Frame flexible transfer assembly system

Abstract

The utility model belongs to the auxiliary frock application technical field of assembly line belongs to, provide a kind of frame flexible transfer assembly system, including the material supply unit for conveying frame assembly to blanking station;Automatic transfer execution unit for from blanking station connection and transfer frame assembly;Rotary lifting conveying unit for by its self-loading transfer mechanism and automatic transfer execution unit are carried out the bidirectional initiative handover of frame assembly, and posture adjustment of lifting and horizontal rotation is carried out to the frame assembly received;For receiving and jacking the frame assembly after adjustment to predetermined operation height Assembly station, wherein, automatic transfer execution unit is configured to automatically operate between material supply unit, rotary lifting conveying unit and assembly station, to complete the blanking, transfer and assembly handover of frame assembly.The utility model can reduce the labor intensity of workers, enhance the safety of frame transfer operation with high assembly efficiency.

Description

Technical Field

[0001] This application relates to the field of auxiliary tooling application technology in assembly production lines, and in particular to a flexible transfer assembly system for vehicle frames. Background Technology

[0002] Currently, after the forklift chassis has been painted, the following problems commonly exist in the process of transferring it from the unloading area to the cleaning area and the vehicle assembly area, which restricts the improvement of overall efficiency and safety:

[0003] 1. The multi-process transfer workflow has a low degree of automation, mainly relying on workers to operate overhead cranes to lift and transfer the chassis. This mode not only consumes a lot of manpower, but also has poor positioning accuracy of the chassis during lifting, requiring repeated adjustments during placement, resulting in low transfer efficiency, high labor intensity, and ultimately affecting the rhythm of subsequent logistics and overall assembly.

[0004] 2. The overhead crane is used for lifting the frame, which is an aerial operation and has a high safety risk. Once the lifting equipment fails or the operator makes a mistake, it can easily lead to a safety accident.

[0005] 3. Different work sites have different requirements for the placement of the chassis. During the hoisting process, workers often need to make frequent adjustments, which further increases the difficulty and labor intensity of the operation.

[0006] Furthermore, while existing technologies include production line solutions with multiple units such as unloading, transfer, and rotary lifting, these are typically relatively simple or loosely coupled combinations. Examples include production lines based on gantry robots or overhead robots, production lines based on AGV / RGVs and fixed assembly tables, and production lines based on traditional plate chain / roller conveyor lines and hoisting stations. For instance, patent application CN109531757A discloses a flexible production line for panel furniture, including a panel storage mechanism, a rail-guided trolley for transportation, and a panel edge-banding mechanism; it also includes a powered roller conveyor for transporting panels, an electronic saw for unloading, a rotary lifting platform for panel transfer, a vertical rotary sorting machine for panel sorting, a box-sealing machine for sealing finished panel furniture, and an aisle stacker for three-dimensional storage and automatic outbound processing of finished panel furniture. This production line is a complete production system covering the entire process of raw material storage, processing, sorting, finished product packaging, and warehousing. However, its focus is on connecting various standard automated equipment into a collaborative whole via conveyor lines, emphasizing the flow of sheet metal along different processing paths. This production line design concept is not applicable to the aforementioned chassis transfer. Chassis transfer focuses on changing the flow direction of the chassis to adapt to different workshop layouts and processes, and on how to efficiently and labor-savingly transfer and assemble heavy and large chassis assemblies.

[0007] Furthermore, existing technologies for improving chassis transfer efficiency typically involve structural modifications to the equipment used in one stage of the transfer process, failing to achieve full-process automation to improve efficiency. Utility Model Content

[0008] To address the shortcomings of existing technologies, this utility model provides a flexible chassis transfer and assembly system that can safely and accurately transfer chassis from the painting area to the cleaning, pre-assembly, and vehicle assembly areas. This improves the overall efficiency of chassis transfer and assembly while ensuring product quality, greatly reduces the labor intensity of workers, and enhances the safety of chassis transfer operations.

