLC, and the side-mounted machine continues to drive the vehicle body down. When the vehicle body continues to descend to the next pushing height range, if the assembly PLC does not receive the previous pushing into place signal, the system alarms and stops. When the assembly PLC receives the last pushing into place signal from the robot PLC, the assembly PLC sends a robot withdrawal permission signal to the robot PLC, and the robot PLC controls the left and right robots to synchronously withdraw with the support mechanism. If the last pushing into place signal is not received from the robot PLC, the system alarms and stops.

[0022] Optionally, after the vehicle body falls into the pallet positioning pin, the assembly chain bed cylinder performs a locking action to lock the vehicle body, and the assembly PLC sets the pallet locking completion signal; the robot PLC controls the vision inspection controller to perform component inspection according to the allow inspection signal sent by the assembly PLC, and feeds back the inspection completion signal to the assembly PLC, while the next EMS lifting device enters the assembly station; after the pallet is locked, the side top machine rises to a position where it does not interfere with the vehicle body, the side top machine receiving mechanism cylinder retracts, the side top machine retreats to the avoidance position, and the side top machine slide opens simultaneously.

[0023] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0024] 1. This invention replaces manual support of shock absorbers with robotic support mechanisms, reducing manual verification and intervention. In existing manual assembly processes, the shock absorber's posture typically requires manual support or observation, which is easily affected by personnel experience, operating rhythm, and safe positioning. This application utilizes front left and front right robots to drive the front shock absorber support mechanism, and rear left and rear right robots to drive the rear shock absorber support mechanism, automatically supporting, guiding, correcting, and maintaining the posture of the front and rear shock absorbers respectively. This ensures the shock absorbers remain in the predetermined position throughout the vehicle body compression assembly process. This reduces the need for manual entry into the assembly area, improves the consistency of shock absorber support positions and operational safety, and provides a foundation for fully automated continuous operation of chassis assembly.

[0025] 2. By employing different structural designs for the front and rear shock absorber support mechanisms, this invention adapts to the assembly characteristics of different shock absorbers. The front shock absorber support mechanism utilizes a servo motor, ball screw, and front shock absorber support gripper structure, enabling precise control of the gripper's opening and closing position. The gripper pad has a built-in spring, and a position switch is triggered by a sensor plate, achieving dual verification through "servo positioning + sensor detection" to prevent the gripper from being unable to grip properly or without feedback. The rear shock absorber support mechanism uses a cylinder to drive the rear shock absorber support gripper and incorporates a gas spring follow-up buffer structure. During the contact and downward pressure process between the vehicle body and the rear shock absorber, the rear shock absorber support mechanism can descend accordingly and provide buffer compensation. Therefore, this application can adopt appropriate support methods for the different stress states and assembly postures of the front and rear shock absorbers, improving the reliability of the shock absorber's placement in the vehicle body installation position.

[0026] 3. By coordinating the height of the side-mounted machine and the robot's support trajectory, continuous assembly actions are achieved. Existing semi-automatic assembly methods often suffer from segmented execution of actions such as vehicle reception, descent, manual support, confirmation, and locking, with manual confirmation required between actions, resulting in unstable cycle times. In this application, the assembly PLC sends control commands such as allow support, allow advancement, and allow withdrawal to the robot PLC based on the side-mounted machine's vehicle reception height, descent height range, and assembly position. The robot PLC controls the robot to drive the support mechanism to perform support, multiple advancement, and withdrawal actions according to the preset support and advancement trajectories. Thus, the vehicle descent action and the robot's support action form a height range linkage, avoiding interference or shock absorber attitude deviation caused by asynchronous side-mounted machine descent and robot actions, enabling EMS vehicle reception, vehicle transfer, robot support, chassis assembly, and workstation release to be executed continuously according to the electronic control program.

[0027] 4. Multi-vehicle compatibility is achieved by parametrically adjusting the side-mounting machine's vehicle receiving height and robot trajectory. Different vehicle models have varying body heights, chassis structures, and shock absorber installation positions. Traditional methods typically require significant manual adjustments or replacement of auxiliary tooling. This application, while maintaining the main structures of the side-mounting machine, pallet, robot, and support mechanism unchanged, only requires modification of the side-mounting machine's vehicle receiving height and support range, robot support trajectory, robot propulsion trajectory, gripper opening and closing parameters, and detection thresholds to adapt to the shock absorber positions and assembly postures of different vehicle models. This reduces mechanical modifications and tooling changes during vehicle model switching, improves the flexibility of the assembly device, and is suitable for multi-vehicle co-production lines.

[0028] 5. Improve the stability and error prevention capabilities of fully automated assembly through electronic interlocking and detection feedback. This application incorporates the side-mounted machine, pallet, robot support mechanism, vision inspection controller, laser rangefinder, and related positioning detection signals into the collaborative control process of the assembly PLC and the robot PLC. If the previous action is not completed, the support mechanism is not in position, the advancement is not in place, the robot has not withdrawn, the pallet is not locked, or the height detection is abnormal, the system prohibits the subsequent action from continuing and alarms to stop the machine. This avoids the risk of erroneous actions when the previous process is not completed before the next process is started, and improves the positioning accuracy, cycle stability, equipment safety, and assembly consistency in the automated assembly process. Attached Figure Description

[0029] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of a device for assembling an automobile chassis.