[0009] To achieve the above and related objectives, this utility model provides a flexible vehicle frame transfer and assembly system, comprising:

[0010] The material supply unit is used to transport the chassis assembly to the unloading station;

[0011] An automated transfer unit is used to connect to and transfer the chassis assembly from the unloading station;

[0012] The rotary lifting and conveying unit is used to actively exchange the chassis assembly bidirectionally with the automatic transfer execution unit through its own conveying mechanism, and to adjust the attitude of the received chassis assembly by lifting and horizontal rotation.

[0013] The assembly station is used to receive and lift the adjusted vehicle frame assembly to a predetermined working height.

[0014] The automated transfer unit is configured to operate automatically between the material supply unit, the rotary lifting conveyor unit, and the assembly station to complete the unloading, transfer, and assembly handover of the chassis assembly.

[0015] Furthermore, the rotary lifting and conveying unit includes a lifting actuator for carrying and driving the rotary lifting and conveying unit to perform lifting and lowering movements; and a rotary drive mechanism including a rotary platform mounted on top of the lifting actuator and a rotary motor for driving the rotary platform to rotate horizontally.

[0016] Furthermore, the conveying mechanism also includes a transfer track mounted on a rotating platform for actively receiving the chassis assembly from the automated transfer execution unit, or actively sending it out to the automated transfer execution unit.

[0017] Furthermore, the rotary drive mechanism also includes a rotary track mounted on the rotary platform, which drives the rotary platform to rotate by the movement of the rotary motor gears on the rotary track.

[0018] Furthermore, the assembly station includes a scissor fork mechanism, a main upper platform and a rear upper platform located on top of the scissor fork mechanism. The main upper platform is equipped with a limiting component for limiting the frame assembly. The rear upper platform can be independently raised to be flush with the main upper platform under the drive of the lifting cylinder to support the rear axle assembly during the assembly of the frame assembly rear axle.

[0019] Furthermore, the assembly station also includes a hydraulic cylinder, the output end of which is connected to the scissor fork mechanism to drive the scissor fork mechanism to perform lifting and lowering movements.

[0020] Furthermore, the automated transfer unit includes an RGV trolley, which has a concealed structure.

[0021] Furthermore, the RGV trolley is equipped with a first lifting mechanism, which lifts the frame assembly from the material supply unit, thereby separating the frame assembly from the material supply unit to complete the connection.

[0022] Furthermore, the material supply unit includes a double-row double-plate chain.

[0023] Furthermore, the system also includes a controller, which is electrically connected to the automatic transfer execution unit, the rotary lifting and conveying unit, and the assembly station.

[0024] The beneficial technical effects of this utility model are as follows:

[0025] This invention can significantly improve the automation level of chassis transfer and assembly, reduce manpower, improve the accuracy of chassis transfer and placement, and increase the efficiency of unloading and transfer operations, thereby improving the overall assembly efficiency.

[0026] This invention can replace overhead cranes for transporting vehicle frames, eliminating the need for aerial work and minimizing safety hazards. It also improves assembly comfort, changing the work from bending over to standing upright, greatly reducing the labor intensity of workers and effectively improving assembly accuracy.

[0027] This invention employs a multi-functional combination of a rotary lifting conveyor unit, an automatic transfer execution unit, and an assembly station to achieve automated and smooth material transport, improve operational efficiency, and reduce wasteful operations. Simultaneously, this assembly system achieves optimal space utilization and a multi-functional design, significantly reducing equipment footprint and increasing operational efficiency.

[0028] This invention enables flexible control of the lifting platform through the assembly station, improving the convenience and flexibility of operation.

[0029] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0030] The accompanying drawings, incorporated in and forming part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without inventive effort. In the drawings:

[0031] Figure 1 This is a schematic diagram of the rotating lifting and conveying unit structure of this application;

[0032] Figure 2 This is a schematic diagram of the assembly station structure in this application;

[0033] Figure 3 This is a schematic diagram of the handover between the automated transfer execution unit and the assembly station in this application;

[0034] Figure 4 This is a schematic diagram illustrating the transfer scenario for this application;

[0035] Figure 5 This is a schematic diagram of the assembly station operation in this application.