[0031] Figure 2 A schematic diagram showing the position of a robot in a device for assembling an automobile chassis;

[0032] Figure 3 This is the front shock absorption support mechanism of the present invention;

[0033] Figure 4 This is the rear shock absorption support mechanism of the present invention.

[0034] Reference numerals: 1. Lifting device positioning pin; 2. Side-mounted machine receiving pin; 3. Lifting device arm opening mechanism; 4. EMS lifting device; 5. Left robot; 51. Front left robot; 52. Rear left robot; 6. Right robot; 61. Front right robot; 62. Rear right robot; 7. Side-mounted machine slide; 8. Side-mounted machine; 9. Servo motor; 10. Ball screw; 11. Front shock-absorbing support gripper; 12. Gripper pad; 13. Induction plate; 14. First laser rangefinder sensor bracket; 15. Cylinder; 16. Rear shock-absorbing support gripper; 17. Gas spring; 18. Second laser rangefinder sensor bracket. Detailed Implementation

[0035] 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.

[0036] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0038] Example

[0039] Reference Figure 1 , Figure 2This invention discloses a device for assembling an automobile chassis. The invention includes: a lifting arm opening mechanism 3, an EMS lifting device 4, a side-mounting machine 8, a side-mounting machine slide 7, a left robot 5, a right robot 6, a lifting device positioning pin 1, and a side-mounting machine receiving pin 2. The lifting arm opening mechanism 3 is divided into left and right parts, which are respectively arranged on the left and right sides of the EMS lifting device 4. The left robot 5 is arranged on one side of the side-mounting machine 8, and the right robot 6 is arranged on the other side of the side-mounting machine 8. The left robot 5 includes a left front robot 51 and a left rear robot 52, and the right robot 6 includes a right front robot 61 and a right rear robot 62. The left robot 5 and the right robot 6 are used to support, guide, and maintain the posture of the automobile shock absorber. The lifting device positioning pin 1 is arranged on both sides of the inner side of the side-mounting machine 8.

[0040] Further configuration: A side top machine slide 7 is provided on each side of the bottom of the side top machine 8.

[0041] Further configuration: A side-mounted machine receiving pin 2 is provided on the inner side of the lifting device positioning pin 1.

[0042] The support mechanisms include a front shock absorber support mechanism and a rear shock absorber support mechanism. The robots include a left front robot 51, a left rear robot 52, a right front robot 61, and a right rear robot 62. The support mechanisms are installed at the end of the robots and are correspondingly positioned to correspond with them. Under the control of the robot controller, the robots move the support mechanisms to the corresponding positions of the vehicle's shock absorbers. The support mechanisms are used to clamp, support, guide, and maintain the attitude of the chassis shock absorbers or dampers, ensuring that the shock absorbers maintain a predetermined attitude during the vehicle body compression and assembly process, thus replacing manual support operations.

[0043] Reference Figure 3 The left front robot 51 and the right front robot 61 are connected to a front shock-absorbing support mechanism. The front shock-absorbing support mechanism includes a servo motor 9, a ball screw 10, a front shock-absorbing support gripper 11, a gripper pad 12, a sensing plate 13, and a first laser ranging sensor bracket 14. The servo motor 9 is connected to the ball screw 10, and the ball screw 10 is connected to the front shock-absorbing support gripper 11. The servo motor 9 drives the ball screw 10 to open or close the front shock-absorbing support gripper 11. The gripper pad 12 is set at the gripping part of the front shock-absorbing support gripper 11, and the gripper pad 12 has a built-in spring. The first laser ranging sensor bracket 14 is set on the front shock-absorbing support mechanism, and a first laser ranging sensor is installed on the first laser ranging sensor bracket 14.

[0044] Specifically, after the shock-absorbing support gripper 11 clamps the workpiece into position and contacts the front shock absorber, the gripper pad 12 compresses under the reaction force of the workpiece, and presses against the sensing plate 13 to trigger the positioning switch. Thus, the front shock-absorbing support mechanism can not only control the gripper position via the servo motor 9, but also confirm the actual clamping state via the sensing plate 13 and the positioning switch, forming a dual verification structure of "servo positioning + sensor detection," avoiding the problem of the gripper not clamping properly and having no feedback when relying solely on servo position judgment.

[0045] The first laser rangefinder sensor is used to detect the relative position between the front shock absorber workpiece and the support mechanism in real time, and feeds the detection value back to the control system to determine whether the front shock absorber support position is normal and whether the workpiece posture has shifted or detached.

[0046] Reference Figure 4 The left rear robot 52 and the right rear robot 62 are connected to a rear shock-absorbing support mechanism; the rear shock-absorbing support mechanism includes a cylinder 15, a rear shock-absorbing support gripper 16, a gas spring 17, and a second laser ranging sensor bracket 18. The cylinder 15 is connected to the rear shock-absorbing support gripper 16 and is used to drive the rear shock-absorbing support gripper 16 to open or close; the gas spring 17 is set on the follow-up support part of the rear shock-absorbing support mechanism; the second laser ranging sensor bracket 18 is set on the rear shock-absorbing support mechanism, and a second laser ranging sensor is installed on the second laser ranging sensor bracket 18.

[0047] Specifically, the rear shock absorber workpiece is clamped, supported, and its posture corrected. The gas spring 17 is installed in the follow-up support part of the rear shock absorber support mechanism. During the process of the assembly side top machine driving the vehicle body to descend, the vehicle body contacts the rear shock absorber and presses the rear shock absorber support mechanism to descend accordingly, causing the gas spring 17 to be compressed, thereby providing buffer support and follow-up compensation for the rear shock absorber.

[0048] The second laser rangefinder sensor is used to detect the support position and attitude of the rear shock absorber workpiece in real time, and feeds the detection results back to the control system to determine whether the rear shock absorber is within the normal support range.

[0049] Through the aforementioned structure, the front shock absorber support mechanism can achieve servo-driven clamping, elastic contact confirmation, and laser ranging detection, while the rear shock absorber support mechanism can achieve pneumatic clamping, gas spring 17 follow-up buffering, and laser ranging detection. The robot automatically supports the automotive shock absorbers by driving the front and rear shock absorber support mechanisms, replacing manual support work and improving the shock absorber's posture stability, positioning reliability, and assembly consistency during chassis assembly. For different vehicle models, compatibility with different shock absorber structures and installation positions can be achieved by adjusting the robot's motion trajectory, the servo opening and closing parameters of the front shock absorber support gripper 11, the pneumatic support angle of the rear shock absorber support gripper 16, and the detection threshold of the laser ranging sensor.

[0050] This invention discloses a method for assembling an automobile chassis. The method includes: an EMS lifting device 4 driving the vehicle body into the assembly area and parking it in position for receiving the vehicle; after receiving the vehicle, the assembly PLC sets a vehicle receiving completion signal; upon receiving the vehicle receiving completion signal, the assembly PLC controls the lifting device arm opening mechanism 3 to open the EMS lifting device 4; after the EMS lifting device 4 is fully opened, the lifting device arm opening completion signal is set; a side-mounted machine 8 lowers the vehicle body from the receiving position to the robot support waiting position; the assembly PLC allows the EMS lifting device 4 to proceed and resets the vehicle receiving completion signal and the lifting device arm opening completion signal; after the left robot 5 and right robot 6 are in position, the robot PLC sends a support completion signal to the assembly PLC; the assembly PLC sends a push signal to the robot PLC according to the current assembly height range; after each push is completed, the robot PLC sends a push signal back to the assembly PLC. Upon receiving the final push-in signal from the assembly PLC, the left robot 5 and right robot 6 simultaneously withdraw with the support mechanism. The robot PLC sends a robot withdrawal completion signal back to the assembly PLC. The push-in process occurs at least once, with each push corresponding to a push signal and each push signal corresponding to a specific assembly height range. After receiving the robot withdrawal completion signal, the assembly PLC controls the vehicle body to continue descending to the assembly position. The vehicle body and chassis workpiece complete the assembly positioning. After the assembly PLC sets the pallet locking completion signal, it executes the visual inspection process. Upon receiving the visual inspection completion signal, the assembly PLC controls the assembly chain bed to start the vehicle and resets the pallet positioning preparation completion signal, pallet locking completion signal, and information comparison success signal. The side top machine 8 rises to the receiving waiting position, and the side top machine slide 7 simultaneously closes, restoring the system to its initial state.

[0051] Specifically, the assembly line PLC is used to control the actions of the equipment on the assembly line side, and the robot PLC is used to control the actions of the equipment on the robot side. The assembly line PLC and the robot PLC interact and interlock through PN / PNCoupler, so that actions such as EMS vehicle reception, vehicle body transfer and positioning, pallet locking, servo positioning, robot support, chassis assembly, inspection and confirmation, workstation release and equipment reset are executed continuously according to the preset electrical control logic.

[0052] The robot PLC connects to the robot controller, which in turn connects to the robot. The robot PLC, through the robot controller, invokes or authorizes the robot to execute corresponding support, advancement, withdrawal, and detection coordination programs. The robot PLC also receives information from on-site sensors on the robot side, such as support mechanism positioning, safety interlocks, robot status, and abnormal conditions. Based on commands from the assembly PLC allowing support, advancement, and withdrawal, the robot PLC controls the robot to sequentially perform support positioning, multiple advancements, and withdrawals. The assembly line PLC, based on support positioning, advancement, and withdrawal completion information from the robot PLC, controls the side top machine, pallet mechanism, and conveyor chain bed to continue subsequent assembly actions, thus achieving coordinated control between the robot support mechanism and the assembly line equipment.

[0053] This invention utilizes a robotic support mechanism to automatically support shock absorbers, reducing manual intervention and improving the consistency of support positions and the stability of assembly operations. Through coordinated control of the side-mounted machine's lifting position, the robot's support trajectory, multiple robot advance actions, pallet locking status, and detection feedback signals via an electronic control program, assembly interference or malfunctions caused by asynchronous actions of various mechanisms are avoided, thus improving the production cycle time, positioning accuracy, and operational safety of chassis assembly. Furthermore, for different vehicle models, only the robot's support trajectory, gripper support parameters, and related electronic control point parameters need to be adjusted to adapt to different shock absorber positions and chassis structures, featuring good structural adaptability, convenient parameter modification, and strong compatibility with multiple vehicle models.