[0036] Figure Labels

[0037] 1: First base; 2: Scissor fork; 3: Scissor fork shaft; 4: Scissor fork side; 5: Rotary platform outer base; 6: Rotary motor; 7: Rotary platform base plate; 8: Transfer track; 9: Transfer track block; 10: Transfer track support; 11: Transfer track motor; 20: Second base; 21: Locking pin; 22: Lifting cylinder; 23: Scissor fork mechanism; 24: Limit block; 25: Rear upper platform; 27: Main upper platform; 28: Stop block; 29: RGV trolley; 40: Frame assembly; 41: Rear axle assembly; 30: Rotary lifting and conveying unit; 32: Assembly station; 33: Material supply unit. Detailed Implementation

[0038] Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should be understood that certain features of this invention (described in the context of separate embodiments for clarity) may also be provided in combination in a single embodiment. Conversely, multiple features of this invention (described in the context of a single embodiment for brevity) may also be provided separately or in any suitable combination or, where appropriate, in any other described embodiment of this invention. Certain features described in the context of various embodiments will not be considered essential features of those embodiments unless the embodiment is inoperable without those elements. The present invention is further illustrated below by specific examples; however, it should be noted that the specific process conditions and results described in the embodiments of this invention are for illustrative purposes only and should not be construed as limiting the scope of protection of this invention. All equivalent changes or modifications made in accordance with the spirit and essence of this invention should be covered within the scope of protection of this invention.

[0039] like Figures 1 to 5 As shown, this application provides a flexible chassis transfer and assembly system, including: a material supply unit 33 for conveying a chassis assembly 40 to a blanking station; an automatic transfer execution unit for connecting to and transferring the chassis assembly 40 from the blanking station; a rotary lifting and conveying unit 30 for bidirectional active handover of the chassis assembly 40 with the automatic transfer execution unit through its self-loaded conveying mechanism, and for adjusting the received chassis assembly 40's posture by lifting, lowering, and rotating horizontally; and an assembly station 32 for receiving and lifting the adjusted chassis assembly 40 to a predetermined working height. The automatic transfer execution unit is configured to automatically operate between the material supply unit 33, the rotary lifting and conveying unit 30, and the assembly station 32 to complete the blanking, transfer, and assembly handover of the chassis assembly 40.

[0040] Furthermore, the system of this application is applicable to the online rapid unloading, transfer, attitude adjustment, and conveying assembly of 5-ton to 10-ton vehicle frames. It can realize rotational lifting and on-line tracking unloading, conveying attitude adjustment, ramp parking, pre-assembly with dual lifting platforms, and fixed-point lifting and lowering of RGV for material feeding. It can safely and accurately transfer vehicle frames from the painting area to the cleaning, pre-assembly, and vehicle assembly areas, improving the overall efficiency of vehicle frame transfer and assembly while ensuring product quality, greatly reducing the labor intensity of workers, and enhancing the safety of vehicle frame transfer operations.

[0041] Furthermore, such as Figure 4As shown, the material supply unit 33 of this application includes a double-row reinforced plate chain. This double-row reinforced plate chain serves as a conveyor line for transporting the chassis assembly 40 to the junction point with the RGV trolley 29. The double-row reinforced plate chain uses two parallel chains as traction components, combined with robust metal chain plates, enabling it to withstand extremely high loads. Therefore, it is suitable for chassis assemblies 40 weighing 5 to 10 tons, ensuring a smooth and reliable transport process without the risk of deformation or breakage, and guaranteeing the precise position of the chassis assembly 40 on the conveyor line. Furthermore, the double-row reinforced plate chain can be designed in various forms, such as straight lines, turns, or inclines, according to the actual layout of the workshop, flexibly connecting the painting off-line area with the subsequent transfer and assembly area.

[0042] Furthermore, such as Figures 3 to 5 As shown, the automatic transfer execution unit of this application includes an RGV trolley 29, which has a submerged structure. The RGV trolley 29 is equipped with a first lifting mechanism, which lifts the frame assembly 40 from the material supply unit 33, separating the frame assembly 40 from the material supply unit 33 to complete the connection. The RGV trolley 29 can travel directly under the double-row composite chain conveyor and directly lift the frame assembly 40 using its built-in first lifting mechanism, separating it from the double-row composite chain conveyor. This process requires no manual intervention and achieves fully automated handover from the conveyor line to the transfer tool. Furthermore, the submerged lifting connection method ensures that the frame assembly 40 remains in a stable supported state, avoiding the shaking caused by hoisting. This submerged structure also allows for a very compact production line layout, eliminating the need to reserve extra space for side connections, making it particularly suitable for workshop layouts with limited space.

[0043] Furthermore, the first lifting mechanism of this application includes a lifting platform, a servo motor, and a screw. The servo motor drives the screw to rotate, thereby causing the lifting platform connected to the screw to move up and down.

[0044] Furthermore, such as Figure 1As shown, the rotary lifting and conveying unit 30 of this application includes a lifting actuator for carrying and driving the rotary lifting and conveying unit 30 to perform lifting and lowering movements; and a rotary drive mechanism including a rotating platform mounted on top of the lifting actuator and a rotary motor 6 for driving the rotating platform to rotate horizontally. Furthermore, the lifting actuator of this application adopts a scissor-fork type lifting platform structure, with a sturdy first base 1 at its bottom, serving as the mounting foundation for the entire mechanism. Multiple scissor forks 2 are mounted on the first base 1, and these scissor forks 2 are connected by multiple connecting rods hinged to a scissor fork shaft 3. The ends of the connecting rods are reinforced and guided by scissor fork sides 4. The lifting power of the lifting actuator of this application is provided by a hydraulic system. The output end of the hydraulic system is hinged to the lifting actuator. When the piston rod of the hydraulic cylinder of the hydraulic system extends or retracts, it pushes the scissor forks 2 to unfold or fold around the scissor fork shaft 3, thereby enabling the rotating platform at the top of the entire lifting actuator to rise and fall smoothly and vertically.

[0045] Furthermore, such as Figure 1 As shown, the rotary drive mechanism of this application is installed on the upper platform of the lifting actuator, responsible for realizing the horizontal rotation of the working surface. Its bearing surface is a rotary platform, which is composed of an outer base 5 and a base plate 7, etc. The transmission component is a rotary track fixed below the rotary platform. The track is reinforced by a rotary track fixing component and supported by the rotary track. In addition, the rotational power of this application is provided by a rotary motor 6. A rotary motor gear is installed on the output shaft of the rotary motor 6, and the gear meshes with the rotary track. When the rotary motor 6 is energized, the motor gear rotates, and the meshing action between the gear and the track drives the entire rotary platform to perform precise horizontal rotation around the axis of the transfer track 8. The rotary track switch is used to detect the extreme position or origin of the rotation to ensure that the rotation angle is controlled.

[0046] Furthermore, such as Figure 1 As shown, the conveying mechanism of this application also includes a transfer track 8 mounted on a rotating platform, used to actively receive the chassis assembly 40 from the automatic transfer execution unit, or actively deliver it to the automatic transfer execution unit. The transfer track 8 is composed of multiple transfer track blocks 9 and is powered by a transfer track motor 11. The motor drives these transfer track blocks 9 to rotate via sprockets or gears, thereby generating friction or utilizing meshing to move the chassis assembly 40 on the transfer track 8. Furthermore, this application uses multiple transfer track supports 10 to securely mount the transfer track 8 on the rotating platform base plate 7, ensuring that the transfer track 8 remains stable under heavy loads and does not deform. In addition, when necessary, this application can use the components of the chain or drive shaft of the transfer track 8 that support and guide the transfer track 8 to ensure smooth transmission.

[0047] Furthermore, such as Figure 2As shown, the assembly station 32 of this application is installed on the second base 20, which includes a scissor fork mechanism 23, a main upper platform 27 and a rear upper platform 25 disposed on the top of the scissor fork mechanism 23. The main upper platform 27 is provided with a limiting component for limiting the frame assembly 40. The rear upper platform 25 can be independently raised to be flush with the main upper platform 27 under the drive of the lifting cylinder 22, so as to support the rear axle assembly 41 during the assembly of the rear axle of the frame assembly 40.