[0054] Optionally, after the EMS lifting device 4 pulls the vehicle body into the assembly area and stops in place, the assembly PLC receives the lifting device's arrival signal and the corresponding vehicle model information, the side-mounted machine slide 7 closes, and the vehicle is received. After receiving the vehicle, a receiving completion signal is output. During the receiving process, the side-mounted machine 8 rises from the waiting position to the receiving position. After receiving the fitting completion signal, the assembly PLC locks the vehicle body and sets the receiving completion signal. A laser rangefinder sensor is installed on the side-mounted machine's receiving lifting pin 2 to detect whether the side-mounted machine is fitting the vehicle body.

[0055] Specifically, after the EMS lifting device 4 pulls the vehicle body into the assembly area and stops in place, it sends a lifting device arrival signal to the assembly PLC. Simultaneously, the assembly PLC acquires the corresponding vehicle model information. At this time, the left and right sliding platforms of the side-mounted crane close synchronously, the system enters the vehicle receiving preparation state, and waits for the vehicle receiving completion signal. During the vehicle receiving process, the side-mounted crane rises from the waiting position to the receiving position, and the side-mounted crane receiving mechanism positions the vehicle body. The side-mounted crane receiving mechanism is equipped with a laser rangefinder switch to detect the contact status between the vehicle body and the receiving positioning area. After receiving the contact status signal from the laser rangefinder switch, the assembly PLC controls the side-mounted crane receiving mechanism to lock the vehicle body and sets the vehicle receiving completion signal.

[0056] Optionally, when the EMS lift 4 pulls the vehicle body into the assembly area, the pallet carrying the chassis workpiece enters the assembly station chain bed. After the pallet is in place, the cross-beam photoelectric reflective switches on both sides of the assembly station chain bed detect the status of the chassis workpiece and transmit the pallet production information to the assembly PLC. After confirming that the chassis workpiece is in normal condition and the production vehicle information is valid, the assembly PLC performs chassis positioning and locking preparation and sets the pallet positioning preparation completion signal. The assembly PLC compares the vehicle body production information with the pallet production information. After successful comparison, it sets the information comparison success signal.

[0057] Specifically, as the EMS lifting device 4 pulls the vehicle body into the assembly area, the pallet carrying the chassis workpiece enters the assembly station's chain bed. Once the pallet is in place, cross-beam photoelectric reflective switches on both sides of the chain bed detect the status of the chassis workpiece, while pallet production information is transmitted to the assembly PLC via a reader. After confirming that the chassis workpiece is in normal condition and the production vehicle information is valid, the assembly PLC controls the pneumatic mechanism of the assembly chain bed to perform chassis positioning and locking preparation actions, and sets a pallet positioning preparation completion signal.

[0058] Optionally, during the process of the vehicle body descending to the robot support waiting position, after the assembly PLC sends a support permission signal, the left robot 5 and the right robot 6 respectively drive the corresponding support mechanism to move to the front and rear shock absorber support positions, so that the support mechanism contacts the shock absorber workpiece and completes the support positioning.

[0059] Optionally, during the continuous advancement of the left robot 5 and the right robot 6, the first laser ranging sensor detects the position of the guide cone of the front shock absorber workpiece, and the second laser ranging sensor detects the position of the rear shock absorber workpiece, and continuously feeds the detection values ​​back to the control system; when the position of the front shock absorber or the rear shock absorber workpiece is detected to deviate from the preset allowable range, an alarm is immediately triggered and the robot stops, and the left robot 5 and the right robot 6 are prohibited from continuing to advance and the vehicle body from continuing to press down for assembly; after the left robot 5 and the right robot 6 have supported the workpiece in place, the robot PLC sends a support signal to the assembly PLC.

[0060] Optionally, the robot PLC controls the left robot 5 and right robot 6 to drive the support mechanism to perform synchronous pushing actions, so that the shock absorber moves in the predetermined assembly direction or maintains a predetermined posture under the action of the support mechanism. After pushing into place, the robot PLC sends a pushing into place signal to the assembly PLC and requests to enter the next pushing action. When the vehicle body continues to descend to the next pushing height range, when the assembly PLC receives the previous pushing into place signal, the assembly PLC sends a pushing permission signal to the robot PLC, and the side top machine 8 continues to drive the vehicle body to descend. When the vehicle body continues to descend to the next pushing height range, if the assembly PLC does not receive the previous pushing into place signal, the system alarms and stops. When the assembly PLC receives the last pushing into place signal from the robot PLC, the assembly PLC sends a robot withdrawal permission signal to the robot PLC, and the robot PLC controls the left robot 5 and right robot 6 to drive the support mechanism to withdraw synchronously. If the last pushing into place signal is not received from the robot PLC, the system alarms and stops.

[0061] Specifically, during the process of the vehicle body descending to the robot support waiting position, the left front robot 51, right front robot 61, left rear robot 52, and right rear robot 62 enter the ready state. After receiving the support permission signal sent by the assembly PLC, the robot PLC controls the four robots to move their corresponding support mechanisms to the front and rear shock absorber support positions, so that the support mechanisms contact the shock absorber workpieces and complete the support positioning.