[0048] Furthermore, the assembly station 32 also includes a hydraulic cylinder, the output end of which is connected to the scissor fork mechanism 23 to drive the scissor fork mechanism 23 to perform lifting and lowering movements. Even further, the scissor fork mechanism 23 of this application is formed by multiple second scissor fork shafts hinged together. When the piston rod of the hydraulic cylinder extends, it pushes the scissor fork mechanism 23 to unfold from its folded state, thereby lifting the upper platform to a predetermined working height. This mechanism ensures a smooth and reliable lifting process.

[0049] Furthermore, the main upper platform 27 of this application is the main platform supporting the frame assembly 40, and it is fixed to the top of the scissor fork mechanism 23; the rear upper platform 25 is a component for auxiliary assembly, which is movably connected to the main upper platform 27 through locking pin 21. In the non-working state, the rear upper platform 25 is usually drooping to avoid interference; when working, it is driven to rotate upward by the lifting cylinder 22. The lifting cylinder 22 is the power device that drives the rear upper platform 25. One end of it is hinged to the bottom surface of the main upper platform 27, and the other end is hinged to the rear upper platform 25; when the cylinder piston rod extends, it pushes the rear upper platform 25 to rotate upward until it is flush with the main upper platform 27, forming a complete support plane. In addition, the limiting component of this application is installed on the main upper platform 27 to ensure that the frame assembly 40 is placed in the correct position. It includes a stop 28, which is usually located on one side of the main upper platform 27 to block the frame assembly 40 and limit its longitudinal movement; and a limiting block 24, which is distributed on the main upper platform 27 and cooperates with the stop 28 to accurately position the frame assembly 40 and prevent it from shifting to the left or right or forward or backward.

[0050] Furthermore, traditional rear axle assembly requires workers or lifting equipment to constantly bear the weight of the rear axle, making alignment difficult. Additionally, the rear axle assembly 41 transported by a crane is in an unstable state. However, the rear upper platform 25 of this application, after being raised by a cylinder, can stably support the rear axle assembly 41 from below, maintaining its balance and stability with the rear of the frame assembly 40. This frees the worker's hands, allowing them to easily insert and tighten bolts, transforming the dynamic and challenging lifting operation into a static and safe platform support operation.

[0051] Furthermore, the system of this application also includes a controller, which is electrically connected to the automatic transfer execution unit, the rotary lifting and conveying unit 30 and the assembly station 32 respectively.

[0052] Furthermore, such as Figures 3 to 5 As shown, the workflow of this application system is as follows:

[0053] The frame assembly 40 runs on the double-row composite plate chain. When it reaches the preset unloading node, the RGV trolley 29 receives the instruction from the controller, lies in the middle of the double-row composite plate chain, and then the RGV trolley 29 activates its own first lifting mechanism to lift the frame assembly 40 upward, so that it separates from the bearing surface of the double-row composite plate chain and completes the connection.

[0054] Under the control of the controller, the RGV trolley 29, carrying the frame assembly 40, runs along the ground track to the rotary lifting transfer platform. The RGV trolley 29 uses its lowering function to detach the frame assembly 40 from itself and simultaneously land on the transfer track 8 of the rotary platform. Then, the hydraulic pump station is activated to drive the hydraulic cylinders, and the lifting actuator operates on the hydraulic cylinders, raising and lowering the rotary platform to the required height. The rotary motor 6 is activated, driving the rotary track on the platform via gears, causing the entire platform to rotate horizontally, thereby adjusting the orientation of the frame assembly 40 to align it with the next target (e.g., assembly station 32 or temporary storage area).

[0055] Once the adjustment is complete, the RGV trolley 29 travels to the bottom of the rotating platform. The transfer track motor 11 on the rotating platform starts, driving the transfer track 8 to smoothly send the frame assembly 40 back onto the RGV trolley 29. The RGV trolley 29 then carries the frame assembly 40 to the assembly station 32.

[0056] The RGV trolley 29 unloads the frame assembly 40 to the assembly station 32. The frame assembly 40 is precisely secured by the stop block 28 and the limit block 24. Subsequently, the hydraulic system drives the scissor fork mechanism 23 to lift the main upper platform 27 along with the frame assembly 40 to the optimal manual assembly height of 1200mm. The operator uses a lifting device to lift the rear axle assembly 41 to the rear of the frame assembly 40, aligns it with the mounting holes, inserts and tightens the bolts for initial connection. The lifting cylinder 22 is activated to lift the rear upper platform 25 to be flush with the main upper platform 27. At this point, the weight of the rear axle assembly 41 is supported by the rear upper platform 25, forming a stable whole with the frame assembly 40. The operator can then remove the lifting device and safely and conveniently complete the final tightening of all bolts.