[0062] During the robot's continuous advancement, the laser rangefinder on the mounting plate is used to detect the position of the guide cone of the front shock absorber workpiece in real time, while the laser rangefinder on the laser rangefinder bracket is used to detect the position of the rear shock absorber workpiece in real time, and continuously feeds the detection values ​​back to the control system. If the position of the front or rear shock absorber workpiece deviates from the preset allowable range, the control system immediately alarms and stops, and prohibits the robot from continuing to advance and the vehicle body from continuing to press down for assembly, thereby avoiding a collision between the vehicle body and the shock absorber.

[0063] The support mechanisms are used to clamp, support, guide, and maintain the attitude of the vehicle's shock absorbers. Specifically, the front shock absorber support mechanism, driven by the left front robot 51 and the right front robot 61, supports the front shock absorber; the rear shock absorber support mechanism, driven by the left rear robot 52 and the right rear robot 62, supports and corrects the attitude of the rear shock absorber. Once the robots have positioned themselves correctly, the robot PLC sends a support signal to the assembly PLC and enters the first advance waiting state.

[0064] The following describes the process of pushing the meridian in five stages:

[0065] During assembly, the vehicle body continues to descend towards the chassis workpiece. The assembly PLC sends a signal to the robot PLC allowing the first advance based on the current assembly height range. The robot PLC then controls four robots to synchronously execute the first advance action, causing the shock absorber to move in the predetermined assembly direction or maintain a predetermined posture under the action of the support mechanism. After the first advance is complete, the robot PLC sends a feedback signal to the assembly PLC indicating that the first advance is complete and requests to proceed with the second advance.

[0066] When the vehicle body continues to descend to the second advancement height range, the assembly PLC must first receive the first advancement completion signal from the robot PLC; if this signal is not received, the system will alarm and stop. If the signal is satisfied, the assembly PLC sends a permission signal for the second advancement to the robot PLC, which then controls the four robots to drive the support mechanism to synchronously execute the second advancement action, and sends a second advancement completion signal after the advancement is completed.

[0067] Following the interlocking logic described above, the system sequentially completes the third, fourth, and fifth advancements. During these advancements, the robot, according to a preset trajectory, drives the support mechanism to provide phased support, guidance, and attitude correction for the shock absorber, ensuring its stable position during the vehicle body's downward assembly process. Before allowing the robot to withdraw, the assembly PLC must receive a signal from the robot PLC indicating that the fifth advancement has been completed; if this signal is not received, the system alarms and shuts down. If the signal is satisfied, the assembly PLC sends a signal to the robot PLC authorizing robot withdrawal. The robot PLC then controls the four robots to synchronously withdraw with the support mechanism and sends a signal back to the assembly PLC indicating that the robot withdrawal is complete.

[0068] Optionally, after the vehicle body falls into the pallet positioning pin, the assembly chain bed cylinder 15 performs a locking action to lock the vehicle body, and the assembly PLC sets the pallet locking completion signal; the robot PLC controls the vision inspection controller to perform component inspection according to the allow inspection signal sent by the assembly PLC, and feeds back the inspection completion signal to the assembly PLC, while the next EMS lifting device 4 enters the assembly station; after the pallet locking is completed, the side top machine 8 rises to a position where it does not interfere with the vehicle body, the side top machine receiving mechanism cylinder 15 retracts, the side top machine 8 exits to the avoidance position, and the side top machine slide 7 opens simultaneously.

[0069] Specifically, after receiving the robot withdrawal completion signal, the assembly PLC controls the vehicle body to continue descending to the assembly position, so that the vehicle body and the chassis workpiece are aligned and positioned. After the vehicle body falls into the pallet positioning pin, the assembly chain bed cylinder 15 performs the locking action to lock the vehicle body, and the assembly PLC sets the pallet locking completion signal.

[0070] After the assembly PLC completes the pallet locking signal, the robot is allowed to perform the vision inspection process. Based on the permission signal sent by the assembly PLC, the robot PLC controls the vision inspection controller to perform inspections of key components such as the springs, and feeds back the inspection completion signal to the assembly PLC. At this point, there is no interference between the vehicle body and the EMS lifting device 4, and the system allows the next vehicle-mounted EMS lifting device 4 to enter the assembly station.

[0071] After the pallet is locked, the side top machine 8 rises to a position where it does not interfere with the vehicle body, the side top machine receiving mechanism cylinder 15 retracts, and then the side top machine 8 exits to the avoidance position. The left and right slides of the side top machine open simultaneously to complete the exit action.

[0072] After receiving the visual inspection completion signal from the robot's spring, the assembly PLC controls the assembly chain bed to start the vehicle and resets the pallet positioning preparation completion signal, pallet locking completion signal, and information comparison success signal. At the same time, the side top machine 8 rises to the vehicle receiving waiting position, the left and right slides of the side top machine close synchronously, and the system returns to the initial vehicle receiving waiting state, waiting for the next EMS lifting device 4 to arrive before repeating the above automatic assembly process.

[0073] During the aforementioned automated assembly process, the assembly PLC collects the encoder position feedback values ​​of the eight servo motors of the side-mounted machine in real time, and simultaneously collects the detection values ​​from the external laser rangefinders located on both sides of the side-mounted machine. The assembly PLC compares the position values ​​fed back by the encoders of the eight servo motors of the side-mounted machine with the corresponding laser rangefinder detection values ​​to monitor the actual height, left-right synchronization, and levelness of the vehicle body during its descent.

[0074] When the side-mounted machine 8 is running, if the deviation between the encoder feedback value of the servo motor of the side-mounted machine 8 and the detection value of the laser rangefinders on both sides exceeds the preset error range, the assembly PLC determines that the lifting position of the side-mounted machine is abnormal, immediately triggers an alarm and stops the machine, and prohibits subsequent support, pushing, assembly, or release operations from continuing. After the alarm stops, the levelness of the side-mounted machine, the servo positioning status, and the detection status of the laser rangefinders need to be retested and confirmed. Only after confirming that the lifting height of the left and right sides of the side-mounted machine is consistent and that the servo feedback and laser rangefinder feedback are both within the allowable error range can the system reset and re-enter the automatic assembly process.

[0075] Through the aforementioned control logic, the assembly PLC and the robot PLC, based on signal interaction and height range interlocking, achieve continuous control of actions such as EMS vehicle reception, vehicle body transfer and positioning, pallet positioning, robot support, multiple advancements, vehicle body pressing and assembly, pallet locking, visual inspection, workstation release, and equipment reset. In particular, the robot-driven support mechanism automatically supports and advances the front and rear shock absorbers in stages, replacing traditional manual support operations and improving the stability of shock absorber posture and assembly consistency. This control method avoids the risk of malfunctions caused by starting the next action before the previous one is completed, improving the cycle stability, positioning accuracy, and operational safety of the automatic vehicle chassis assembly process.

[0076] The working principle and beneficial effects of this invention are as follows:

[0077] 1. Replacing manual support with robotic support mechanisms for shock absorbers reduces the need for manual verification and intervention. In existing manual assembly processes, the shock absorber's posture typically requires manual support or observation, which is easily affected by personnel experience, operating rhythm, and safe positioning. This application utilizes left and right front robots 61 to drive the front shock absorber support mechanism, and left and right rear robots 62 to drive the rear shock absorber support mechanism, automatically supporting, guiding, correcting, and maintaining the posture of the front and rear shock absorbers respectively. This ensures the shock absorbers remain in the predetermined position throughout the vehicle body compression assembly process. This reduces the need for manual entry into the assembly area, improves the consistency of shock absorber support positions and operational safety, and provides a foundation for fully automated continuous operation of chassis assembly.

[0078] 2. By employing different structural designs for the front and rear shock absorber support mechanisms, this invention adapts to the assembly characteristics of different shock absorbers. The front shock absorber support mechanism utilizes a servo motor 9, a ball screw 10, and a front shock absorber support gripper 11, enabling precise control of the gripper's opening and closing position. The gripper pad 12 incorporates a spring and triggers a positioning switch via a sensor plate 13, achieving dual verification through "servo positioning + sensor detection" to prevent the gripper from being misaligned or not properly positioned without feedback. The rear shock absorber support mechanism uses a cylinder 15 to drive the rear shock absorber support gripper 16 and incorporates a gas spring 17 with a follow-up buffer structure. During the contact and downward pressure process between the vehicle body and the rear shock absorber, the rear shock absorber support mechanism can descend accordingly and provide buffer compensation. Therefore, this application can adopt appropriate support methods for different stress states and assembly postures of the front and rear shock absorbers, improving the reliability of the shock absorber's placement in the vehicle body installation position.

[0079] 3. By coordinating the height of the side-mounted machine and the robot's support trajectory, continuous assembly actions are achieved. Existing semi-automatic assembly methods often suffer from segmented execution of actions such as vehicle reception, descent, manual support, confirmation, and locking, with manual confirmation required between actions, resulting in unstable cycle times. In this application, the assembly PLC sends control commands such as allow support, allow advancement, and allow withdrawal to the robot PLC based on the side-mounted machine's vehicle reception height, descent height range, and assembly position. The robot PLC controls the robot to drive the support mechanism to perform support, multiple advancement, and withdrawal actions according to the preset support and advancement trajectories. Thus, the vehicle descent action and the robot's support action form a height range linkage, avoiding interference or shock absorber attitude deviation caused by asynchronous side-mounted machine descent and robot actions, enabling EMS vehicle reception, vehicle transfer, robot support, chassis assembly, and workstation release to be executed continuously according to the electronic control program.

[0080] 4. Multi-vehicle compatibility is achieved by parametrically adjusting the side-mounting machine's vehicle receiving height and robot trajectory. Different vehicle models have varying body heights, chassis structures, and shock absorber installation positions. Traditional methods typically require significant manual adjustments or replacement of auxiliary tooling. This application, while maintaining the main structures of the side-mounting machine, pallet, robot, and support mechanism unchanged, only requires modification of the side-mounting machine's vehicle receiving height and support range, robot support trajectory, robot propulsion trajectory, gripper opening and closing parameters, and detection thresholds to adapt to the shock absorber positions and assembly postures of different vehicle models. This reduces mechanical modifications and tooling changes during vehicle model switching, improves the flexibility of the assembly device, and is suitable for multi-vehicle co-production lines.