[0057] After assembly, the system automatically calls RGV trolley 29, which travels to directly beneath assembly station 32. Assembly station 32 automatically lowers to a starting height of 450mm, smoothly placing the entire chassis assembly 40 (now integrated with the rear axle assembly 41) onto the platform of RGV trolley 29. RGV trolley 29, carrying the assembled assembly, transports it to the next process (such as the vehicle assembly area).

[0058] Then the second frame assembly 40 repeats the above steps again, including unloading, rotating, conveying, receiving the material on the platform, lifting, assembling, and trolley feeding to all frame assemblies 40 to complete the assembly.

[0059] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A flexible transfer and assembly system for vehicle frames, characterized in that, include: Material supply unit (33) is used to transport the chassis assembly (30) to the unloading station; An automatic transfer unit is used to connect to and transfer the frame assembly (30) from the unloading station. The rotating lifting and conveying unit (30) is used to actively transfer the frame assembly (30) to the automatic transfer execution unit in both directions through its own conveying mechanism, and to adjust the attitude of the received frame assembly (30) by lifting and horizontal rotation. Assembly station (32) is used to receive and lift the adjusted frame assembly (30) to a predetermined working height, wherein, The automatic transfer execution unit is configured to operate automatically between the material supply unit (33), the rotary lifting and conveying unit (30), and the assembly station (32) to complete the unloading, transfer, and assembly handover of the chassis assembly (30).

2. The flexible chassis transfer and assembly system according to claim 1, characterized in that, The rotary lifting and conveying unit (30) includes: a lifting actuator for carrying and driving the rotary lifting and conveying unit (30) to perform lifting and conveying movements; The rotary drive mechanism includes a rotary platform mounted on top of the lifting actuator, and a rotary motor (6) for driving the rotary platform to rotate horizontally.

3. The flexible chassis transfer and assembly system according to claim 2, characterized in that, The conveying mechanism also includes a transfer track (8) installed on the rotating platform for actively receiving the chassis assembly (30) from the automatic transfer execution unit, or actively sending it to the automatic transfer execution unit.

4. The flexible chassis transfer and assembly system according to claim 2, characterized in that, The rotary drive mechanism also includes a rotary track mounted on the rotary platform, and the rotary platform is driven to rotate by the movement of the rotary motor (6) gear on the rotary track.

5. The flexible chassis transfer and assembly system according to claim 1, characterized in that, The assembly station (32) includes a scissor fork mechanism (23), a main upper platform (27) and a rear upper platform (25) located on the top of the scissor fork mechanism (23). The main upper platform (27) is provided with a limiting component for limiting the frame assembly (30). The rear upper platform (25) can be independently raised to be flush with the main upper platform (27) under the drive of the lifting cylinder (22) to support the rear axle assembly (41) during the assembly of the rear axle of the frame assembly (30).

6. The flexible chassis transfer and assembly system according to claim 5, characterized in that, The assembly station (32) also includes a hydraulic cylinder, the output end of which is connected to the scissor fork mechanism (23) to drive the scissor fork mechanism (23) to perform lifting and lowering movements.

7. The flexible chassis transfer and assembly system according to claim 1, characterized in that, The automatic transfer execution unit includes an RGV trolley (29), which is a concealed structure.

8. The flexible chassis transfer and assembly system according to claim 7, characterized in that, The RGV trolley (29) is equipped with a first lifting mechanism, which lifts the frame assembly (30) from the material supply unit (33) to separate the frame assembly (30) from the material supply unit (33) to complete the connection.

9. The flexible chassis transfer and assembly system according to claim 1, characterized in that, The material supply unit (33) includes a double-row core plate chain.

10. The flexible chassis transfer and assembly system according to claim 1, characterized in that, The system also includes a controller, which is electrically connected to the automatic transfer execution unit, the rotary lifting and conveying unit (30), and the assembly station (32), respectively.

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