[0081] 5. Improve the stability and error prevention capabilities of fully automated assembly through electronic interlocking and detection feedback. This application incorporates the side-mounted machine, pallet, robot support mechanism, vision inspection controller, laser rangefinder, and related positioning detection signals into the collaborative control process of the assembly PLC and the robot PLC. If the previous action is not completed, the support mechanism is not in position, the advancement is not in place, the robot has not withdrawn, the pallet is not locked, or the height detection is abnormal, the system prohibits the subsequent action from continuing and alarms to stop the machine. This avoids the risk of erroneous actions when the previous process is not completed before the next process is started, and improves the positioning accuracy, cycle stability, equipment safety, and assembly consistency in the automated assembly process.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device for assembling an automobile chassis, characterized in that, include: The lifting arm opening mechanism (3), EMS lifting device (4), side top machine (8), side top machine slide (7), left robot (5), right robot (6), lifting device positioning pin (1), and side top machine receiving pin (2); The lifting arm opening mechanism (3) is divided into left and right parts, and the lifting arm opening mechanism (3) is respectively set on the left and right sides of the EMS lifting device (4); The left robot (5) is provided on one side of the side-mounted machine (8), and the right robot (6) is provided on the other side of the side-mounted machine (8). The left robot (5) includes a left front robot (51) and a left rear robot (52), and the right robot (6) includes a right front robot (61) and a right rear robot (62). The left robot (5) and the right robot (6) are used to support, guide and maintain the posture of the car shock absorber. The lifting device positioning pins (1) are respectively provided on both sides of the inner side of the side-mounted machine (8).

2. The device for assembling an automobile chassis according to claim 1, characterized in that, include: A side-mounted machine slide (7) is provided on each side of the bottom of the side-mounted machine (8).

3. The device for assembling an automobile chassis according to claim 1, characterized in that, include: The inner side of the lifting device positioning pin (1) is provided with a side top machine receiving pin (2).

4. The device for assembling an automobile chassis according to claim 1, characterized in that, include: The left front robot (51) and the right front robot (61) are connected to a front shock absorption support mechanism; The front shock absorption support mechanism includes a servo motor (9), a ball screw (10), a front shock absorption support gripper (11), a gripper pad (12), a sensing plate (13), and a first laser ranging sensor bracket (14). The servo motor (9) is connected to the ball screw (10) and the ball screw (10) is connected to the front shock-absorbing support claw (11). The servo motor (9) drives the ball screw (10) to move, thereby opening or closing the front shock-absorbing support claw (11). The gripper pad (12) is disposed at the gripping part of the front shock-absorbing support gripper (11), and the gripper pad (12) has a built-in spring; The first laser ranging sensor bracket (14) is mounted on the front shock absorption support mechanism, and the first laser ranging sensor is installed on the first laser ranging sensor bracket (14).

5. The device for assembling an automobile chassis according to claim 1, characterized in that, include: The left rear robot (52) and the right rear robot (62) are connected to a rear shock absorption support mechanism; The rear shock absorber support mechanism includes a cylinder (15), a rear shock absorber support gripper (16), a gas spring (17), and a second laser ranging sensor bracket (18). The cylinder (15) is connected to the rear shock absorber support gripper (16), and the cylinder (15) is used to drive the rear shock absorber support gripper (16) to open or close. The gas spring (17) is installed in the follow-up support part of the rear shock absorption support mechanism; The second laser rangefinder sensor bracket (18) is mounted on the rear shock absorber support mechanism, and the second laser rangefinder sensor is installed on the second laser rangefinder sensor bracket (18).

6. A method for assembling an automobile chassis, applied to the apparatus for assembling an automobile chassis as described in any one of claims 1-5, characterized in that, include: After the EMS lifting device (4) drives the vehicle into the assembly area and stops in place, it will receive the vehicle. After the vehicle is received, the assembly PLC will set the vehicle receiving completion signal. After receiving the vehicle reception completion signal, the assembly PLC controls the spreader arm opening mechanism (3) to open the EMS spreader (4). After the EMS spreader (4) is opened to the position, the spreader arm opening completion signal is set. The side-mounted machine (8) lowers the vehicle body from the receiving position to the robot support waiting position. The assembly PLC allows the EMS lifting device (4) to release the vehicle and resets the receiving completion signal and the lifting device arm opening completion signal. After the left robot (5) and the right robot (6) are in place, the robot PLC sends a signal to the assembly PLC indicating that the robot has been in place. The assembly PLC sends a push signal to the robot PLC according to the current assembly height range. After each push is completed, the robot PLC sends a push-in signal to the assembly PLC. When the assembly PLC receives the last push-in signal, the left robot (5) and the right robot (6) drive the support mechanism to withdraw synchronously. The robot PLC sends a robot withdrawal completion signal to the assembly PLC. The push is at least once, each push corresponds to a push signal, and each push signal corresponds to an assembly height range. After receiving the robot withdrawal completion signal, the assembly PLC controls the vehicle body to continue descending to the assembly position. The vehicle body and chassis workpiece are then assembled and positioned. After the assembly PLC receives the pallet locking completion signal, the visual inspection process is executed. After receiving the visual inspection completion signal, the assembly PLC controls the assembly chain bed to start the vehicle, and resets the pallet positioning preparation completion signal, pallet locking completion signal and information comparison success signal. The side top machine (8) rises to the vehicle receiving waiting position, the side top machine slide (7) closes synchronously, and the system returns to the initial state.

7. The method for assembling an automobile chassis according to claim 6, characterized in that, After the EMS lifting device (4) pulls the vehicle body into the assembly area and stops in place, it will receive the vehicle. After the vehicle is received, the assembly PLC will set the vehicle receiving completion signal, including: After the EMS lifting device (4) drives the vehicle body into the assembly area and stops in place, the assembly PLC obtains the lifting device arrival signal and the corresponding vehicle model information, the side top machine slide (7) closes, and the vehicle is received. After the vehicle is received, the vehicle receiving completion signal is output. During the vehicle receiving process, the side top machine (8) rises from the waiting position to the vehicle receiving position. After receiving the bonding signal, the assembly PLC locks the vehicle body and sets the vehicle receiving completion signal.

8. The method for assembling an automobile chassis according to claim 6, characterized in that, The side-mounted machine (8) lowers the vehicle body from the receiving position to the robot-supported waiting position. Before the assembly PLC allows the EMS lifting device (4) to release the vehicle, and before resetting the receiving completion signal and the lifting device arm opening completion signal, the following steps are taken: When the EMS lifting device (4) drives the vehicle body into the assembly area, the pallet carrying the chassis workpiece enters the assembly station chain bed. After the pallet is in place, the cross-beam photoelectric reflection switches on both sides of the assembly station chain bed detect the status of the chassis workpiece and transmit the pallet production information to the assembly PLC. After confirming that the chassis workpiece is in normal condition and the production vehicle information is valid, the assembly PLC performs chassis positioning and locking preparation, and sets the pallet positioning preparation completion signal. The assembled PLC compares the vehicle body production information with the pallet production information. If the comparison is successful, a signal indicating successful comparison of the positioning information is sent.

9. A method for assembling an automobile chassis according to claim 6, characterized in that, After the left robot (5) and right robot (6) have positioned themselves, before the robot PLC sends a signal indicating that the robot has positioned itself to the assembly PLC, the following steps are taken: During the process of the vehicle body descending to the robot support waiting position, after the assembly PLC sends a support permission signal, the left robot (5) and the right robot (6) respectively drive the corresponding support mechanism to move to the front and rear shock absorber support position, so that the support mechanism contacts the shock absorber workpiece and completes the support positioning.

10. A method for assembling an automobile chassis according to claim 6, characterized in that, After the left robot (5) and right robot (6) have positioned themselves, the robot PLC sends a signal indicating that the robot has positioned itself correctly to the assembly PLC, including: During the continuous advancement of the left robot (5) and the right robot (6), the first laser ranging sensor detects the position of the guide cone of the front shock absorber workpiece, and the second laser ranging sensor detects the position of the rear shock absorber workpiece, and continuously feeds the detection values ​​back to the control system. When the position of the front or rear shock absorber workpiece is detected to deviate from the preset allowable range, an alarm is immediately triggered and the robot stops, and the left robot (5) and the right robot (6) are prohibited from continuing to advance and the vehicle body is prohibited from continuing to press down and assemble. After the left robot (5) and the right robot (6) are in place, the robot PLC sends a signal to the assembly PLC indicating that the robot has been in place.

11. A method for assembling an automobile chassis according to claim 6, characterized in that, The assembly PLC sends a propulsion signal to the robot PLC according to the current assembly height range. After each propulsion is completed, the robot PLC sends a propulsion completion signal back to the assembly PLC. When the assembly PLC receives the last propulsion completion signal, the left robot (5) and the right robot (6) drive the support mechanism to withdraw synchronously. The robot PLC sends a robot withdrawal completion signal back to the assembly PLC, including: The robot PLC controls the left robot (5) and the right robot (6) to drive the support mechanism to perform the pushing action synchronously, so that the shock absorber moves in the predetermined assembly direction or maintains the predetermined posture under the action of the support mechanism. After the push is in place, the robot PLC sends a push signal to the assembly PLC and requests to enter the next push. When the vehicle body continues to descend to the next propulsion height range, when the assembly PLC receives the previous propulsion arrival signal, the assembly PLC sends a propulsion permission signal to the robot PLC, and the side top machine (8) continues to drive the vehicle body to descend; When the vehicle body continues to descend to the next propulsion height range, if the assembled PLC does not receive the previous propulsion completion signal, the system alarms and stops. When the robot PLC receives the last push-in signal, the assembly PLC sends a signal to the robot PLC allowing the robot to withdraw. The robot PLC then controls the left robot (5) and the right robot (6) to move the support mechanism away synchronously. If the robot does not receive the final advance signal from the PLC, the system will alarm and shut down.

12. The method for assembling an automobile chassis according to claim 6, characterized in that, After receiving the robot withdrawal completion signal, the assembly PLC controls the vehicle body to continue descending to the assembly position. The vehicle body and chassis workpiece are then aligned and positioned. After the assembly PLC receives the pallet locking completion signal, it executes the vision inspection process, including: After the vehicle body falls into the pallet positioning pin, the assembly chain bed cylinder (15) performs the locking action to complete the vehicle body locking, and the assembly PLC sets the pallet locking completion signal; The robot PLC controls the vision inspection controller to perform component inspection according to the allow inspection signal sent by the assembly PLC, and feeds back the inspection completion signal to the assembly PLC. At the same time, the next EMS lifting device (4) enters the assembly station. After the pallet is locked, the side top machine (8) rises to a position where it does not interfere with the vehicle body, the cylinder (15) of the side top machine receiving mechanism retracts, the side top machine (8) exits to the avoidance position, and the side top machine slide (7) opens simultaneously.

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